CN110844424A - Stereoscopic warehouse - Google Patents

Abstract

The invention provides a stereoscopic warehouse, wherein a logistics area of the stereoscopic warehouse comprises one or a plurality of plants, the plants comprise plant columns, equipment, a conveying vehicle, articles, the stereoscopic warehouse and rails, the equipment and the stereoscopic warehouse are both positioned below the rails, a cavity with a downward opening of the conveying vehicle is a bottom space in a vehicle frame, the columns are positioned at four corners of the vehicle frame, a walking device is positioned at the bottom of each column, a lifting hoisting device is fixed on the vehicle frame, a taking and placing device is arranged at the bottom of the lifting hoisting device, and the lifting operation of the taking and placing device is realized through the lifting hoisting device; the goods comprise top goods, and the transport vehicle runs on the track through the traveling device; the taking and placing device directly enters the goods grids from the upper part through the lifting device to take and place top-layer articles. The advantages are that: get through top delivery wagon and put traditional stereoscopic warehouse or intensive stereoscopic warehouse's top goods, the delivery wagon can directly carry to the equipment in the factory building on, perhaps the position of setting for in the logistics region reduces the transport number of times, and the commodity circulation is more unobstructed.

Description

Stereoscopic warehouse

Technical Field

The invention relates to a stereoscopic warehouse, and belongs to the technical field of stereoscopic warehousing.

Background

The traditional stereoscopic warehouse mainly comprises roadways, goods shelves and stacking machines, wherein each two rows of goods shelves need one roadway, the occupied area of the roadways is large, and the space of goods in the warehouse is reduced; the stacker walks to the two ends of the roadway, and workpieces or trays are connected to the end part of the roadway to finish warehousing and ex-warehouse, so that the stacker needs to walk to the end part of the roadway when taking and putting one workpiece or tray, and the warehousing and ex-warehouse efficiency is low; when the goods need to be sent to other positions or equipment in a workshop, the goods need to be exchanged and carried for many times, and logistics are not smooth.

Disclosure of Invention

The invention provides a stereoscopic warehouse, which aims to overcome the defects in the prior art and has the main advantages that: the top goods of the traditional stereoscopic warehouse or the intensive stereoscopic warehouse are picked and placed through a top conveying vehicle, and the conveying vehicle can be directly conveyed to equipment in a factory building or a set position in a logistics area through a fixed rail and a movable rail; the mode of taking and placing the goods from the top is suitable for the traditional stereoscopic warehouse or the intensive stereoscopic warehouse, and the intensive stereoscopic warehouse has larger storage capacity of the goods in a limited space.

The technical solution of the invention is as follows: the logistics area 1 comprises one or a plurality of factory buildings 1-1, factory building columns 1-1-1, equipment 1-1-2, a conveying vehicle 2, articles 3, a stereoscopic warehouse 4 and a track 5 are arranged in the factory buildings 1-1, the equipment 1-1-2 and the stereoscopic warehouse 4 are both positioned below the track 5, the conveying vehicle 2 comprises a walking device 2-1 and a vehicle body 2-2, the vehicle body 2-2 comprises a vehicle frame 2-2-1, columns 2-2-2, a cavity 2-2-3, a lifting device 6 and a pick-and-place device 7, the cavity 2-2-3 with a downward opening is a bottom space in the vehicle frame 2-2-1, the columns 2-2-2 are positioned at four corners of the vehicle frame 2-2-1, the walking device 2-1 is positioned at the bottom of the columns 2-2-2, the lifting hoisting device 6 is fixed on the frame 2-2-1, the taking and placing device 7 is arranged at the bottom of the lifting hoisting device 6, and the lifting operation of the taking and placing device 7 is realized through the lifting hoisting device 6; the stereoscopic warehouse 4 comprises a stereoscopic goods shelf 4-1, the stereoscopic goods shelf 4-1 comprises goods lattices 8 for storing a plurality of layers of goods 3, the goods 3 comprise top-layer goods 3-1, the rails 5 comprise transverse rails 5X and longitudinal rails 5Y, the transport vehicle 2 runs on the transverse rails 5X along the X direction through the traveling devices 2-1 and runs on the longitudinal rails 5Y along the Y direction; the picking and placing device 7 directly enters the goods grid 8 from the upper part through the lifting and hoisting device 6 to pick and place the top layer article 3-1, the conveying vehicle 2 picks the article 3 outside the stereoscopic warehouse 4 and then places the article 3-1 in the goods grid 8 in the stereoscopic warehouse 4 to form the top layer article 3-1, or the top layer article 3-1 in the goods grid 8 is taken out and then placed outside the stereoscopic warehouse 4, or the article 3 is conveyed and converted between different positions below the track 5, the picking and placing device 7 lifts the article 3 below the vehicle body 2-2 through the lifting and hoisting device 6 and places the article 3 on the picking and placing device 7 in the cavity 2-2-3 below the vehicle body 2-2 through the lifting and hoisting device 6.

The invention has the advantages that: get through top delivery wagon and put traditional stereoscopic warehouse or intensive stereoscopic warehouse's top goods, the delivery wagon can directly carry to the equipment in the factory building on, perhaps the position of setting for in the logistics region reduces the transport number of times, and the commodity circulation is more unobstructed.

Drawings

FIG. 1 is a cross-sectional view of a logistics area 1 formed by two plants 1-1, and is a schematic structural diagram of the plants 1-1 including plant columns 1-1-1, equipment 1-1-2, a transport vehicle 2, articles 3, a stereoscopic warehouse 4 and a track 5;

fig. 2 is a partial schematic view of the coverage area of the traveling crane 10 in fig. 1, which is also a schematic view of a structure in which a traveling device 2-1 of the transfer car 2 travels on a traveling car moving track 10-1, that is, a moving track 5A, which is also a schematic view of a structure in which the stereoscopic warehouse 4 includes a conventional stereoscopic warehouse 11 and a dense stereoscopic warehouse 12, and is also a schematic view of a structure in which the car body 2-2 includes a frame 2-2-1, a column 2-2-2, a cavity 2-2-3, a lifting and hoisting device 6 and a pick-and-place device 7;

fig. 3 is a view from a to a in fig. 2, which is also a schematic structural diagram that the stacker 11-3 can place the articles 3 in the conventional goods grid 811 of the conventional three-dimensional shelf 11-1 on the top-level goods grid 811-1 in the roadway 11-2 to become top-level articles 3-1, and then the pick-and-place device 7 is lowered to the top-level goods grid 811-1 to grab the top-level articles 3-1 by the lifting and hoisting device 6 on the transport vehicle 2, and the top-level articles are transported to a set position by the moving rail 5A or the fixed rail 5B;

fig. 4 is a view B-B of fig. 2, which is also a schematic structural view of the intensive type stereoscopic warehouse 12 being an upper-upper delivery warehouse 12A, wherein the conveying vehicle 2 is used for taking and placing the top-layer article 3-1 in the upper-upper delivery grid 812A by the taking and placing device 7;

FIG. 5 is a schematic structural diagram of a factory building track 5B1 fixed on a factory building column 1-1-1, which is also a schematic structural diagram of a transport vehicle 2 running between different factory buildings 1-1 and different traveling vehicles 10 through a factory building track 5B1, and is also a schematic structural diagram of a factory building track 5B1 including a transverse track 5X and a longitudinal track 5Y;

