CN107867528A - A kind of Automated tridimensional warehousing system - Google Patents
A kind of Automated tridimensional warehousing system Download PDFInfo
- Publication number
- CN107867528A CN107867528A CN201711069385.7A CN201711069385A CN107867528A CN 107867528 A CN107867528 A CN 107867528A CN 201711069385 A CN201711069385 A CN 201711069385A CN 107867528 A CN107867528 A CN 107867528A
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- CN
- China
- Prior art keywords
- frame
- lifting
- reprinting
- storehouse
- pallet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Abstract
The invention discloses a kind of Automated tridimensional warehousing system, including freight lifting rehandling facilities, goods disengaging position in storehouse rehandling facilities, position in storehouse material rest device and electric control gear.This Automated tridimensional warehousing system carried out by the way of delivering in relays goods put in storage and export, coordinate the automatical pilot transportation vehicle of Intelligent logistics can realize fully digitalization warehousing and export；Freight lifting rehandling facilities is embedded in the inside for being arranged on position in storehouse material rest device rear and front end, it is left, right, three face open architectures of front or behind opening that pallet, which is oriented to lifting piece, by controlling lifting pallet and the work compound of transport reprinting dolly to realize that the position in storehouse that goods is passed in and out above or below pallet can access goods, space availability ratio is improved to greatest extent；Actuating unit is not provided with because position in storehouse material rest device is simple multilayer position in storehouse material frame structure, inside it, thus it is simple in construction, easy to maintenance, especially suitable for Intelligent logistics.
Description
Technical field
The present invention relates to a kind of stereoscopic warehousing system, specifically a kind of stereoscopic warehousing system for automating access, belong to
Intelligent logistics technical equipment field.
Background technology
Intelligent logistics are exactly to utilize the advanced Internet of Things such as bar code, REID, sensor, global positioning system
Technology is widely used in logistics transport, storage, dispatching, packaging, handling etc. by information processing and network communications technology platform
Basic activity link, automatic operation and the high efficiency optimum management of cargo transport process are realized, improve the service of logistic industry
Level, cost is reduced, reduce natural resources and social resources consumption, the development of Intelligent logistics will promote the development of regional economy
Distributed rationally with world resource, realize socialization.
Logistic storage is the key link in modern Intelligent logistics, is played in links such as connection, transfer, storage, keepings
Important function, and warehousing management is also to be generally comprised in logistic storage in occupation of the status of core, accurate warehouse process simultaneously
Receive, restocking, pick up goods, replenish, delivering, several flows of making an inventory, to realize intelligent distribution, occur homing guidance fortune in the prior art
Defeated car, i.e., homing guidance device is magnetically or optically waited equipped with electricity, the transport vehicle with safeguard protection and various transfer functions, thing
Driver is not required in stream storage application, using rechargeable battery as its power resources, typically its traveling road can be controlled by computer
Line and behavior set up its course to realize the allocation and transportation of warehoused cargo using electromagnetic path.
Existing stereoscopic warehousing system is typically to be layered the both sides that the position in storehouse bin set is arranged in piler operation passage,
By piler along operation passage by goods handling in place, and by the lowering or hoisting gear lifting of the piler to the storage goods in itself
The height of position in storehouse, then by the traverse displacement unit on piler by cargo translating to position in storehouse.
Each bin level of existing stereoscopic warehousing system feed bin generally has actuating unit, is generally additionally provided with various automatically controlled
Lift mechanism, travel switch, position-limit mechanism etc. realize the allocation and transportation of automated warehousing goods to coordinate, and this has dynamic position in storehouse
Feed bin integrated model is set more complicated, not only fault rate is higher, and safeguards more difficult；In addition, existing stereo warehouse system
The lowering or hoisting gear of the piler of system in itself is normally located at the outside for the position in storehouse bin that layering is set, needs extra space-consuming,
Even if being provided in the inside for the position in storehouse bin that layering is set, the position in storehouse at left and right sides of piler lowering or hoisting gear can not generally also make
With sacrificing parking space.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of Automated tridimensional warehousing system, journey is automated
Degree is high, and the allocation and transportation of warehoused cargo, while energy can be realized on the premise of the position in storehouse bin that layering is set is not provided with actuating unit
Enough realize makes full use of space, especially suitable for Intelligent logistics.
To achieve these goals, this Automated tridimensional warehousing system includes freight lifting rehandling facilities, goods enters export
Position rehandling facilities, position in storehouse material rest device and electric control gear；
Described position in storehouse material rest device is multilayer position in storehouse material frame structure, and multilayer position in storehouse material frame structure is at the middle part of left and right directions
Small vehicle passage is reprinted through the transport of multilayer position in storehouse material frame structure provided with fore-and-aft direction, transport reprints small vehicle passage by multilayer position in storehouse
Material frame structure is divided into left and right two parts, and the transport of every layer of position in storehouse material frame structure is reprinted to be equipped with small vehicle passage and set along the longitudinal direction
Vehicle guide is reprinted in the transport put, and every layer of position in storehouse material frame structure is equipped with multiple compartments in the longitudinal direction, and each compartment is one
Bin level, per bin level plate upper surface on be equipped with left-right direction roll set, it is multiple into section set longitudinal direction support
Roller；
Described freight lifting rehandling facilities is arranged on the end of the small vehicle passage of transport reprinting of position in storehouse material rest device, and goods
Thing lifting rehandling facilities insertion is arranged on the inside of position in storehouse material rest device rear and front end, and freight lifting rehandling facilities carries including goods
Mechanism and goods disengaging pallet are risen, goods disengaging pallet is arranged to two pieces, the symmetrical freight lifting mechanism of being fixedly installed on
The left and right sides, goods disengaging pallet are located at the end position in storehouse position of the ground floor of position in storehouse material rest device multilayer position in storehouse material frame structure
Put and the end position in storehouse is structure that front end face or rear end face open；
Goods disengaging pallet includes multiple left and right and lifts reprinting frame I, and left and right is lifted reprinting frame I and is horizontally disposed with left-right direction
