CN111302022A - Book storage system and book carrying method in book storage system - Google Patents

Abstract

A books warehousing system and the books carrying method in the warehousing system, the books warehousing system includes several warehousing units, AGV carrier and control system; the storage unit comprises a goods shelf and a portal crane; the middle parts of two sides of the goods shelf are provided with first rails, and the inner side of one first rail is provided with two second rails parallel to the first rail; the portal crane comprises a portal and a trolley on a portal main beam; the gantry is arranged on the two first rails in a spanning mode; the trolley can slide on the portal main beam; the bottom of the trolley is provided with a first manipulator and a second manipulator; the AGV carrier is arranged between two second rails in a spanning mode and comprises a tray with wheels, a plurality of rows of rails with fixed intervals are arranged at the top of the tray, and a plurality of lock holes are formed in two sides of the tray and can be fixed with a lock buckle on the inner side of the portal frame, so that the tray can move along with the portal frame, and temporary goods positions are aligned to fix the goods positions; the control system is connected with the portal crane and the AGV.

Description

Book storage system and book carrying method in book storage system

Technical Field

The invention relates to mechanical equipment, in particular to a book storage system and a book carrying method in the storage system.

Background

At present, the available clear height of a library of a publishing company is generally 4 meters, but in order to facilitate a worker to store and take books and prevent the books from overturning due to too high stacking height, the stacking height of the books does not exceed 2 meters, and half of the space is wasted. The current low cost, especially the high cost of land used in large cities, wastes space, and is equal to the cost of books. In addition, the manual book storing and taking method has the defects of high cost, high labor intensity and low working efficiency.

An Automated Guided Vehicle, also called AGV cart generally, refers to a transport Vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and having a high degree of automation, however, because of its relatively high cost, it has not been widely used in a library at present.

Disclosure of Invention

The invention aims to provide a book storage system and a book carrying method in the book storage system, which can fully utilize storage space, save labor and land cost, utilize an AGV (automatic guided vehicle) to realize mechanical storage and taking of all books, improve working efficiency and improve the accuracy of storage.

In order to achieve the purpose, the invention adopts the following technical scheme:

a book warehousing system comprises a plurality of warehousing units, an AGV (automatic guided vehicle) and a control system;

the storage unit comprises a goods shelf and a portal crane; the goods shelf comprises an upper rectangular frame and a lower rectangular frame which are identical in structure, the frames are provided with four side frames, a plurality of beams extending inwards are arranged on the inner sides of the two opposite side frames, the beams of the two side frames are opposite in pairs and have intervals, and fixed goods positions are formed; a vertical first upright post is arranged between the tail ends of the cross beams corresponding to the upper frame and the lower frame, a vertical second upright post is arranged between the corresponding frames, and each second upright post is positioned between two adjacent cross beams of the same frame; the middle parts of two sides of the goods shelf are provided with first rails, and the inner side of one first rail is provided with two second rails parallel to the first rail; the portal crane comprises a portal and a trolley on a portal main beam; the portal frame is arranged on the two first rails in a spanning mode, is positioned above the goods shelf and can slide on the first rails; the gantry main beam is vertical to the first track, and the trolley can slide on the gantry main beam; the bottom of the trolley is provided with a first lifting device, and the bottom end of a lifting rope of the first lifting device is fixedly connected with a first manipulator; the first mechanical arm comprises a first vertical clamping arm and a second vertical clamping arm, and the tops of the inner sides of the first vertical clamping arm and the second vertical clamping arm are respectively provided with a horizontal slot and an inserting plate, so that the first clamping arm and the second clamping arm can relatively move in the horizontal direction; a tension spring is arranged between the tops of the first clamping arm and the second clamping arm, so that the first clamping arm and the second clamping arm are normally positioned at the position with the minimum distance between the first clamping arm and the second clamping arm; a horizontal electric push rod is fixedly arranged at the top of the inner side of the first clamping arm or the second clamping arm, and the telescopic end of the electric push rod is in contact with but not fixed with the inner side of the second clamping arm or the first clamping arm; a second lifting device is arranged on the periphery of the first lifting device, and the bottom end of a lifting rope of the second lifting device is fixedly connected with a second manipulator; the second manipulator comprises a rectangular frame, and clamping devices are arranged at the front end and the rear end of the rectangular frame;

the AGV carrier is arranged between two second rails in a spanning mode and comprises a tray with wheels, a plurality of rows of rails with fixed intervals are arranged at the top of the tray, and spaces among four adjacent rails arranged in a rectangular mode are temporary goods positions and correspond to book wrapping shapes; clamping cross beams corresponding to the clamping devices are arranged at the front end and the rear end of the tray, so that the clamping devices can clamp the clamping cross beams; a plurality of lock holes are arranged on two sides of the tray and can be fixed with the locking buckles on the inner side of the portal frame, so that the tray can move along with the portal frame, and the temporary goods positions are aligned and fixed;

the control system is connected with the portal crane and the AGV.