FIG. 6 is a schematic structural diagram of the lifting device 6 including a crane 6-1 and a guide post and guide bush device 9, and also a pick-and-place device 7 is installed at the bottom of the bottom guide post 9-2, the winch 6-1-1 pulls the bottom guide post 9-2 to move upwards through a steel wire rope 6-1-2 installed in the top guide bush 9-1, and moves downwards through the bottom guide post 9-2 and the pick-and-place device 7 by its own weight, the lifting device 6 formed by the steel wire rope 6-1-2 and the guide post and guide bush device 9 has certain rigidity, is not easy to shake during lifting, and ensures the accuracy of a grabbing position;

fig. 7 is a schematic structural diagram of the lifting, picking and placing device 7 adopting four steel wire ropes;

FIG. 8 is a schematic structural view of a single upper discharging rack 12A1-1 of a single upper discharging rack 12A1 on a single cargo lattice, provided with a warehouse track 5B2 on which the transfer cart 2 travels, and a schematic structural view of a single upper discharging rack 812A1 in the middle of a single upper discharging rack 12A 1-1;

fig. 9 is a top plan view of fig. 8, also in a schematic view of the dense layout of the single-piece warehouse bins of the dense stereoscopic warehouse 12 on the entrance and exit warehouse 12a 1;

fig. 10 is a top view of four upper shelves 12a2-1 of the upper warehouse 12a2, which is also a unit of the four upper shelves 12a2 in which 4 articles 3 can be stored in the same layer, and the dense type stereoscopic warehouse 12 can be provided with a plurality of shelf units as required;

FIG. 11 is the view A-A of FIG. 10, also showing the configuration of item 3 in four-piece upper access shelf 812A2 with the four-piece upper access shelf 12A2-1 provided with holding points;

FIG. 12 is a schematic view of the intensive type stereoscopic warehouse 12 being a lower-in upper-out warehouse 12B, the ground AGV transporting vehicle 12B-2 lifting up the articles 3 in the lower-in upper-out grid 812B from the bottom, the bottom transporting vehicle 3 stacking the articles 3 in a line in the vertical direction by the self-weight by cooperating with the bottom stopper 12B-3, and the transporting vehicle 2 picking and placing the top-layer articles 3-1 in the lower-in upper-out grid 812B by the picking and placing device 7;

fig. 13 is a structural diagram of the state that the pick-and-place claw 7A-2 of the rotary pick-and-place device 7A is positioned at the pick-and-place position 7A-2-1 and the avoiding position 7A-2-2;

fig. 14 is a view a-a of fig. 13, in which the pick-and-place claw 7A-2 is located at the bottom of the rotating rod 7A-1, the rotating driving device 7A-3 rotates the rotating rod 7A-1, and the pick-and-place claw 7A-2 of the rotating pick-and-place device 7A is used for supporting the cylindrical object 3-2;

FIG. 15 is a schematic view of the gripping and picking device 7B causing the gripping jaw 7B-1 to grip the cylindrical article 3-2 by the gripping power 7B-2;

FIG. 16 is a schematic view showing a structure in which two shelf stoppers 12A-1-1 are provided on the upper discharge rack 12A-1 of the upper discharge warehouse 12A, and the section pallet 13 is placed on the shelf stoppers 12A-1-1, that is, the upper discharge compartment 812A is divided into three sections in the height direction;

FIG. 17 is the view from A-A of FIG. 16, also showing the pick-and-place claw 7A-2 lifting the rotating section pallet 13A through the corner channel 812A-1 into the upper shipping grid 812A;

FIG. 18 is a schematic view of the rotary pick-and-place device 7A with the rotary section supporting plate 13A rotated by a certain angle to make the fixed seat 13A-2 and the shelf stopper 12A-1-1 overlapped in a top view;

FIG. 19 is the view from A-A of FIG. 18, also showing the placement of the pawl 7A-2 to hook the hanger 13A-2-1 and the bottom bearing block 13A-2-2 of the rotating zone pallet 13A to the shelf stop 12A-1-1;

FIG. 20 is a schematic view of the mechanism after the state of FIG. 18, in which the rotating pick-and-place device 7A rotates the rotating section pallet 13A by the same angle, the placing claw 7A-2 rotates to the avoiding position 7A-2-2, and the rotating pick-and-place device 7A can be separated from the rotating section pallet 13A;

FIG. 21 is a schematic structural view of the clamp type pick-and-place device 7B clamping the outer ring of the clamp type round middle supporting plate 13B-1 by the clamping jaws 7B-1;

FIG. 22 is a schematic view showing the structure of the retractable rod tray 14A supported by the stopper 15 when the retractable rod 14A-2 is extended, and the retractable rod tray 14A includes a middle support 14A-1 and a retractable rod 14A-2 located outside the middle support 14A-1;

FIG. 23 is the view A-A of FIG. 22, which is also a schematic view of the pick-and-place device 7 being used to extend or retract the retractable rod 14A-2 via the retractable power device 16;

FIG. 24 is a schematic view of the structure in which the bump 14B-2 located outside the middle bracket 14B-1 overlaps the stoppers 15, and the bump tray 14B is pressed against the four stoppers 15;

fig. 25 is a schematic structural view showing that the bump tray 14B is lifted up by the pick-and-place device 7 on the transport vehicle 2 and moved by a set distance so that the bumps 14B-2 and the stoppers 15 do not overlap and the stoppers 15 do not affect the up-and-down movement of the bump tray 14B;

fig. 26 is a view a-a of fig. 25, also showing the configuration of the article 3 placed on the bump tray 14B for an overall pick-and-place operation;