Inside goods disengaging pallet, left and right lifts reprinting frame I and carries part including head lifting part peace transfer, and head lifting part can lift a left side
The right side, which is lifted, reprints the upper surface that frame I makes its upper surface pass in and out pallet higher than goods, and part is reprinted in translation can make the left and right after lifting
Lift and reprint the translational movement in left-right direction of frame I；
The pallet guiding that freight lifting mechanism includes lifting pallet and lifting pallet can be made vertically to move up and down carries
Ascending part part, pallet, which is oriented to lifting piece, includes support frame and the hoistway that is arranged on inside support frame, support frame be left,
The three face open architectures that right, front or behind open, lifting pallet are arranged in hoistway；The upper surface of lifting pallet is provided with
The longitudinal carrying roller set into section set, multiple is rolled in left-right direction；Lifted and goods disengaging support is corresponded on the upper surface of pallet
The left and right of disk lift reprint frame I position be additionally provided with left and right directions setting left and right lift reprint frame by bit port and the left and right
Reprinting frame is lifted by bit port to be located between each section of the longitudinal carrying roller set into section；It is additionally provided with inside lifting pallet multiple front and rear
Lift reprinting frame, it is front and rear lift reprint frame be horizontally set on along the longitudinal direction it is inside the lifting pallet between longitudinal carrying roller and preceding
Reprinting frame is lifted afterwards and lifts lower section of the reprinting frame by bit port positioned at left and right, and front and rear reprinting frame of lifting includes head lifting part and translation
Part is reprinted, head lifting part can lift front and rear lift and reprint the upper rolling surface that frame makes its upper surface be higher than longitudinal carrying roller, and translation turns
Carrying part can make front and rear lift after lifting reprint frame translational movement along the longitudinal direction；
It is small installed in the transport reprinting of every layer of position in storehouse material frame structure that described goods disengaging position in storehouse rehandling facilities includes erection
Dolly is reprinted in transport on car guide rail；Transport reprinting dolly includes the roller coordinated with transport reprinting vehicle guide and installed in rolling
Roller driving on wheel；Transport reprint dolly upper surface be provided with along the longitudinal direction roll set, it is multiple into section set
Horizontal carrying roller；Transport the front and rear position for lifting reprinting frame of corresponding lifting pallet on the upper surface for reprinting dolly and be additionally provided with front and back
Lifted before and after to setting reprint frame by bit port and this it is front and rear lift reprint frame by bit port positioned at transport reprint dolly into
Between each section of the horizontal carrying roller that section is set；Transport reprints car interior and lifts reprinting frame II provided with multiple left and right, and left and right is lifted
Reprint the transport reprinting car interior that frame II is horizontally set between horizontal carrying roller in left-right direction and left and right is lifted and reprints frame II
Lower section of the frame by bit port is reprinted positioned at front and rear lift；Respective transfer on the plate upper surface of every bin level of position in storehouse material rest device
Reprint dolly left and right lift reprint frame II position be additionally provided with left and right directions setting left and right lift reprint frame by bit port and
Lift each section of the longitudinal carrying roller set into section for reprinting every bin level that frame is located at position in storehouse material rest device by bit port in the left and right
Between；
Described electric control gear includes industrial control computer, goods warehouse entry control loop and goods export control loop,
Industrial control computer is built-in with position in storehouse coordinate information, position in storehouse loads information and position in storehouse option program, industrial control computer point
The head lifting part peace transfer for not lifting reprinting frame I with left and right carries part, the pallet of freight lifting mechanism is oriented to lifting piece, preceding
Lift afterwards and reprint the head lifting part peace transfer load part of frame, the roller driving of dolly is reprinted in transport, reprinting frame II is lifted in left and right
Head lifting part peace transfer carry part electrical connection.
Scheme as a further improvement on the present invention, the left and right of described every bin level are lifted to reprint and are provided with frame slot to make way
Elasticity overwhelms formula position-limit mechanism, and elasticity, which overwhelms formula position-limit mechanism and is arranged on the left and right of position in storehouse, lifts and reprint frame slot to make way and correspond to position in storehouse
The end position of Hatch Opening, elasticity, which overwhelms formula position-limit mechanism, includes limiting plate, Flexible Reset part and upright angle limit part, limit
The length direction turnover setting for reprinting frame slot to make way is lifted in left and right of the position plate along position in storehouse, and limiting plate bottom is hingedly mounted on position in storehouse
The bottom land for reprinting frame slot to make way is lifted in left and right, and the bottom land for reprinting frame slot to make way is lifted in the left and right of Flexible Reset part one end and position in storehouse
Connection, the other end and limiting plate connect, and upright angle limit part is arranged on the articulated position of limiting plate.
Scheme as a further improvement on the present invention, the top of described limiting plate, which is provided with along the left and right of position in storehouse, lifts reprinting
Frame rolls the support set by the length direction of bit port and carries disk roller.
Scheme as a further improvement on the present invention, lift along left and right on the upper surface of described lifting pallet and reprint frame and allow
Reprinting frame slot to make way is lifted in the left and right that insertion lifting tray upper surface is additionally provided with bit port length direction, and reprinting frame is lifted in left and right
Slot to make way lifts underface, the front and rear top for lifting reprinting frame for reprinting frame by bit port positioned at left and right；Dolly is reprinted in transport
It is additionally provided with upper surface along front and rear lift in reprinting frame resigning channel-length direction before and after dolly upper surface is reprinted in transport
Lift and reprint frame slot to make way, front and rear lift reprints frame slot to make way positioned at front and rear underface, the left and right lifted and reprint frame by bit port
Lift the top for reprinting frame II；Lift to reprint frame and step down along left and right on the plate upper surface of every bin level of position in storehouse material rest device and lead to
Left and right is additionally provided with road length direction and lifts reprinting frame slot to make way, left and right lifts reprinting frame slot to make way and lifts reprinting frame positioned at left and right
Allow the underface of bit port.
Scheme as a further improvement on the present invention, the upper surface of described goods disengaging pallet are provided with along the longitudinal direction
The multiple horizontal carrying rollers set are rolled, described left and right is lifted reprinting frame I and is arranged between horizontal carrying roller.