Furthermore, a plurality of first locking devices are arranged on the side surfaces of the first rail and the second rail, each first locking device is provided with two protrusions capable of popping out, and the two protrusions can block wheels on the first rail and the second rail, so that the temporary goods position is continuously aligned with the fixed goods position and does not deviate.

Furthermore, the portal main beam is provided with a plurality of second locking devices, each second locking device is provided with two protrusions capable of popping up, and the two protrusions can block the wheels of the trolley, so that the trolley is continuously aligned to the fixed goods position or the temporary goods position and does not deviate.

Furthermore, vertical rotating rods are arranged on the outer sides of the first clamping arm and the second clamping arm, and horizontal supporting plates are arranged at the bottom ends of the rotating rods; the top end of the rotating rod is connected with a motor with an electromagnetic valve, so that the rotating rod can rotate and drive the supporting plate to rotate to the bottoms of the first clamping arm and the second clamping arm.

Furthermore, the inner sides of the bottoms of the first clamping arm and the second clamping arm are provided with anti-slip pads.

Furthermore, the shelf also comprises a plurality of book boxes, the shape and the size of which are the same as those of book packages, and the book boxes are positioned in the fixed goods space.

A book transportation method in the book warehousing system comprises the following steps:

warehousing:

wrapping books to be loaded in the temporary loading positions on the tray, and moving the AGV carrier to the position below the tail end of the second rail; the control system controls a portal frame and a trolley of the portal crane to move above the AGV carrier, a second manipulator is put down, the clamping device and a clamping beam of the tray are fastened and fixed, the tray is hoisted to a second track, the clamping device and the clamping beam are loosened, and the second manipulator is withdrawn; the locking card on the portal frame is used for locking a keyhole of the tray, the portal frame drives the tray to move back and forth together, the tray moves to a temporary goods position to be aligned with an appointed fixed goods position, and the bulges of the first locking devices on the first track and the second track pop out the fixed portal frame and the tray; the control system controls the trolley to move to the temporary goods position, the first mechanical arm is put down, the electric push rod is controlled to extend, the electric push rod pushes the first clamping arm to slide away from the second clamping arm, the electric push rod stops after the first mechanical arm is opened to be larger than the book package, and the tension spring is stretched; the first clamping arm and the second clamping arm of the first mechanical arm extend into the book package from two sides, the first mechanical arm is sleeved on two sides of the book package to control the electric push rod to retract, the first clamping arm loses thrust, slides to the second clamping arm under the action of spring tension until the anti-slip pads of the first clamping arm and the second clamping arm are tightly attached to books, and the first mechanical arm clamps the books under the action of the spring tension; the first lifting device lifts the first manipulator together with the book package, and the first manipulator and the book package are put down after the trolley moves to a position right above the appointed fixed goods position; the control trolley moves back and forth between the temporary goods position and the appointed fixed goods position and wraps and carries books in the temporary goods position to the appointed fixed goods position; if the book packaging machine needs to move to the next fixed goods position for goods loading, the protrusion of the first locking device is retracted, the portal frame is moved, the tray is driven to the next fixed goods position, and the operation is repeated until the number of book packages in the fixed goods position reaches the designated number; withdrawing the protrusion of the first locking device, and moving the gantry to drive the tray to the tail end of the second track; putting down the second manipulator, fastening and fixing the second manipulator with a clamping beam of the tray by using a clamping device, and hoisting and transporting the tray to the ground below the tail end of the second track;