in the figure, 1 is a material flow area; 1-1 is a factory building, which comprises a factory building upright post 1-1-1, equipment 1-1-2, a delivery wagon 2, an article 3, a stereoscopic warehouse 4 and a track 5; 1-1-1 is a plant upright post; 1-1-2 is a device; 1-1-3 is a running rail; 2 is a conveying vehicle which comprises a walking device 2-1 and a vehicle body 2-2; 2-1 is a walking device; 2-2 is a vehicle body which comprises a vehicle frame 2-2-1, an upright post 2-2-2, a cavity 2-2-3, a lifting hoisting device 6 and a taking and placing device 7; 2-2-1 is a frame; 2-2-2 is a column; 2-2-3 is a cavity; 3 is an article, including a top layer article 3-1; 3-1 is a top layer article; 3-2 is a cylindrical article; 4 is a stereoscopic warehouse comprising a stereoscopic shelf 4-1; 4-1 is a three-dimensional shelf; 5 are rails including a transverse rail 5X and a longitudinal rail 5Y; 5X is a transverse track; 5Y is a longitudinal rail; 5A is a moving track; 5B is a fixed rail; 5C is a hybrid orbital; 5B1 is a plant rail; 5B2 is a warehouse track; 6 is a lifting hoisting device, which comprises a crane 6-1 and a guide post and guide sleeve device 9; 6-1 is a crane, which comprises a winch 6-1-1 and a steel wire rope 6-1-2; 6-1-1 is a winch; 6-1-2 is a steel wire rope; 2-3 is a control cabinet; 2-37 are cable lines; 7 is a taking and placing device; the 7 is a taking and placing device, which comprises a rotary taking and placing device 7A and a clamping type taking and placing device 7B; the 7A is a rotary taking and placing device which comprises a rotating rod 7A-1, a taking and placing claw 7A-2 and a rotary driving device 7A-3; 7A-1 is a rotating rod; the 7A-2 is a picking and placing claw which comprises a picking and placing position 7A-2-1 and an avoiding position 7A-2-2; 7A-2-1 is a taking and placing position; 7A-2-2 is an avoidance position; 7A-3 is a rotation driving device; the 7B is a clamping type picking and placing device which comprises a clamping jaw 7B-1 and a clamping power 7B-2; 7B-1 is a jaw; 7B-2 is clamping power; 8 is a cargo grid; 811 is a traditional grid, top-level grid 811-1; 811-1 is a top level shelf; 3-1 is a top layer article; 811 is a traditional grid, including top-level grid 811-1; 811-1 is a top level shelf; 9 is a guide post and guide sleeve device which comprises a top guide sleeve 9-1 and a bottom guide post 9-2; 9-1 is a top guide sleeve; 9-2 is a bottom guide post; 9A is a multi-stage guide post and guide sleeve device, which comprises one or a plurality of middle guide post and guide sleeves 9A-3; 9A-3 is a guide pillar and guide sleeve; 10 is a traveling crane; the warehouse 11 is a traditional stereoscopic warehouse and comprises a traditional stereoscopic shelf 11-1, a roadway 11-2 and a stacker 11-3; 11-1 is a traditional three-dimensional shelf; 11-2 is a roadway; 11-3 is a stacker; 12 is an intensive stereoscopic warehouse; 12A is an upper-in upper-out warehouse, which comprises a single-piece goods-grid upper-in upper-out warehouse 12A1 and a four-piece goods-grid upper-in upper- out warehouse 12A 2; 12A1 is a single piece upper and lower warehouse, which comprises a single piece upper and lower loading and unloading shelf 12A 1-1; 12A1-1 is a singleton up-out shelf comprising singleton up-out cells 812A 1; 812a1 is a single top in and out bin; 12A2 is a four-piece shelf in-out warehouse, comprising four-piece shelf in-out 12A 2-1; 12A2-1 is a four-piece top-in and top-out shelf comprising four top-in and top-out compartments 812A 2; 812A2 shows four upper and lower cargo grids; 12B is a lower-in and upper-out warehouse, which comprises a lower-in and upper-out shelf 12B-1; 12B-1 is a lower-in upper-out shelf, including a lower-in upper-out grid 812B; 12B-2 is a ground AGV transport vehicle; 12B-3 is a bottom stopper; 812B is a lower in and upper out grid; 13 is a zone supporting plate, comprising a rotary zone supporting plate 13A and a clamping zone supporting plate 13B; 13A is a rotary type subarea supporting plate and comprises a circular middle supporting plate 13A-1 and four fixed seats 13A-2; 13A-1 is a circular middle supporting plate; 13A-2 is a fixed seat and comprises a hanging seat 13A-2-1 positioned at the upper part and a supporting seat 13A-2-2 positioned at the bottom part; 13A-2-1 is a hanging seat; 13A-2-2 is a supporting seat; the 13B is a clamping type partition supporting plate and comprises a clamping type round middle supporting plate 13B-1 and four supporting seats 13B-2 which are uniformly distributed along the circumference of the outer ring of the clamping type round middle supporting plate 13B-1; 13B-1 is a clamping type round middle supporting plate; 13B-2 is a supporting seat; the upper-in and upper-out shelf 12A-1 comprises one or a plurality of layers of shelf stoppers 12A-1-1; 12A-1-1 is a shelf stopper; 7-4 is a horizontal slewing device; 812A-1 is a corner channel 14A which is a telescopic rod tray, comprising a middle support body 14A-1 and a telescopic rod 14A-2 positioned outside the middle support body 14A-1; 14B is a bump tray, which comprises a middle support body 14B-1 and a bump 14B-2 positioned at the outer side of the middle support body 14B-1; 14B-1 is an intermediate support; 14B-2 is a bump; 15 is a stopper; the taking and placing device 7 comprises a telescopic power device 16; and 16 is a telescopic power device.

Detailed Description

The logistics area 1 comprises one or a plurality of factory buildings 1-1, factory building columns 1-1-1, equipment 1-1-2, a conveying vehicle 2, articles 3, a stereoscopic warehouse 4 and a track 5 are arranged in the factory buildings 1-1, the equipment 1-1-2 and the stereoscopic warehouse 4 are both positioned below the track 5, the conveying vehicle 2 comprises a walking device 2-1 and a vehicle body 2-2, the vehicle body 2-2 comprises a vehicle frame 2-2-1, columns 2-2-2, a cavity 2-2-3, a lifting device 6 and a pick-and-place device 7, the cavity 2-2-3 with a downward opening is a bottom space in the vehicle frame 2-2-1, the columns 2-2-2 are positioned at four corners of the vehicle frame 2-2-1, the walking device 2-1 is positioned at the bottom of the columns 2-2-2, the lifting hoisting device 6 is fixed on the frame 2-2-1, the taking and placing device 7 is arranged at the bottom of the lifting hoisting device 6, and the lifting operation of the taking and placing device 7 is realized through the lifting hoisting device 6; the stereoscopic warehouse 4 comprises a stereoscopic goods shelf 4-1, the stereoscopic goods shelf 4-1 comprises goods lattices 8 for storing a plurality of layers of goods 3, the goods 3 comprise top-layer goods 3-1, the rails 5 comprise transverse rails 5X and longitudinal rails 5Y, the transport vehicle 2 runs on the transverse rails 5X along the X direction through the traveling devices 2-1 and runs on the longitudinal rails 5Y along the Y direction; the picking and placing device 7 directly enters the goods grid 8 from the upper part through the lifting and hoisting device 6 to pick and place the top layer article 3-1, the conveying vehicle 2 picks the article 3 outside the stereoscopic warehouse 4 and then places the article 3-1 in the goods grid 8 in the stereoscopic warehouse 4 to form the top layer article 3-1, or the top layer article 3-1 in the goods grid 8 is taken out and then placed outside the stereoscopic warehouse 4, or the article 3 is conveyed and converted between different positions below the track 5, the picking and placing device 7 lifts the article 3 below the vehicle body 2-2 through the lifting and hoisting device 6 and places the article 3 on the picking and placing device 7 in the cavity 2-2-3 below the vehicle body 2-2 through the lifting and hoisting device 6.

The lifting hoisting device 6 comprises a crane 6-1 and a guide post and guide sleeve device 9, the crane 6-1 comprises a winch 6-1-1 and a steel wire rope 6-1-2, the guide post and guide sleeve device 9 comprises a top guide sleeve 9-1 and a bottom guide post 9-2, the top guide sleeve 9-1 is positioned at the outermost ring of the guide post and guide sleeve device 9, the bottom guide post 9-2 is positioned at the center of the guide post and guide sleeve device 9, the top guide sleeve 9-1 is fixed on the frame 2-2-1, the pick-and-place device 7 is arranged at the bottom of the bottom guide post 9-2, the winch 6-1-1 pulls the bottom guide post 9-2 upwards through the steel wire rope 6-1-2 arranged in the top guide sleeve 9-1 and runs downwards through the dead weight of the bottom guide post 9-2 and, the pick-and-place device 7 is prevented from shaking during lifting and horizontal operation by the guide post and guide sleeve device 9, the transport vehicle 2 comprises a control cabinet 2-3, and the control cabinet 2-3 to the cable pipeline 2-37 of the pick-and-place device 7 are arranged in the guide post and guide sleeve device 9.

The guide post and guide sleeve device 9 is a multistage guide post and guide sleeve device 9A, the multistage guide post and guide sleeve device 9A comprises one or a plurality of intermediate guide post and guide sleeves 9A-3, and the one or a plurality of intermediate guide post and guide sleeves 9A-3 are positioned between a top guide sleeve 9-1 and a bottom guide post 9-2 of the multistage guide post and guide sleeve device 9A.