As the preferred scheme of the present invention, described left and right, which is lifted, reprints the head lifting part peace transfer of frame I and carries part, preceding
The head lifting part peace transfer load part for reprinting frame is lifted afterwards, the head lifting part peace transfer load part for reprinting frame II is lifted in left and right
It is electric screw bar structure.
Scheme as a further improvement on the present invention, described lifting pallet and transport reprint dolly and use contact certainly
Dynamic way to take power, lifts pallet and transport reprinting dolly is contacted with power lead by power taking bow structure and carries out power taking.
Compared with prior art, this Automated tridimensional warehousing system is fully digitalization control unit, can be with intelligent thing
The number bus of stream, which is seamlessly connected, to be realized and concentrates digital management, and putting in storage and going out for goods is carried out by the way of delivering in relays
Storehouse, coordinates the automatical pilot transportation vehicle of Intelligent logistics can realize fully digitalization warehousing and export；Due to freight lifting
Rehandling facilities is embedded in the inside for being arranged on position in storehouse material rest device rear and front end, the disengaging symmetrical fixed setting of pallet of two pieces goods
In the left and right sides of freight lifting mechanism, goods disengaging pallet is located at the ground one of position in storehouse material rest device multilayer position in storehouse material frame structure
The end position in storehouse position and the end position in storehouse of layer are the structures that front end face or rear end face open, therefore before and after position in storehouse material rest device
The position at both ends can use except other positions outside the position of goods disengaging pallet as position in storehouse, improve space profit to greatest extent
With rate；Include support frame and the hoistway being arranged on inside support frame because pallet is oriented to lifting piece, support frame is left
The three face open architectures that side, right, front or behind open, lifting pallet are arranged in hoistway, therefore by controlling lifting support
The work compound that dolly is reprinted in disk and transport can realize that the position in storehouse above or below goods disengaging pallet can access goods；By
It is simple multilayer position in storehouse material frame structure in position in storehouse material rest device, actuating unit, therefore simple in construction, dimension is not provided with inside it
Shield is convenient；This Automated tridimensional warehousing system, automaticity is high, and the position in storehouse bin that can be set in layering is not provided with engine
The allocation and transportation of warehoused cargo are realized on the premise of structure, while can realize and make full use of space, especially suitable for Intelligent logistics.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of the present invention；
Fig. 2 is the overlooking the structure diagram of ground floor of the present invention；
Fig. 3 is the overlooking the structure diagram of other layers of the present invention in addition to ground floor；
Fig. 4 is the side structure schematic view of goods disengaging pallet of the present invention；
Fig. 5 is the side structure schematic view of present invention lifting pallet；
Fig. 6 is the side structure schematic view that dolly is reprinted in present invention transport；
Fig. 7 is the side structure schematic view of present invention fortune position in storehouse bottom plate；
Fig. 8 is Fig. 7 A-A sectional views.
In figure：1st, freight lifting rehandling facilities, 11, freight lifting mechanism, 111, lifting pallet, 112, front and rear lift reprinting
Frame, 12, goods disengaging pallet, 121, left and right lift reprint frame I, 2, goods disengaging position in storehouse rehandling facilities, 21, transport reprint it is small
Car, 211, left and right lift and reprint frame II, 3, position in storehouse material rest device, 31, elasticity overwhelm formula position-limit mechanism.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings (below with the operation side of goods disengaging position in storehouse rehandling facilities 2
Described to for fore-and-aft direction).
As shown in figure 1, this Automated tridimensional warehousing system includes freight lifting rehandling facilities 1, goods disengaging position in storehouse is reprinted
Device 2, position in storehouse material rest device 3 and electric control gear.
Described position in storehouse material rest device 3 is multilayer position in storehouse material frame structure, and multilayer position in storehouse material frame structure is in left and right directions
Portion is provided with fore-and-aft direction and reprints small vehicle passage through the transport of multilayer position in storehouse material frame structure, and transport reprints small vehicle passage by multilayer storehouse
Position material frame structure is divided into left and right two parts, and the transport of every layer of position in storehouse material frame structure is reprinted to be equipped with along the longitudinal direction on small vehicle passage
Vehicle guide is reprinted in the transport of setting, and every layer of position in storehouse material frame structure is equipped with multiple compartments in the longitudinal direction, and each compartment is
One bin level, as shown in Figure 2 and Figure 3, it is equipped with the plate upper surface per bin level that rolling in left-right direction is set, multiple
The longitudinal carrying roller set into section.
Described freight lifting rehandling facilities 1 is arranged on the end of the small vehicle passage of transport reprinting of position in storehouse material rest device 3, and
Freight lifting rehandling facilities 1 is embedded in the inside for being arranged on the rear and front end of position in storehouse material rest device 3, and freight lifting rehandling facilities 1 includes
Freight lifting mechanism 11 and goods disengaging pallet 12, goods disengaging pallet 12 are arranged to two pieces, symmetrical are fixedly installed on goods
The left and right sides of thing hoisting mechanism 11, goods disengaging pallet 12 are located at the ground of the multilayer position in storehouse material frame structure of position in storehouse material rest device 3
One layer of end position in storehouse position and the end position in storehouse are the structures that front end face or rear end face open；
As shown in figure 4, goods disengaging pallet 12, which includes multiple left and right, lifts reprinting frame I 121, left and right, which is lifted, reprints frame I 121
It is horizontally set in left-right direction inside goods disengaging pallet 12, reprinting frame I 121 is lifted in left and right includes head lifting part peace transfer
Part is carried, head lifting part can lift left and right and lift the upper surface that reprinting frame I 121 makes its upper surface pass in and out pallet 12 higher than goods,
Part is reprinted in translation can make the left and right after lifting lift the reprinting translational movement in left-right direction of frame I 121；
Freight lifting mechanism 11 includes lifting pallet 111 and can make the support that lifting pallet 111 vertically moves up and down
Disk is oriented to lifting piece, and as shown in Figure 2 and Figure 3, pallet, which is oriented to lifting piece, to be included support frame and be arranged on inside support frame
Hoistway, support frame be left, right, front or behind open three face open architectures, lifting pallet 111 be arranged on hoistway
It is interior；As shown in figure 5, the upper surface of lifting pallet 111 is provided with rolls the longitudinal direction set into section set, multiple in left-right direction
Carrying roller；Lifted pallet 111 upper surface on correspond to goods disengaging pallet 12 left and right lift reprinting frame I 121 position be additionally provided with
Left and right directions set left and right lift reprint frame by bit port and the left and right lift reprint frame by bit port be located at into section setting
Between each section of longitudinal carrying roller；Multiple front and rear lift are additionally provided with inside lifting pallet 111 and reprint frame 112, it is front and rear to lift reprinting frame
112 be horizontally set on along the longitudinal direction inside the lifting pallet 111 between longitudinal carrying roller and it is front and rear lift reprint frame 112 be located at
Left and right, which is lifted, reprints lower section of the frame by bit port, and front and rear reprinting frame 112 of lifting carries part including head lifting part peace transfer, lifts
Part can lift front and rear lift and reprint the upper rolling surface that frame 112 makes its upper surface be higher than longitudinal carrying roller, and part is reprinted in translation to be made
Front and rear lift after lifting reprints the translational movement along the longitudinal direction of frame 112.