delivery from warehouse

Moving the empty AGV carrier to the position below the tail end of the second track; the control system controls a portal frame and a trolley of the portal crane to move above the AGV carrier, a second manipulator is put down, the clamping device and a clamping beam of the tray are fastened and fixed, the tray is hoisted to a second track, the clamping device and the clamping beam are loosened, and the second manipulator is withdrawn; the locking card on the portal frame is used for locking a keyhole of the tray, the portal frame drives the tray to move back and forth together, the tray moves to a temporary goods position to be aligned with an appointed fixed goods position, and the bulges of the first locking devices on the first track and the second track pop out the fixed portal frame and the tray; the control system controls the trolley to move to a fixed goods position, the first mechanical arm is put down, the electric push rod is controlled to extend, the electric push rod pushes the first clamping arm to slide away from the second clamping arm, the electric push rod stops after the first mechanical arm is opened to be larger than the book package, and the tension spring is stretched; the first clamping arm and the second clamping arm of the first mechanical arm extend into the book package from two sides, the first mechanical arm is sleeved on two sides of the book package to control the electric push rod to retract, the first clamping arm loses thrust, slides to the second clamping arm under the action of spring tension until the anti-slip pads of the first clamping arm and the second clamping arm are tightly attached to books, and the first mechanical arm clamps the books under the action of the spring tension; the first mechanical arm and the book package are lifted by the first lifting device, and the first mechanical arm and the book package are put down after the trolley moves to a position right above the temporary goods position; the control trolley moves back and forth between the temporary goods position and the appointed fixed goods position and wraps and carries books in the fixed goods position to the temporary goods position; if the book packaging box needs to be moved to the next fixed goods location for goods delivery, the protrusion of the first locking device is retracted, the portal frame is moved, the tray is driven to the next fixed goods location, and the operation is repeated until the number of book packages in the temporary goods location reaches the designated number; withdrawing the protrusion of the first locking device, and moving the gantry to drive the tray to the tail end of the second track; and putting down the second manipulator, and hoisting and transporting the tray to the ground below the tail end of the second track by utilizing the clamping device to be fixed with the clamping beam buckle of the tray.

Further, the control system records the goods position information of each fixed goods position and controls the delivery of goods according to the number of books in the following types of orders:

firstly, taking a whole package of books if the number of the books in the order is equal to the whole package or no books are left;

secondly, taking the surplus book boxes when the number of the books in the order is equal to the surplus books;

thirdly, taking the whole package and adding the surplus book boxes when the number of books in the order is equal to the number of the whole package and the surplus books;

fourthly, taking the whole package, and taking out the rest book boxes at the same time, wherein the number of books in the order is larger than the number of the whole package and the rest books;

after delivery is finished, the surplus books generated by delivery are respectively loaded into the respective surplus book boxes, a plurality of surplus book boxes are formed, then the respective fixed goods positions are returned, and the goods position information of the fixed goods positions is updated.

Further, the goods position information comprises a goods position number, an ISBN number, a book package number, a residual book box number and a residual book number in the residual book box.

The invention has the beneficial effects that: the book storage system and the book carrying method in the book storage system can fully utilize the storage space, save labor and land cost, utilize an AGV carrier, realize mechanical access of all books, improve the working efficiency and improve the accuracy of storage.

Drawings

FIG. 1 is a schematic diagram of the book warehousing system of the present invention.

Fig. 2 is a schematic structural diagram of a shelf of the book warehousing system of the invention.

FIG. 3 is a schematic structural diagram of a gantry crane of the book warehousing system of the present invention.

Fig. 4 is a schematic structural diagram of a trolley of the book warehousing system of the invention.

FIG. 5 is a schematic structural diagram of a first robot of the book warehousing system of the present invention.

FIG. 6 is a schematic view showing the construction of a second robot of the book warehousing system of the present invention.

FIG. 7 is a schematic diagram of an AGV cart for the book warehousing system of the present invention.

Fig. 8 is a schematic structural diagram of the book rest boxes of the book warehousing system of the invention.

Detailed Description

The following describes in detail a specific embodiment of the present invention with reference to the drawings.

As shown in fig. 1 to 7, the present invention provides a book warehousing system including a plurality of warehousing units 1, AGV trucks 2 and a control system (not shown).

The storage unit 1 comprises a rack 11 and a gantry crane 12. This goods shelves 11 includes two upper and lower rectangular frame 111 that the structure is the same, and this frame has four frames, and two relative frame inboards all are equipped with a plurality of inside extending's crossbeam 112, and two liang of opposite just have the interval of crossbeam of two frames, form fixed goods position A. A vertical first upright post 113 is arranged between the tail ends of the cross beams 112 corresponding to the upper and lower frames 111, a vertical second upright post 114 is arranged between the corresponding frames, and each second upright post 114 is positioned between two adjacent cross beams 113 of the same frame. The middle parts of two sides of the goods shelf 11 are provided with first rails 13, wherein the inner side of one first rail 13 is provided with two second rails 14 parallel to the first rail 13. The gantry crane 12 includes a gantry 121 and a trolley 123 on a gantry main beam 122. The door 121 is disposed over the two first rails 13, is located above the shelf 11, and can slide on the first rails 13. The gantry main beam 122 is perpendicular to the first rail 13, and the trolley 123 can slide on the gantry main beam 122. The bottom of the trolley 123 is provided with a first lifting device, and the bottom end of a lifting rope of the first lifting device is fixedly connected with the first manipulator 3. The first manipulator 3 comprises a first vertical clamping arm 31 and a second vertical clamping arm 32, and a horizontal slot 33 and an inserting plate 34 are respectively arranged at the tops of the inner sides of the first vertical clamping arm 31 and the second vertical clamping arm 32, so that the first clamping arm 31 and the second clamping arm 32 can relatively move in the horizontal direction. A tension spring 35 is arranged between the tops of the first clamping arm 31 and the second clamping arm 32, so that the first clamping arm 31 and the second clamping arm 32 are normally located at the position with the minimum distance therebetween. A horizontal electric push rod 36 is fixedly arranged at the top of the inner side of the first clamping arm 31 or the second clamping arm 32, and the telescopic end of the electric push rod 36 is in contact with but not fixed with the inner side of the second clamping arm 32 or the first clamping arm 31. And a second lifting device is arranged on the periphery of the first lifting device, and the bottom end of a lifting rope of the second lifting device is fixedly connected with the second manipulator 4. The second manipulator 4 includes a rectangular frame 41, and the front and rear ends of the rectangular frame 41 are provided with clamping devices 42.