The track 5 comprises a moving track 5A, a fixed track 5B and a mixed track 5C, a workshop 1-1 comprises a travelling crane 10 and travelling crane tracks 1-1-3, the travelling crane tracks 1-1-3 are fixed on a workshop upright post 1-1-1, the travelling crane tracks 1-1-3 are arranged transversely, namely in the X direction, the travelling crane 10 comprises the travelling crane moving track 10-1, the travelling crane moving track 10-1 is a component of the moving track 5A and is vertical to the travelling crane tracks 1-1-3, a delivery wagon 2 runs on the travelling crane moving track 10-1 in the Y direction and runs on the travelling crane tracks 1-1-3 along with the travelling crane 10 in the X direction; the fixed rail 5B comprises a factory building rail 5B1 and a warehouse rail 5B2, the factory building rail 5B1 is fixed on a factory building upright post 1-1-1, the warehouse rail 5B2 is fixed at the top of the stereoscopic shelf 4-1, and a delivery wagon 2 running on the warehouse rail 5B2 is used for taking and placing top-layer articles 3-1 in the goods grid 8; the mixed track 5C is provided with a fixed track 5B and a movable track 5A, and the transfer car 2 realizes the conversion among different plants 1-1, different traveling cranes 10, different stereoscopic warehouses 4 or the three through the fixed track 5B.

The stereoscopic warehouse 4 is a traditional stereoscopic warehouse 11, the traditional stereoscopic warehouse 11 comprises a traditional stereoscopic goods shelf 11-1, a roadway 11-2 and a stacker 11-3, the stacker 11-3 operates in the roadway 11-2, the traditional stereoscopic goods shelf 11-1 comprises a traditional goods grid 811, the traditional goods grid 811 comprises a top-level goods grid 811-1, articles 3 in the traditional goods grid 811 are placed on the top-level goods grid 811-1 through the stacker 11-3 to become the top-level articles 3-1, or the top-level articles 3-1 are placed in the traditional goods grid 811 which is not on the top level, and the top-level articles 3-1 are taken and placed through the conveyor 2.

The stereoscopic warehouse 4 is an intensive stereoscopic warehouse (12, the intensive stereoscopic warehouse 12 comprises an upper-inlet upper-outlet warehouse 12A, the upper-inlet upper-outlet warehouse 12A comprises a single-piece upper-inlet upper-outlet warehouse 12A1 and four-piece upper-inlet upper-outlet warehouse 12A2, the single-piece upper-inlet upper-outlet warehouse 12A1 comprises a single-piece upper-inlet upper-outlet shelf 12A1-1, the single-piece upper-inlet upper-outlet shelf 12A1-1 comprises a single-piece upper-inlet upper-outlet grid 812A1, and the conveying vehicle 2 picks and places the top-layer articles 3-1 in the single-piece upper-inlet upper-outlet grid 812A1 through a picking and placing device 7; the four-piece goods-grid upper-loading and upper-unloading warehouse 12A2 comprises four-piece upper-loading and upper-unloading shelves 12A2-1, the four-piece upper-loading and upper-unloading shelves 12A2-1 comprise four-piece upper-loading and upper-unloading grids 812A2, and the conveying vehicle 2 takes and places the top-layer goods 3-1 in the four-piece upper-loading and upper-unloading grids 812A2 through the taking and placing device 7.

The article 3 is a columnar article 3-2, the taking and placing device 7 comprises a rotary taking and placing device 7A and a clamping type taking and placing device 7B, the rotary taking and placing device 7A comprises a rotating rod 7A-1, a taking and placing claw 7A-2 and a rotary driving device 7A-3, the taking and placing claw 7A-2 is positioned at the bottom of the rotating rod 7A-1 and comprises a taking and placing position 7A-2-1 and an avoiding position 7A-2-2, the rotating rod 7A-1 is rotated by the rotation driving device 7A-3 to realize the conversion of the pick-and-place claw 7A-2 between the pick-and-place position 7A-2-1 and the avoiding position 7A-2-2, when the picking and placing claw 7A-2 is at the picking and placing position 7A-2-1, the rotary picking and placing device 7A realizes the grabbing of the columnar object 3-2; the clamping type picking and placing device 7B comprises a clamping jaw 7B-1 and a clamping power 7B-2, and the clamping jaw 7B-1 is used for clamping and grabbing the columnar object 3-2 or loosening the clamping jaw 7B-1 to place the columnar object 3-2 through the clamping power 7B-2.

The upper-inlet upper-outlet warehouse 12A comprises a partition supporting plate 13, the upper-inlet upper-outlet shelf 12A-1 comprises one layer or a plurality of layers of shelf stoppers 12A-1-1, the taking and placing device 7 comprises a horizontal rotating device 7-4, the shelf stoppers 12A-1-1 are positioned at the corners of the upper-inlet upper-outlet grid 812A, the upper shipping compartment 812A is divided into several areas in the height direction, four corners of the upper shipping compartment 812A are in plan view, the cavity surrounded by the upper goods outlet frame 12A-1, the columnar goods 3-2 and the goods shelf stop block 12A-1-1 is arranged as a corner channel 812A-1, when the pick-and-place claw 7A-2 is at the pick-and-place position 7A-2-1 or the avoiding position 7A-2-2, the taking and placing device 7 can go in and out of the goods grid 812A through the corner channel 812A-1 at a specific horizontal angle; the partition supporting plate 13 comprises a rotary partition supporting plate 13A and a clamping partition supporting plate 13B, the rotary partition supporting plate 13A comprises a circular middle supporting plate 13A-1 and four fixing seats 13A-2 uniformly distributed along the circumference of the outer ring of the circular middle supporting plate 13A-1, the fixing seats 13A-2 comprise a hanging seat 13A-2-1 positioned at the upper part and a supporting seat 13A-2-2 positioned at the bottom part, and the rotary taking and placing device 7A is hooked or separated from the hanging seat 13A-2-1 through a taking and placing claw 7A-2 to operate; the clamping type partition supporting plate 13B comprises a clamping type circular middle supporting plate 13B-1 and four supporting seats 13B-2 which are uniformly distributed along the circumference of the outer ring of the clamping type circular middle supporting plate 13B-1, and the clamping type taking and placing device 7B clamps or loosens the outer ring of the clamping type circular middle supporting plate 13B-1 through a clamping jaw 7B-1 to operate; the step of putting the upper-inlet upper-outlet grid 812A into storage by the rotary picking and placing device 7A comprises m layers of shelf stoppers 12A-1-1, and n columnar articles 3-2 are placed on each layer, and the step of putting the upper-inlet upper-outlet grid 812A into storage comprises the following main steps:

1) placing the first columnar article 3-2 in the upper delivery compartment 812A by the rotary picking and placing device 7A, repeating the same operation to stack n columnar articles 3-2 in a vertical row;

2) the picking and placing claw 7A-2 is positioned at the picking and placing position 7A-2-1 to hook the hanging seat 13A-2-1, and the rotary picking and placing device 7A hangs the rotary type subarea supporting plate 13A to reach the upper part of the lowest m layers of shelf stop blocks 12A-1-1 through the m-1 layers of corner channels 812A-1;

3) the horizontal rotating device 7-4 rotates a set angle, so that the supporting seat 13A-2-2 is positioned above the shelf stop block 12A-1-1;

4) the pick-and-place claw 7A-2 descends to enable the supporting seat 13A-2-2 to be placed on the shelf stop block 12A-1-1;

5) the pick-and-place claw 7A-2 continues to descend, so that the pick-and-place claw 7A-2 is lower than the hanging seat 13A-2-1;

6) the horizontal rotating device 7-4 is reset, and the picking and placing claw 7A-2 is separated from the fixed seat 13A-2;

7) the picking and placing claw 7A-2 is lifted and reset, and the operation of the first layer is finished;

8) repeating the operations of the steps 1 to 7 to complete the second layer;

9) and (4) repeating the operations of the steps 1 to 8 until all warehousing operations are completed.