It is small installed in the transport reprinting of every layer of position in storehouse material frame structure that described goods disengaging position in storehouse rehandling facilities 2 includes erection
Dolly 21 is reprinted in transport on car guide rail；Dolly 21 is reprinted in transport to be included reprinting roller and the installation that vehicle guide coordinates with transport
Roller driving on roller；As shown in fig. 6, the upper surface that dolly 21 is reprinted in transport is provided with rolling setting along the longitudinal direction
, it is multiple into section set horizontal carrying roller；Front and rear lift that corresponding lifting pallet 111 on the upper surface of dolly 21 is reprinted in transport turns
The front and rear reprinting frame of lifting that the position of carrier 112 is additionally provided with fore-and-aft direction setting allows by bit port and the front and rear reprinting frame of lifting
Bit port is reprinted positioned at transport between each section of the horizontal carrying roller set into section of dolly 21；Transport is reprinted the inside of dolly 21 and is provided with
Multiple left and right, which are lifted, reprints frame II 211, and left and right is lifted reprinting frame II 211 and is horizontally set in left-right direction between horizontal carrying roller
Transport is reprinted inside dolly 21 and left and right is lifted to reprint to lift before and after frame II 211 is located at and reprints lower section of the frame by bit port；Position in storehouse
The position for reprinting frame II 211 is lifted in the left and right of respective transfer reprinting dolly 21 on the plate upper surface of every bin level of material rest device 3
Put be additionally provided with left and right directions setting left and right lift reprint frame by bit port and the left and right lift reprinting frame be located at storehouse by bit port
Between each section of the longitudinal carrying roller set into section of every bin level of position material rest device 3.
Described electric control gear includes industrial control computer, goods warehouse entry control loop and goods export control loop,
Industrial control computer is built-in with position in storehouse coordinate information, position in storehouse loads information and position in storehouse option program, industrial control computer point
The head lifting part peace transfer load part for reprinting frame I 121, the pallet guiding lifting parts of freight lifting mechanism 11 are not lifted with left and right
Part, the front and rear head lifting part peace transfer for lifting reprinting frame 112 carry part, the roller driving of transport reprinting dolly 21, left and right support
Lift the head lifting part peace transfer load part electrical connection for reprinting frame II 211.
For this Automated tridimensional warehousing system in original state, dolly is reprinted in the transport of the ground floor of position in storehouse material rest device 3
21, which are stuck in transport, reprints the end coordinate position of small vehicle passage close to freight lifting rehandling facilities 1, position in storehouse material rest device 3 its
The coordinate that the transport reprinting dolly 21 that dolly 21 is stuck in fore-and-aft direction and ground floor is reprinted in the transport of his layer stagnates position
Consistent coordinate stagnates position, and left and right lifts reprinting frame I 121 and is in state of the retraction inside goods disengaging pallet 12, front and rear
Lift and reprint frame 112 and be in state of the retraction inside lifting pallet 111, left and right lifts reprinting frame II 211 and is in retraction and transporting
The defeated state reprinted inside dolly 21, lifting pallet 111 are in the dead state with the goods disengaging same level of pallet 12.
For this Automated tridimensional warehousing system when carrying out the operation of goods warehouse entry, industrial control computer is first according to built-in
Position in storehouse loads information and position in storehouse option program determines the coordinate information and record storage of target position in storehouse, and then goods warehouse entry controls
Loop starts：By goods packaging box by manually carry or carrying fork truck or AGV dollies support carry transport vehicle support carrying it is defeated from
On the goods disengaging pallet 12 on the left of fore-and-aft direction push-in is placed on or right side, complete to consolidate and place postindustrial control computer head
First controlling left and right to lift the head lifting part rise action of reprinting frame I 121 makes left and right lift reprinting frame I 121 by goods packaging box support
Rise, the upper rolling surface of the horizontal carrying roller of the baseplane of goods packaging box disengaging goods disengaging pallet 12 to setting height, Ran Hougong
Industry control computer, which controls left and right to lift the translation reprinting component actuation of reprinting frame I 121, makes the left and right after lifting lift reprinting frame I
121 in left-right direction to the direction translational coordination movement of lifting pallet 111, and left and right, which is lifted, reprints left and right support in the translation motion of frame I 121
Reprinting frame is lifted by bit port in the left and right that the external part insertion lifting pallet 111 of frame I 121 is reprinted in act, and reprinting frame I is lifted in left and right
Even if left and right is lifted and reprints the generation overhanging bending of frame I 121 caused by gravity in 121 translation motions, lifted on pallet 111
Rolling support can also occur with goods packaging box baseplane, prevent left and right from lifting the overhanging bending damage for reprinting frame I 121 for longitudinal carrying roller
Wound, left and right lift the reprinting coordinate of frame I 121 and are moved to goods packaging box work after the setpoint distance directly over lifting pallet 111
Industry control computer control left and right lift reprint frame I 121 head lifting part fall action make left and right lift reprint the coordinate of frame I 121
The setpoint distance for departing from goods packaging box baseplane is displaced downwardly to, goods packaging box is piled up on lifting pallet 111, then industrial
Control computer first control left and right lift reprint frame I 121 translation reprint component actuation make left and right lift reprint frame I 121 first return
Withdraw to goods disengaging pallet 12 on, control again left and right lift reprint frame I 121 head lifting part action make left and right lift reprint frame I
121, which are reset to original state, completes handing-over of the goods packaging box from goods disengaging pallet 12 to lifting pallet 111；
Then industrial control computer controls the pallet of freight lifting mechanism 11 to be oriented to and carried according to target position in storehouse coordinate information
Ascending part part vertical motion (target position in storehouse be located at F2/B2 and more than) or down maneuver (target position in storehouse it is located underground one layer and
Below) or original place stagnates (target position in storehouse is located at ground floor) action and lifting pallet 111 is in and layer where target position in storehouse
The dead state of the same level of dolly 21 is reprinted in transport, and then industrial control computer lifts reprinting frame before and after controlling first
112 head lifting part rise action lifts reprinting before and after making, and frame 112 holds up goods packaging box, the baseplane of goods packaging box takes off
From lifting pallet 111 longitudinal carrying roller upper rolling surface to setting height, then lift and turn before and after industrial control computer control
Component actuation is reprinted in the translation of carrier 112 makes front and rear lift after lifting reprint the transport to this layer turn along the longitudinal direction of frame 112
The direction translational coordination movement of dolly 21 is carried, front and rear lift reprints the front and rear external part for lifting reprinting frame 112 in the translation motion of frame 112
Front and rear the lifting that dolly 21 is reprinted in insertion transport is reprinted in frame slot to make way, though it is front and rear lift reprint in the translation motion of frame 112 because
Gravity causes front and rear lift to reprint the generation overhanging bending of frame 112, and the horizontal carrying roller that transport is reprinted on dolly 21 also can be with goods
Matter packaging box baseplane occurs rolling support, prevents the front and rear overhanging Bending Damage lifted and reprint frame 112, front and rear to lift reprinting frame
112 coordinates are moved to the postindustrial control computer of setpoint distance that goods packaging box is reprinted positioned at transport directly over dolly 21 and controlled
The front and rear head lifting part for lifting reprinting frame 112, which falls action, makes the front and rear reprinting coordinate of frame 112 of lifting be displaced downwardly to disengaging goods packing
The setpoint distance of bottom plane, goods packaging box is piled up to be reprinted on dolly 21 in transport, and then industrial control computer is first controlled
The translation reprinting component actuation of reprinting frame 112 is lifted before and after system makes front and rear reprinting frame 112 of lifting first withdraw to lifting pallet 111
Above, the front and rear head lifting part action for lifting reprinting frame 112 is controlled front and rear reprinting frame 112 of lifting is reset to original state completion again
Goods packaging box controls freight lifting mechanism from handing-over of the pallet 111 to transport reprinting dolly 21, industrial control computer is lifted
11 pallet, which is oriented to lifting piece action, makes lifting pallet 111 be reset to original state；
Then industrial control computer control controls the idler wheel driving of transport reprinting dolly 21 according to target position in storehouse coordinate information
Action makes transport reprinting dolly 21 carry the coordinate position that goods packaging box fore-and-aft direction coordinate is moved to face target position in storehouse
After stagnate, complete goods packaging box translation transport；
Then industrial control computer, which controls left and right to lift the head lifting part rise action of reprinting frame II 211, lifts left and right
Reprint that frame II 211 holds up goods packaging box, the baseplane of goods packaging box departs from the horizontal carrying roller that dolly 21 is reprinted in transport
Upper rolling surface to setting height, then industrial control computer controls left and right to lift the translation reprinting part of reprinting frame II 211 and moved
Work makes the left and right after lifting lift reprinting frame II 211 in left-right direction to the movement of target position in storehouse direction translational coordination, and left and right is lifted
Lift reprinting frame in the left and right for reprinting the external part insertion target position in storehouse that reprinting frame II 211 is lifted in left and right in the translation motion of frame II 211
In slot to make way, even if left and right is lifted in the reprinting translation motion of frame II 211, the reprinting hair of frame II 211 is lifted in left and right caused by gravity
Raw overhang bends, and rolling support can also occur with goods packaging box baseplane, prevent left and right from holding in the palm for longitudinal carrying roller on target position in storehouse
Lift the overhanging Bending Damage for reprinting frame II 211, left and right, which is lifted, reprints the coordinate of frame II 211 and be moved to goods packaging box and be located at target bin
The head lifting part that reprinting frame II 211 is lifted in the postindustrial control computer control left and right of setpoint distance directly over the bottom plate of position falls dynamic
Making, which lifts left and right, reprints the setpoint distance that the coordinate of frame II 211 is displaced downwardly to disengaging goods packaging box baseplane, and goods packaging box is
Pile up on the bottom plate of target position in storehouse, then industrial control computer first controls left and right to lift the translation reprinting for reprinting frame II 211
Component actuation make left and right lift reprint frame II 211 first withdraw to transport reprint dolly 21 on, control again left and right lift reprint frame II
211 head lifting part action makes left and right lift to reprint frame II 211 and be reset to original state and complete goods packaging box from transporting reprinting
For dolly 21 to the handing-over of target position in storehouse, industrial control computer, which controls transport to reprint the roller drive actions of dolly 21, turns transport
Carry dolly 21 and be reset to original state, complete whole goods warehouse entry operation.
Target position in storehouse be located at goods disengaging pallet 12 surface or underface upper strata position in storehouse or lower floor's position in storehouse when, goods
For packing case from after the completion of lifting pallet 111 to the handing-over of transport reprinting dolly 21, lifting pallet 111 is first reset to original state,
Then transport reprinting dolly 21 is moved to directly over lifting pallet 111 again or location directly below carries out goods packaging box from transport
Reprint handing-over of the dolly 21 to target position in storehouse.