The upper-in upper-out warehouse 12A comprises two structures, namely an expansion link tray 14A and a bump tray 14B, an upper-in upper-out grid 812A comprises one or more layers of stop blocks 15, the taking and placing device 7 comprises an expansion power device 16, the expansion link tray 14A comprises a middle support body 14A-1 and an expansion link 14A-2 positioned outside the middle support body 14A-1, when the expansion link 14A-2 retracts, the stop blocks 15 do not influence the passing of the expansion link tray 14A, when the expansion link 14A-2 extends, the stop blocks 15 support the expansion link tray 14A, the stop blocks 15 divide the upper-in upper-out grid 812A into a plurality of areas in the height direction, and the taking and placing device 7 realizes the expansion link 14A-2 to extend or retract through the expansion power device 16; the bump tray 14B comprises a middle tray body 14B-1 and a bump 14B-2 positioned on the outer side of the middle tray body 14B-1, in a plan view, when the bump 14B-2 and the stopper 15 are not overlapped, the stopper 15 does not influence the up-and-down running of the bump tray 14B, the bump 14B-2 and the stopper 15 are overlapped through the running of the transport vehicle 2 on the track 5, then the bump 14B-2 is placed on the stopper 15 through the lifting hoisting device 6, the operation mode of the pick-and-place device 7 comprises two operation modes of A separation and B integration,

A. the discrete operation mode comprises the following steps:

the telescopic rod tray 14A and the columnar article 3-2 are separately and independently taken and placed;

B. the overall operation mode is as follows:

the article 3 is placed on the telescopic rod tray 14A or the bump tray 14B, and the overall pick-and-place operation is performed.

The articles 3 in the upper and upper delivery cells 812A are stacked in a line in the vertical direction by their own weight, and the pick-and-place device 7 is directly inserted from above by the lifting and lowering device 6 to pick and place all the articles 3 in the cells 8 from the top layer to the bottom layer.

The invention is further described with reference to the following figures

As shown in fig. 1, fig. 2 and fig. 5, the logistics area 1 comprises one or several factory buildings 1-1, the factory building 1-1 comprises factory building columns 1-1-1, equipment 1-1-2, a transport vehicle 2, an article 3, a stereoscopic warehouse 4 and a track 5, the equipment 1-1-2 and the stereoscopic warehouse 4 are all located below the track 5, the transport vehicle 2 comprises a walking device 2-1 and a vehicle body 2-2, the vehicle body 2-2 comprises a vehicle frame 2-2-1, columns 2-2-2, a cavity 2-2-3, a lifting and hoisting device 6 and a pick-and-place device 7, the cavity 2-2-3 with a downward opening is a bottom space in the vehicle frame 2-2-1, the columns 2-2-2 are located at four corners of the vehicle frame 2-2-1, the walking device 2-1 is positioned at the bottom of the upright post 2-2-2, the lifting hoisting device 6 is fixed on the frame 2-2-1, the taking and placing device 7 is arranged at the bottom of the lifting hoisting device 6, and the lifting operation of the taking and placing device 7 is realized through the lifting hoisting device 6; the stereoscopic warehouse 4 comprises a stereoscopic goods shelf 4-1, the stereoscopic goods shelf 4-1 comprises goods lattices 8 for storing a plurality of layers of goods 3, the goods 3 comprise top-layer goods 3-1, the rails 5 comprise transverse rails 5X and longitudinal rails 5Y, the transport vehicle 2 runs on the transverse rails 5X along the X direction through the traveling devices 2-1 and runs on the longitudinal rails 5Y along the Y direction; the picking and placing device 7 directly enters the goods grid 8 from the upper part through the lifting and hoisting device 6 to pick and place the top layer article 3-1, the conveying vehicle 2 picks the article 3 outside the stereoscopic warehouse 4 and then places the article 3-1 in the goods grid 8 in the stereoscopic warehouse 4 to form the top layer article 3-1, or the top layer article 3-1 in the goods grid 8 is taken out and then placed outside the stereoscopic warehouse 4, or the article 3 is conveyed and converted between different positions below the track 5, the picking and placing device 7 lifts the article 3 below the vehicle body 2-2 through the lifting and hoisting device 6 and places the article 3 on the picking and placing device 7 in the cavity 2-2-3 below the vehicle body 2-2 through the lifting and hoisting device 6.

As shown in fig. 2 to 4, the lifting and hoisting device 6 comprises a crane 6-1 and a guide post and guide bush device 9, the crane 6-1 comprises a winch 6-1-1 and a steel wire rope 6-1-2, the guide post and guide bush device 9 comprises a top guide bush 9-1 and a bottom guide post 9-2, the top guide bush 9-1 is positioned at the outermost ring of the guide post and guide bush device 9, the bottom guide post 9-2 is positioned at the center of the guide post and guide bush device 9, the top guide bush 9-1 is fixed on the vehicle frame 2-2-1, the pick-and-place device 7 is arranged at the bottom of the bottom guide post 9-2, the winch 6-1-1 pulls the bottom guide post 9-2 to run upwards through the steel wire rope 6-1-2 arranged in the top guide bush 9-1, and runs downwards through the dead weight of, the picking and placing device 7 is prevented from shaking in the lifting and horizontal running process of the article 3 carried by the guide post and guide sleeve device 9, the transport vehicle 2 comprises a control cabinet 2-3, and cable pipelines 2-37 from the control cabinet 2-3 to the picking and placing device 7 are arranged in the guide post and guide sleeve device 9; or a structure that four steel wire ropes are directly hung without a guide post and guide sleeve device 9 can be adopted.

As shown in fig. 6 to 7, the guide post and guide bush arrangement 9 is a multi-stage guide post and guide bush arrangement 9A, the multi-stage guide post and guide bush arrangement 9A includes one or more intermediate guide post and guide bushes 9A-3, and the one or more intermediate guide post and guide bushes 9A-3 are located between the top guide bush 9-1 and the bottom guide post 9-2 of the multi-stage guide post and guide bush arrangement 9A.

As shown in fig. 1, 5 and 8, the track 5 includes three structures, namely a moving track 5A, a fixed track 5B and a mixed track 5C, a plant 1-1 includes a traveling crane 10 and traveling crane tracks 1-1-3, the traveling crane tracks 1-1-3 are fixed on a plant column 1-1-1, the traveling crane tracks 1-1-3 are arranged transversely, namely in the X direction, the traveling crane 10 includes a traveling crane moving track 10-1, the traveling crane moving track 10-1 is a component of the moving track 5A and is perpendicular to the traveling crane tracks 1-1-3, the conveying vehicle 2 runs on the traveling crane moving track 10-1 in the Y direction and runs on the traveling crane tracks 1-1-3 along with the traveling crane 10 in the X direction; the fixed rail 5B comprises a factory building rail 5B1 and a warehouse rail 5B2, the factory building rail 5B1 is fixed on a factory building upright post 1-1-1, the warehouse rail 5B2 is fixed at the top of the stereoscopic shelf 4-1, and a delivery wagon 2 running on the warehouse rail 5B2 is used for taking and placing top-layer articles 3-1 in the goods grid 8; the mixed track 5C is provided with a fixed track 5B and a movable track 5A, and the transfer car 2 realizes the conversion among different plants 1-1, different traveling cranes 10, different stereoscopic warehouses 4 or the three through the fixed track 5B.

As shown in fig. 2 and 3, the stereoscopic warehouse 4 is a conventional stereoscopic warehouse 11, the conventional stereoscopic warehouse 11 includes a conventional stereoscopic shelf 11-1, a lane 11-2 and a stacker 11-3, the stacker 11-3 operates in the lane 11-2, the conventional stereoscopic shelf 11-1 includes a conventional shelf 811, the conventional shelf 811 includes a top-level shelf 811-1, the stacker 11-3 places the items 3 in the conventional shelf 811 on the top-level shelf 811-1 to become top-level items 3-1, or places the top-level items 3-1 in the non-top-level conventional shelf 811, and the top-level items 3-1 are picked and placed by the conveyor 2.

As shown in fig. 8 to 12, the stereoscopic warehouse 4 is an intensive stereoscopic warehouse 12, the intensive stereoscopic warehouse 12 includes an upper-entry upper-exit warehouse 12A 9, the upper-entry upper-exit warehouse 12A includes a single-piece upper-entry upper-exit warehouse 12A1 and a four-piece upper-entry upper-exit warehouse 12A2, the single-piece upper-entry upper-exit warehouse 12A1 includes a single-piece upper-entry upper-exit shelf 12A1-1, the single-piece upper-entry upper-exit shelf 12A1-1 includes a single-piece upper-entry upper-exit shelf 812A1, and the transportation vehicle 2 takes and places the top-level article 3-1 in the single-piece upper-entry upper-exit shelf 812A1 by the taking and placing device 7; the four-piece goods-grid upper-loading and upper-unloading warehouse 12A2 comprises four-piece upper-loading and upper-unloading goods racks 12A2-1, the four-piece upper-loading and upper-unloading goods racks 12A2-1 comprise four-piece upper-loading and upper-unloading goods grids 812A2, and the conveying vehicle 2 takes and places the top-layer goods 3-1 in the four-piece upper-loading and upper-unloading goods grids 812A2 through the taking and placing device 7; the intensive stereoscopic warehouse 12 comprises a lower-in upper-out warehouse 12B, the lower-in upper-out warehouse 12B comprises a lower-in upper-out shelf 12B-1, a ground AGV transport vehicle 12B-2 and a bottom stopper 12B-3, the lower-in upper-out shelf 12B-1 comprises a lower-in upper-out grid 812B, articles 3 in the lower-in upper-out grid 812B are stacked into a row in the vertical direction by self weight, and the transport vehicle 2 takes and places top-layer articles 3-1 in the lower-in upper-out grid 812B through a taking and placing device 7; a ground AGV transport vehicle 12B-2, a bottom stopper 12B-3.

As shown in fig. 13 to 15, the article 3 is a columnar article 3-2, the pick-and-place device 7 includes two structures of a rotary pick-and-place device 7A and a clamping pick-and-place device 7B, the rotary pick-and-place device 7A includes a rotating rod 7A-1, a pick-and-place claw 7A-2 and a rotating driving device 7A-3, the pick-and-place claw 7A-2 is located at the bottom of the rotating rod 7A-1 and includes a pick-and-place position 7A-2-1 and an avoiding position 7A-2-2, the rotating rod 7A-1 is rotated by the rotation driving device 7A-3 to realize the conversion of the pick-and-place claw 7A-2 between the pick-and-place position 7A-2-1 and the avoiding position 7A-2-2, when the picking and placing claw 7A-2 is at the picking and placing position 7A-2-1, the rotary picking and placing device 7A realizes the grabbing of the columnar object 3-2; the clamping type picking and placing device 7B comprises a clamping jaw 7B-1 and clamping power 7B-2, and the clamping jaw 7B-1 is used for clamping and grabbing the columnar article 3-2 or loosening the clamping jaw 7B-1 to place the columnar article 3-2 through the clamping power 7B-2; the cylindrical article 3-2 may be a wheel in a railway vehicle.

As shown in fig. 16 to 21, the upper-in upper-out warehouse 12A includes a partition pallet 13, the upper-in upper-out shelf 12A-1 includes one or more shelf stoppers 12A-1-1, the pick-and-place device 7 includes a horizontal rotating device 7-4, the shelf stoppers 12A-1-1 are located at the corners of the upper-in upper-out grid 812A, the upper shipping compartment 812A is divided into several areas in the height direction, four corners of the upper shipping compartment 812A are in plan view, the cavity surrounded by the upper goods outlet frame 12A-1, the columnar goods 3-2 and the goods shelf stop block 12A-1-1 is arranged as a corner channel 812A-1, when the pick-and-place claw 7A-2 is at the pick-and-place position 7A-2-1 or the avoiding position 7A-2-2, the taking and placing device 7 can go in and out of the goods grid 812A through the corner channel 812A-1 at a specific horizontal angle; the partition supporting plate 13 comprises a rotary partition supporting plate 13A and a clamping partition supporting plate 13B, the rotary partition supporting plate 13A comprises a circular middle supporting plate 13A-1 and four fixing seats 13A-2 uniformly distributed along the circumference of the outer ring of the circular middle supporting plate 13A-1, the fixing seats 13A-2 comprise a hanging seat 13A-2-1 positioned at the upper part and a supporting seat 13A-2-2 positioned at the bottom part, and the rotary taking and placing device 7A is hooked or separated from the hanging seat 13A-2-1 through a taking and placing claw 7A-2 to operate; the clamping type partition supporting plate 13B comprises a clamping type circular middle supporting plate 13B-1 and four supporting seats 13B-2 which are uniformly distributed along the circumference of the outer ring of the clamping type circular middle supporting plate 13B-1, and the clamping type taking and placing device 7B clamps or loosens the outer ring of the clamping type circular middle supporting plate 13B-1 through a clamping jaw 7B-1 to operate; the step of putting the upper-inlet upper-outlet grid 812A into storage by the rotary picking and placing device 7A comprises m layers of shelf stoppers 12A-1-1, and n columnar articles 3-2 are placed on each layer, and the step of putting the upper-inlet upper-outlet grid 812A into storage comprises the following main steps:

1) placing the first columnar article 3-2 in the upper delivery compartment 812A by the rotary picking and placing device 7A, repeating the same operation to stack n columnar articles 3-2 in a vertical row;

2) the picking and placing claw 7A-2 is positioned at the picking and placing position 7A-2-1 to hook the hanging seat 13A-2-1, and the rotary picking and placing device 7A hangs the rotary type subarea supporting plate 13A to reach the upper part of the lowest m layers of shelf stop blocks 12A-1-1 through the m-1 layers of corner channels 812A-1;

3) the horizontal rotating device 7-4 rotates a set angle, so that the supporting seat 13A-2-2 is positioned above the shelf stop block 12A-1-1;

4) the pick-and-place claw 7A-2 descends to enable the supporting seat 13A-2-2 to be placed on the shelf stop block 12A-1-1;

5) the pick-and-place claw 7A-2 continues to descend, so that the pick-and-place claw 7A-2 is lower than the hanging seat 13A-2-1;

6) the horizontal rotating device 7-4 is reset, and the picking and placing claw 7A-2 is separated from the fixed seat 13A-2;

7) the picking and placing claw 7A-2 is lifted and reset, and the operation of the first layer is finished;

8) repeating the operations of the steps 1 to 7 to complete the second layer;

9) and (4) repeating the operations of the steps 1 to 8 until all warehousing operations are completed.

As shown in fig. 22 to 26, the upper-in upper-out warehouse 12A includes two structures, namely, a telescopic rod tray 14A and a bump tray 14B, the upper-in upper-out cargo lattice 812A includes one or more layers of stoppers 15, the pick-and-place device 7 includes a telescopic power device 16, the telescopic rod tray 14A includes a middle tray 14A-1 and a telescopic rod 14A-2 located outside the middle tray 14A-1, when the telescopic rod 14A-2 retracts, the stoppers 15 do not affect the passage of the telescopic rod tray 14A, when the telescopic rod 14A-2 extends, the stoppers 15 hold the telescopic rod tray 14A, the stoppers 15 divide the upper-in upper-out cargo lattice 812A into a plurality of regions in the height direction, and the pick-and-place device 7 realizes the extension or retraction of the telescopic rod tray 14A-2 through the telescopic power device 16;

the bump tray 14B comprises a middle tray body 14B-1 and a bump 14B-2 positioned on the outer side of the middle tray body 14B-1, in a plan view, when the bump 14B-2 and the stopper 15 are not overlapped, the stopper 15 does not influence the up-and-down running of the bump tray 14B, the bump 14B-2 and the stopper 15 are overlapped through the running of the transport vehicle 2 on the track 5, then the bump 14B-2 is placed on the stopper 15 through the lifting hoisting device 6, the operation mode of the pick-and-place device 7 comprises two operation modes of A separation and B integration,

A. the discrete operation mode comprises the following steps:

the telescopic rod tray 14A and the columnar article 3-2 are separately and independently taken and placed;

B. the overall operation mode is as follows:

the article 3 is placed on the telescopic rod tray 14A or the bump tray 14B, and the overall pick-and-place operation is performed.