This Automated tridimensional warehousing system is the inverse process of above mentioned goods warehouse entry operation when carrying out goods export and operating,
This is sketched, is no longer described in detail：Industrial control computer determines target bin according to the goods packaging box identification code of input first
The coordinate information of position, then control transport reprinting dolly 21 to be moved to the coordinate position of target position in storehouse and carry out goods packaging box from mesh
Mark position in storehouse and extremely transport the handing-over for reprinting dolly 21, then control transport reprinting dolly 21 carries goods packaging box and is moved to initial bit
Put, then control freight lifting mechanism 11 pallet be oriented to lifting piece make lifting pallet 111 move up and down to target position in storehouse
Place layer transport reprint the same level of dolly 21 dead state, go forward side by side crudely-made articles matter packaging box from transport reprint dolly 21 to
The handing-over of pallet 111 is lifted, then controlling the pallet of freight lifting mechanism 11 to be oriented to lifting piece is reset to lifting pallet 111
Original state, crudely-made articles matter packaging box of going forward side by side complete whole goods export from handing-over of the pallet 111 to goods disengaging pallet 12 is lifted
Operation.
This Automated tridimensional warehousing system by control lifting pallet 111 and transport reprint the work compound of dolly 21 can be with
Realization is put in storage, while export operates.
Skidded off in order to which the goods packaging box for preventing from being located in position in storehouse is improper, as a further improvement on the present invention scheme,
As shown in fig. 7, reprinting frame is lifted in the left and right of described every bin level overwhelms formula position-limit mechanism 31, bullet by bit port provided with elasticity
Property overwhelm formula position-limit mechanism 31 and be arranged on the left and right of position in storehouse and lift and reprint frame the end position of position in storehouse Hatch Opening is corresponded to by bit port, such as
Shown in Fig. 8, elasticity, which overwhelms formula position-limit mechanism 31, includes limiting plate, Flexible Reset part and upright angle limit part, limiting plate
The length direction turnover setting for reprinting frame by bit port is lifted along the left and right of position in storehouse, limiting plate bottom is hingedly mounted on the bottom of position in storehouse
On plate upper surface, connection, the other end and limiting plate connect on the plate upper surface of Flexible Reset part one end and position in storehouse, upright angle
Degree limiting component is arranged on the articulated position of limiting plate, and the turnover angle that upright angle limit part can limit limiting plate is little
In 120 °.The left and right that transport is reprinted on dolly 21 lift reprint frame II 211 be not inserted into position in storehouse left and right lift reprint frame step down it is logical
Elasticity overwhelms formula position-limit mechanism and is in the upright spacing state of closure when in road, and reprinting is lifted in the left and right that transport is reprinted on dolly 21
Elasticity overwhelms formula position-limit mechanism and lifts reprinting frame by left and right when reprinting frame is lifted by bit port in the left and right that frame II 211 inserts position in storehouse
II 211 overwhelm in resigning prevailing state.
In order to reduce abrasion, scheme, the top of described limiting plate are provided with along position in storehouse as a further improvement on the present invention
Left and right lift reprint frame by bit port length direction roll set support carry disk roller.The left and right support on dolly 21 is reprinted in transport
Lift to reprint the insertion of frame II 211 or leave the left and right of position in storehouse and lift to reprint frame and carry disk roller by support during bit port and roll to form rolling and rub
Wipe, and then avoid sliding friction, reduce abrasion.
In order to further realize the steady translational movement of goods packaging box, scheme as a further improvement on the present invention, institute
Lift to reprint along left and right on the upper surface for the lifting pallet 111 stated and insertion lifting pallet is additionally provided with frame resigning channel-length direction
The left and right of 111 upper surfaces, which is lifted, reprints frame slot to make way, and left and right, which lifts reprinting frame slot to make way and lifts to reprint frame and step down positioned at left and right, to be led to
The underface in road, the front and rear top for lifting reprinting frame 112；Transport is reprinted and allowed on the upper surface of dolly 21 along front and rear reprinting frame of lifting
Front and rear lift through transport reprinting dolly 21 upper surface is additionally provided with bit port length direction and reprints frame slot to make way, it is front and rear to lift
Reprinting frame slot to make way is lifted before and after reprints the top that frame lifts reprinting frame II 211 by underface, the left and right of bit port；Position in storehouse
Lift to reprint along left and right on the plate upper surface of every bin level of material rest device 3 and left and right is additionally provided with frame resigning channel-length direction
Lift and reprint frame slot to make way, left and right lifts reprinting frame slot to make way and lifts underface of the reprinting frame by bit port positioned at left and right.Lifting
The left and right of pallet 111 is lifted and reprints frame slot to make way, transport reprints the front and rear of dolly 21 and lifts reprinting frame slot to make way, position in storehouse bin dress
Put 3 every bin level left and right lift reprint frame slot to make way settings can be lifted in left and right reprint frame I 121 external part insert
Lifting pallet 111 left and right lift reprint frame by bit port when, it is front and rear lift reprint frame 112 external part insertion transport reprint
Dolly 21 it is front and rear lift reprint when in frame slot to make way, the left side of the external part insertion target position in storehouse for reprinting frame II 211 is lifted in left and right
The right side is lifted to be oriented to when reprinting in frame slot to make way, and then ensures the steady translational movement of goods packaging box.
It is square as a further improvement on the present invention for the ease of goods packaging box is placed on goods disengaging pallet 12
Case, the upper surface of described goods disengaging pallet 12 is provided with the multiple horizontal carrying rollers for rolling setting along the longitudinal direction, described
Lift reprinting frame I 121 and be arranged between horizontal carrying roller in left and right.Goods packaging box is placed on goods disengaging support from fore-and-aft direction push-in
Horizontal carrying roller during on disk 12 on goods disengaging pallet 12 can carry out auxiliary and be oriented to rolling.
The head lifting part peace transfer load part for reprinting frame I 121 is lifted in described left and right, front and rear lift reprints frame 112
The head lifting part peace transfer load part that head lifting part peace transfer load part, left and right lift reprinting frame II 211 can be hydraulic pressure
Control structure or pneumatic control structure or electric control structure, because first two scheme need to additionally configure hydraulic power unit or gas
Pump, it is not only complicated and also for transport reprint dolly 21 be not easy to directly control, therefore preferably the third scheme, i.e. make
For the preferred scheme of the present invention, described left and right, which is lifted, reprints the head lifting part peace transfer of frame I 121 and carries part, front and rear lifts
Reprint the head lifting part peace transfer load part of frame 112, the head lifting part peace transfer load part for reprinting frame II 211 is lifted in left and right
It is electric screw bar structure.
For the ease of power taking and prevent from setting excessive circuit-line to cause system too fat to move, as the further of the present invention
Improvement project, described lifting pallet 111 and transport reprint dolly 21 and use contact automatic electricity taking mode, lift pallet
111 and transport reprint dolly 21 structure bent by power taking and contact with power lead progress power taking.
This Automated tridimensional warehousing system is fully digitalization control unit, can be seamless with the number bus of Intelligent logistics
Connection realize concentrate digital management, carried out by the way of delivering in relays goods put in storage and export, coordinate Intelligent logistics
Automatical pilot transportation vehicle can realize fully digitalization warehousing and export；Set because freight lifting rehandling facilities 1 is embedded in
In the inside of the rear and front end of position in storehouse material rest device 3, pallet 12 is symmetrical is fixedly installed on cargo hoister for the disengaging of two pieces goods
The left and right sides of structure 11, goods disengaging pallet 12 are located at the end of the ground floor of the multilayer position in storehouse material frame structure of position in storehouse material rest device 3
Portion position in storehouse position and the end position in storehouse are the structures that front end face or rear end face open, therefore the rear and front end of position in storehouse material rest device 3
Position can use except other positions outside the position of goods disengaging pallet 12 as position in storehouse, improve space utilization to greatest extent
Rate；Include support frame and the hoistway that is arranged on inside support frame because pallet is oriented to lifting piece, support frame be left,
The three face open architectures that right, front or behind open, lifting pallet 111 are arranged in hoistway, therefore by controlling lifting support
The work compound that dolly 21 is reprinted in disk 111 and transport can realize that the position in storehouse above or below goods disengaging pallet 12 can access
Goods；Because position in storehouse material rest device 3 is simple multilayer position in storehouse material frame structure, actuating unit is not provided with inside it, therefore tie
Structure is simple, easy to maintenance；This Automated tridimensional warehousing system, automaticity is high, can be in the position in storehouse bin that layering is set not
The allocation and transportation of warehoused cargo are realized on the premise of actuating unit is set, while can realize and make full use of space, especially suitable for intelligence
Can logistics.
Claims (7)
1. a kind of Automated tridimensional warehousing system, including freight lifting rehandling facilities (1), goods disengaging position in storehouse rehandling facilities (2),
Position in storehouse material rest device (3) and electric control gear；Characterized in that,
Described position in storehouse material rest device (3) is multilayer position in storehouse material frame structure, and multilayer position in storehouse material frame structure is at the middle part of left and right directions
Small vehicle passage is reprinted through the transport of multilayer position in storehouse material frame structure provided with fore-and-aft direction, transport reprints small vehicle passage by multilayer position in storehouse
Material frame structure is divided into left and right two parts, and the transport of every layer of position in storehouse material frame structure is reprinted to be equipped with small vehicle passage and set along the longitudinal direction
Vehicle guide is reprinted in the transport put, and every layer of position in storehouse material frame structure is equipped with multiple compartments in the longitudinal direction, and each compartment is one
Bin level, per bin level plate upper surface on be equipped with left-right direction roll set, it is multiple into section set longitudinal direction support
Roller；
Described freight lifting rehandling facilities (1) is arranged on the end of the small vehicle passage of transport reprinting of position in storehouse material rest device (3), and
The embedded inside for being arranged on position in storehouse material rest device (3) rear and front end of freight lifting rehandling facilities (1), freight lifting rehandling facilities
(1) freight lifting mechanism (11) and goods disengaging pallet (12) are included, goods passes in and out pallet (12) and is arranged to two pieces, symmetrical
The left and right sides of freight lifting mechanism (11) is fixedly installed on, goods disengaging pallet (12) is located at position in storehouse material rest device (3) multilayer
The end position in storehouse position of the ground floor of position in storehouse material frame structure and the end position in storehouse are the structures that front end face or rear end face open；
Goods disengaging pallet (12) includes multiple left and right and lifts reprinting frame I (121), and left and right, which is lifted, reprints frame I (121) along right and left
Internal to goods disengaging pallet (12) is horizontally set on, reprinting frame I (121) is lifted in left and right includes head lifting part peace transfer load portion
Part, head lifting part can lift left and right and lift the upper surface that reprinting frame I (121) makes its upper surface pass in and out pallet (12) higher than goods,
Part is reprinted in translation can make the left and right after lifting lift reprinting frame I (121) translational movement in left-right direction；
Freight lifting mechanism (11) includes lifting pallet (111) and can make what lifting pallet (111) vertically moved up and down
Pallet is oriented to lifting piece, and pallet, which is oriented to lifting piece, includes support frame and the hoistway being arranged on inside support frame, support
Framework is left, right, three face open architectures of front or behind opening, and lifting pallet (111) is arranged in hoistway；Lifting support
The upper surface of disk (111) is provided with rolls the longitudinal carrying roller set into section set, multiple in left-right direction；Lift pallet
(111) corresponded on upper surface goods disengaging pallet (12) left and right lift reprint frame I (121) position be additionally provided with left and right directions
Lift reprinting frame and lift reprinting frame by bit port positioned at the longitudinal carrying roller set into section by bit port and the left and right in the left and right of setting
Each section between；Multiple front and rear lift are additionally provided with inside lifting pallet (111) and reprint frame (112), front and rear lift reprints frame (112)
The inside of the lifting pallet (111) between longitudinal carrying roller is horizontally set on along the longitudinal direction and front and rear reprinting frame (112) of lifting is located at
Left and right, which is lifted, reprints lower section of the frame by bit port, and front and rear reprinting frame (112) of lifting carries part including head lifting part peace transfer, holds in the palm
The front and rear upper rolling surface lifted reprinting frame (112) and make its upper surface be higher than longitudinal carrying roller can be lifted by lifting part, and part is reprinted in translation
Front and rear lift after lifting can be made to reprint frame (112) translational movement along the longitudinal direction；