As shown in fig. 8, the articles 3 in the upper and upper compartments 812A are stacked in a line in the vertical direction by their own weight, and the pick-and-place device 7 directly enters from above by the lifting and lowering device 6 to pick and place all the articles 3 in the compartments 8 from the top floor to the bottom floor.

Claims (10)

1. A stereoscopic warehouse is characterized in that a logistics area (1) comprises one or a plurality of plants (1-1), the plants (1-1) comprise plant columns (1-1-1), equipment (1-1-2), a transport vehicle (2), articles (3), the stereoscopic warehouse (4) and a track (5), the equipment (1-1-2) and the stereoscopic warehouse (4) are located below the track (5), the transport vehicle (2) comprises a walking device (2-1) and a vehicle body (2-2), the vehicle body (2-2) comprises a vehicle frame (2-2-1), columns (2-2-2), cavities (2-2-3), a lifting device (6) and a taking and placing device (7), a cavity (2-2-3) with a downward opening is a bottom space in the vehicle frame (2-2-1), the upright post (2-2-2) is positioned at four corners of the frame (2-2-1), the walking device (2-1) is positioned at the bottom of the upright post (2-2-2), the lifting hoisting device (6) is fixed on the frame (2-2-1), the taking and placing device (7) is arranged at the bottom of the lifting hoisting device (6), and the lifting operation of the taking and placing device (7) is realized through the lifting hoisting device (6); the stereoscopic warehouse (4) comprises a stereoscopic goods shelf (4-1), the stereoscopic goods shelf (4-1) comprises goods grids (8) for storing a plurality of layers of goods (3), the goods (3) comprise top-layer goods (3-1), the track (5) comprises a transverse track (5X) and a longitudinal track (5Y), the conveying vehicle (2) runs on the transverse track (5X) along the X direction through the traveling device (2-1) and runs on the longitudinal track (5Y) along the Y direction; the picking and placing device (7) directly enters the goods grid (8) from the upper part through the lifting hoisting device (6) to pick and place the top layer goods (3-1), the conveying vehicle (2) picks the goods (3) outside the stereoscopic warehouse (4) and then places the goods in the goods grid (8) in the stereoscopic warehouse (4) to form the top layer goods (3-1), or the top-layer articles (3-1) in the goods grid (8) are taken out and then placed outside the stereoscopic warehouse (4), or the articles (3) are conveyed and converted among different positions below the track (5), the pick-and-place device (7) lifts the articles (3) below the vehicle body (2-2) through the lifting hoisting device (6) and places the articles in the cavity (2-2-3), or the article (3) on the taking and placing device (7) in the cavity (2-2-3) is placed below the vehicle body (2-2) through the lifting device (6).

2. A stereoscopic warehouse according to claim 1, characterized in that the lifting and hoisting device (6) comprises a crane (6-1) and a guide post and guide bushing device (9), the crane (6-1) comprises a hoist (6-1-1) and a wire rope (6-1-2), the guide post and guide bushing device (9) comprises a top guide bushing (9-1) and a bottom guide post (9-2), the top guide bushing (9-1) is located at the outermost ring of the guide post and guide bushing device (9), the bottom guide post (9-2) is located at the center of the guide post and guide bushing device (9), the top guide bushing (9-1) is fixed on the frame (2-2-1), the pick-and-place device (7) is installed at the bottom of the bottom guide post (9-2), the hoist (6-1-1) passes through the wire rope (6-1-2) installed in the top guide bushing (9-1), the bottom guide post (9-2) is pulled to move upwards, the bottom guide post (9-2) and the picking and placing device (7) move downwards through self weight, and the picking and placing device (7) is prevented from shaking in the lifting and horizontal operation process when carrying the articles (3) through the guide post and guide sleeve device (9).

3. A stereoscopic warehouse according to claim 2, characterized in that the guide post and guide bush arrangement (9) is a multi-stage guide post and guide bush arrangement (9A), the multi-stage guide post and guide bush arrangement (9A) comprising one or several intermediate guide post and guide bushes (9A-3), the one or several intermediate guide post and guide bushes (9A-3) being located between the top guide bush (9-1) and the bottom guide post (9-2) of the multi-stage guide post and guide bush arrangement (9A).

4. A stereoscopic warehouse according to claim 3, characterized in that the track (5) comprises three structures of a moving track (5A), a fixed track (5B) and a mixed track (5C), the factory building (1-1) comprises the traveling crane (10) and the traveling track (1-1-3), the traveling track (1-1-3) is fixed on the factory building upright post (1-1-1), the traveling track (1-1-3) is arranged transversely, i.e. in the X direction, the traveling crane (10) comprises the traveling track (10-1), the traveling track (10-1) is a component of the moving track (5A) and is perpendicular to the traveling track (1-1-3), the transporting vehicle (2) runs on the traveling track (10-1) in the Y direction, and along with the traveling crane (10), the traveling crane runs on the traveling crane track (1-1-3) along the X direction; the fixed track (5B) comprises a factory building track (5B 1) and a warehouse track (5B 2), the factory building track (5B 1) is fixed on a factory building upright post (1-1-1), the warehouse track (5B 2) is fixed at the top of the stereoscopic shelf (4-1), and top-layer articles (3-1) in the goods grid (8) are picked and placed through a conveying vehicle (2) running on the warehouse track (5B 2); the mixed track (5C) is provided with a fixed track (5B) and a movable track (5A), and the transfer car (2) realizes the conversion among different plants (1-1), different traveling cranes (10), different stereoscopic warehouses (4) or the three through the fixed track (5B).

5. A stereoscopic warehouse according to claim 4, characterized in that the stereoscopic warehouse (4) is a conventional stereoscopic warehouse (11), the conventional stereoscopic warehouse (11) comprises a conventional stereoscopic shelf (11-1), a roadway (11-2) and a stacker (11-3), the stacker (11-3) operates in the roadway (11-2), the conventional stereoscopic shelf (11-1) comprises a conventional lattice (811), the conventional lattice (811) comprises a top lattice (811-1), the goods (3) in the traditional goods grid (811) are placed on the top-layer goods grid (811-1) through the stacker (11-3) to become a top-layer goods (3-1), or the top-layer articles (3-1) are placed in the non-top-layer traditional goods grids (811), and the top-layer articles (3-1) are taken and placed through the conveying vehicle (2).

6. The stereoscopic warehouse as claimed in claim 4, wherein the stereoscopic warehouse (4) is a dense stereoscopic warehouse (12), the dense stereoscopic warehouse (12) comprises an upper-entry upper-exit warehouse (12A), the upper-entry upper-exit warehouse (12A) comprises a single-piece upper-entry upper-exit warehouse (12A 1) and a four-piece upper-entry upper-exit warehouse (12A 2), the single-piece upper-entry upper-exit warehouse (12A 1) comprises a single-piece upper-entry upper-exit shelf (12A 1-1), the single-piece upper-entry upper-exit shelf (12A 1-1) comprises a single-piece upper-entry upper-exit shelf (812A 1), and the conveying vehicle (2) takes and places the top-level articles (3-1) in the single-piece upper-entry upper-exit shelf (812A 1) through the taking and placing device (7); the four-piece goods-grid upper-loading and upper-unloading warehouse (12A 2) comprises four-piece upper-loading and upper-unloading goods shelves (12A 2-1), the four-piece upper-loading and upper-unloading goods shelves (12A 2-1) comprise four-piece upper-loading and upper-unloading goods grids (812A 2), and the conveying vehicle (2) is used for picking and placing top-layer goods (3-1) in the four-piece upper-loading and upper-unloading goods grids (812A 2) through the picking and placing device (7).

7. A stereoscopic warehouse according to claim 5 or 6, characterized in that the articles (3) are cylindrical articles (3-2), the pick-and-place device (7) comprises a rotary pick-and-place device (7A) and a clamping pick-and-place device (7B), the rotary pick-and-place device (7A) comprises a rotary rod (7A-1), a pick-and-place claw (7A-2) and a rotary driving device (7A-3), the pick-and-place claw (7A-2) is positioned at the bottom of the rotary rod (7A-1) and comprises a pick-and-place position (7A-2-1) and a dodge position (7A-2-2), the rotary rod (7A-1) is rotated by the rotary driving device (7A-3), so that the pick-and-place claw (7A-2) is switched between the pick-and-place position (7A-2-1) and the dodge position (7A-2-2), when the picking and placing claw (7A-2) is at the picking and placing position (7A-2-1), the rotary picking and placing device (7A) realizes the grabbing of the columnar object (3-2); the clamping type picking and placing device (7B) comprises a clamping jaw (7B-1) and clamping power (7B-2), and the clamping jaw (7B-1) is enabled to clamp and grab the columnar object (3-2) through the clamping power (7B-2), or the clamping jaw (7B-1) is loosened to place the columnar object (3-2).

8. The stereoscopic warehouse as claimed in claim 7, wherein the upper-in and upper-out warehouse (12A) comprises a partitioned pallet (13), the upper-in and upper-out shelf (12A-1) comprises one or more shelf stoppers (12A-1-1), the pick-and-place device (7) comprises a horizontal rotating device (7-4), the shelf stoppers (12A-1-1) are positioned at the corners of the upper-in and upper-out shelf (812A), the upper-in and upper-out shelf (812A) is divided into a plurality of areas in the height direction, the four corners of the upper-in and upper-out shelf (812A) are arranged in a top view, a cavity surrounded by the upper-in and upper-out shelf (12A-1), the columnar articles (3-2) and the shelf stoppers (12A-1-1) is a corner channel (812A-1), and when the pick-and-place claw (7A-2) is at the pick-and-place (7A-2-1) or the avoidance place (7A-2-1) -2) the pick-and-place device (7) can go in and out of the upper cargo grid (812A) through the corner channel (812A-1) at a specific horizontal angle; the rotary type partition supporting plate (13) comprises a rotary type partition supporting plate (13A) and a clamping type partition supporting plate (13B), the rotary type partition supporting plate (13A) comprises a circular middle supporting plate (13A-1) and four fixing seats (13A-2) uniformly distributed along the circumference of the outer ring of the circular middle supporting plate (13A-1), the fixing seats (13A-2) comprise hanging seats (13A-2-1) positioned at the upper part and supporting seats (13A-2-2) positioned at the bottom part, and the rotary type taking and placing device (7A) is hooked or separated from the hanging seats (13A-2-1) through a taking and placing claw (7A-2) to operate; the clamping type partition supporting plate (13B) comprises a clamping type circular middle supporting plate (13B-1) and four supporting seats (13B-2) which are uniformly distributed along the circumference of the outer ring of the clamping type circular middle supporting plate (13B-1), and the clamping type taking and placing device (7B) clamps or loosens the outer ring of the clamping type circular middle supporting plate (13B-1) through a clamping jaw (7B-1) to operate; the method is characterized in that an upper-inlet upper-outlet grid (812A) comprises m layers of shelf stop blocks (12A-1-1), n columnar articles (3-2) are placed on each layer, and then the rotary type picking and placing device (7A) is used for carrying out warehousing operation on the upper-inlet upper-outlet grid (812A) and comprises the following main steps:

1) placing a first columnar article (3-2) in an upper delivery grid (812A) by a rotary picking and placing device (7A), and repeating the same operation to stack n columnar articles (3-2) in a line in the vertical direction;

2) the picking and placing claw (7A-2) is positioned at the picking and placing position (7A-2-1) to hook the hanging seat (13A-2-1), and the rotary picking and placing device (7A) hangs the rotary type subarea supporting plate (13A) to reach the upper part of the lowest m layers of shelf stop blocks (12A-1-1) through the m-1 layers of corner channels (812A-1);

3) the horizontal rotating device (7-4) rotates a set angle to enable the supporting seat (13A-2-2) to be positioned above the goods shelf stop block (12A-1-1);

4) the pick-and-place claw (7A-2) descends to enable the supporting seat (13A-2-2) to be placed on the shelf stop block (12A-1-1);

5) the pick-and-place claw (7A-2) continues to descend, so that the pick-and-place claw (7A-2) is lower than the hanging seat (13A-2-1);

6) the horizontal rotating device (7-4) is reset, and the picking and placing claw (7A-2) is separated from the fixed seat (13A-2);

7) the picking and placing claw (7A-2) is lifted and reset, and the operation of the first layer is completed;

8) repeating the operations of the steps 1) to 7) to finish the second layer;

9) repeating the operations of the steps 1) to 8) until all warehousing operations are completed.

9. A stereoscopic warehouse according to claim 7, characterized in that the upper and upper warehouse exit (12A) comprises two structures of a telescopic rod tray (14A) and a bump tray (14B), the upper warehouse exit (812A) comprises one or more layers of stoppers (15), the pick-and-place device (7) comprises a telescopic power device (16), the telescopic rod tray (14A) comprises a middle bracket body (14A-1) and a telescopic rod (14A-2) positioned outside the middle bracket body (14A-1), when the telescopic rod (14A-2) retracts, the stoppers (15) do not affect the passage of the telescopic rod tray (14A), when the telescopic rod (14A-2) extends, the stoppers (15) hold the telescopic rod tray (14A), the stoppers (15) divide the upper warehouse exit (812A) into a plurality of areas in the height direction, the taking and placing device (7) realizes the extension or retraction of the telescopic rod (14A-2) through a telescopic power device (16); the bump tray (14B) comprises a middle support body (14B-1) and a bump (14B-2) positioned on the outer side of the middle support body (14B-1), in a plan view, when the bump (14B-2) and the stopper (15) are not overlapped, the stopper (15) does not influence the up-and-down running of the bump tray (14B), the bump (14B-2) and the stopper (15) are overlapped through the running of the transport vehicle (2) on the track (5), the bump (14B-2) is placed on the stopper (15) through the lifting and hoisting device (6), and the operation mode of the pick-and-place device (7) comprises two operation modes of A separation and B integration, A and A are separated:

the telescopic rod tray (14A) and the columnar article (3-2) are separately and independently taken and placed;

B. the overall operation mode is as follows:

the article (3) is placed on the telescopic rod tray (14A) or the bump tray (14B) to carry out integral picking and placing operation.

10. A stereoscopic warehouse according to claim 6, characterized in that the articles (3) in the upper and upper compartments (812A) are stacked in a vertical row by their own weight, the pick-and-place device (7) is directly entered from above by the lifting and lowering device (6), and the pick-and-place compartments (8) are used for picking and placing all the articles (3) from the top floor to the bottom floor.

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