Described goods disengaging position in storehouse rehandling facilities (2) includes setting up the transport reprinting dolly for being arranged on every layer of position in storehouse material frame structure
Dolly (21) is reprinted in transport on guide rail；Dolly (21) is reprinted in transport to be included reprinting roller and the peace that vehicle guide coordinates with transport
Roller driving on roller；The upper surface that dolly (21) is reprinted in transport is setting, multiple provided with rolling along the longitudinal direction
The horizontal carrying roller set into section；Transport reprints the front and rear of corresponding lifting pallet (111) on the upper surface of dolly (21) and lifts reprinting
The front and rear reprinting frame of lifting that the position of frame (112) is additionally provided with fore-and-aft direction setting allows by bit port and the front and rear reprinting frame of lifting
Bit port is reprinted positioned at transport between each section of the horizontal carrying roller set into section of dolly (21)；It is internal that dolly (21) is reprinted in transport
Lifted provided with multiple left and right and reprint frame II (211), left and right lifts reprinting frame II (211) and is horizontally set on horizontal support in left-right direction
Transport reprinting dolly (21) between roller is internal and left and right lifts reprinting frame II (211) and reprinting frame is lifted before and after and is stepped down and leads to
The lower section in road；Respective transfer reprints the left and right support of dolly (21) on the plate upper surface of every bin level of position in storehouse material rest device (3)
Lift reprint frame II (211) position be additionally provided with left and right directions setting left and right lift reprint frame lifted by bit port and the left and right
Reprinting frame is located at by bit port between each section of the longitudinal carrying roller set into section of every bin level of position in storehouse material rest device (3)；
Described electric control gear includes industrial control computer, goods warehouse entry control loop and goods export control loop, industry
Control computer is built-in with position in storehouse coordinate information, position in storehouse loads information and position in storehouse option program, industrial control computer respectively with
Lift the head lifting part peace transfer load part for reprinting frame I (121), the pallet guiding lifting parts of freight lifting mechanism (11) in left and right
Part, the front and rear head lifting part peace for lifting reprinting frame (112) transfer and carry part, the roller driving of transport reprinting dolly (21), a left side
Lift the head lifting part peace transfer load part electrical connection for reprinting frame II (211) in the right side.
2. Automated tridimensional warehousing system according to claim 1, it is characterised in that the left and right support of described every bin level
Lift to reprint in frame slot to make way and overwhelm formula position-limit mechanism (31) provided with elasticity, elasticity overwhelms formula position-limit mechanism (31) and is arranged on position in storehouse
Left and right, which is lifted, reprints frame slot to make way and correspond to the end position of position in storehouse Hatch Opening, elasticity overwhelm formula position-limit mechanism (31) including limiting plate,
Flexible Reset part and upright angle limit part, the length direction that reprinting frame slot to make way is lifted in left and right of the limiting plate along position in storehouse turn over
Folding is set, and the bottom land for reprinting frame slot to make way, Flexible Reset part one end are lifted in the left and right that limiting plate bottom is hingedly mounted on position in storehouse
Lifted with the left and right of position in storehouse reprint frame slot to make way bottom land be connected, the connection of the other end and limiting plate, upright angle limit part sets
Put the articulated position in limiting plate.
3. Automated tridimensional warehousing system according to claim 2, it is characterised in that the top of described limiting plate is provided with
Lifted along the left and right of position in storehouse and reprint the support load disk roller that frame rolls setting by the length direction of bit port.
4. according to the Automated tridimensional warehousing system described in claim 1 or 2 or 3, it is characterised in that described lifting pallet
(111) lift to reprint along left and right on upper surface and insertion lifting pallet (111) upper table is additionally provided with frame resigning channel-length direction
The left and right in face, which is lifted, reprints frame slot to make way, left and right lift reprint frame slot to make way lifted positioned at left and right reprint frame by bit port just under
Side, the front and rear top for lifting reprinting frame (112)；Transport reprint on the upper surface of dolly (21) along it is front and rear lift reprint frame step down it is logical
Front and rear lift through transport reprinting dolly (21) upper surface is additionally provided with road length direction and reprints frame slot to make way, front and rear lift turns
Carrier slot to make way is lifted before and after reprints the top that frame lifts reprinting frame II (211) by underface, the left and right of bit port；Position in storehouse
Lift to reprint along left and right on the plate upper surface of every bin level of material rest device (3) and be additionally provided with a left side in frame resigning channel-length direction
The right side, which is lifted, reprints frame slot to make way, and left and right lifts reprinting frame slot to make way and lifts underface of the reprinting frame by bit port positioned at left and right.
5. according to the Automated tridimensional warehousing system described in claim 1 or 2 or 3, it is characterised in that described goods disengaging support
The upper surface of disk (12) is provided with the multiple horizontal carrying rollers for rolling setting along the longitudinal direction, and described left and right, which is lifted, reprints frame I
(121) it is arranged between horizontal carrying roller.
6. according to the Automated tridimensional warehousing system described in claim 1 or 2 or 3, it is characterised in that described left and right, which is lifted, to be turned
The head lifting part peace transfer of carrier I (121) carries part, the front and rear head lifting part peace transfer load portion for lifting reprinting frame (112)
The head lifting part peace transfer load part that part, left and right lift reprinting frame II (211) is electric screw bar structure.
7. according to the Automated tridimensional warehousing system described in claim 1 or 2 or 3, it is characterised in that described lifting pallet
(111) reprint dolly (21) with transport and use contact automatic electricity taking mode, dolly is reprinted in lifting pallet (111) and transport
(21) structure is bent by power taking and progress power taking is contacted with power lead.
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| CN201711069385.7A CN107867528B (en) | 2017-11-03 | 2017-11-03 | Automatic stereoscopic warehouse system |
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| CN201711069385.7A CN107867528B (en) | 2017-11-03 | 2017-11-03 | Automatic stereoscopic warehouse system |
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| CN107867528B (en) | 2023-06-30 |
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