This AGV carrier 2 strides and locates between two second tracks 14, including the tray 21 of band pulley, this tray 21 top is equipped with the fixed railing 22 of a plurality of rows interval, and the space between the railing 22 that adjacent four rectangles were arranged is interim goods position B, corresponds with books parcel appearance. The front and rear ends of the tray 21 are provided with clamping beams (not shown) corresponding to the clamping devices 42, so that the clamping devices 42 can clamp the clamping beams. The two sides of the tray 21 are provided with a plurality of lock holes 23 which can be fastened and fixed with the lock 124 on the inner side of the door frame 121, so that the tray 21 can move along with the door frame 121, and the temporary goods position B is aligned with the fixed goods position A.

The control system is connected to the gantry crane 12 and the AGV cart 2.

The first rails 13 and the second rails 14 are provided with a plurality of first locking devices 5 on the sides, the first locking devices 5 are provided with two protrusions capable of popping up, and the two protrusions can block wheels on the first rails 13 and the second rails 14, so that the temporary cargo space B is continuously aligned with the fixed cargo space A without deviation. When the door 121 or the tray 21 comes from the left, the right protrusion is ejected to stop the door 121 or the tray 21, and when the door 121 or the tray 21 comes from the right, the left protrusion is ejected to stop the door 121 or the tray 21. The portal main beam 122 is provided with a plurality of second locking devices 6, and the second locking devices 6 are provided with two protrusions capable of popping up, and the two protrusions can block the wheels of the trolley 123, so that the trolley 123 is continuously aligned with the fixed cargo space a or the temporary cargo space B without deviation. When the dolly 123 comes from the left side, the right protrusion is ejected to stop the dolly, and when it comes from the right side, the left protrusion is ejected to stop the dolly 123. Therefore, books can be loaded and unloaded by moving the trolley 123 to the upper part of the first row of temporary goods positions without moving the portal 121 back and forth until the first row of temporary goods positions are loaded and unloaded, and the portal is moved forwards or backwards to clamp the keyhole corresponding to the second row of temporary goods positions, and so on.

The outer sides of the first clamping arm 31 and the second clamping arm 32 are provided with vertical rotating rods 7, and the bottom ends of the rotating rods 7 are provided with horizontal supporting plates 71. The top end of the rotating rod 7 is connected with a motor with an electromagnetic valve 72, so that the rotating rod 7 can rotate and drive the supporting plate 71 to rotate to the bottom of the first clamping arm 31 and the second clamping arm 32. The inner sides of the bottoms of the first and second clamping arms 31 and 32 are preferably provided with anti-slip pads 37, and the anti-slip pads 37 can increase the friction force with the book to be grabbed, because the mechanical arm 3 clamps the two sides of the book to grab the book, so that the larger the friction force, the more stable the grabbing is. The shelf 11 also comprises a plurality of book boxes 8, the shape and the size of which are the same as those of book packages, and the book boxes are positioned in the fixed goods space A. The book rest box 8 is provided with an opening 81, and loose books formed after unpacking can be loaded into the book rest box, and because book opening books are both 16-opening books and 32-opening books, the book rest box 8 can also have 16-opening books or 32-opening books.

The invention also provides a book carrying method in the book warehousing system, which comprises the following steps:

warehousing:

the books to be loaded are packaged in the temporary loading positions B on the tray 21, and the AGV carrier 2 moves to the position below the tail end of the second rail 14; the control system controls the portal 121 and the trolley 123 of the portal crane 12 to move above the AGV carrier 2, the second manipulator 4 is put down, the clamping device 42 is used for being fastened and fixed with the clamping cross beam of the tray 21, the tray 21 is hoisted to the second track 14, the clamping device 42 and the clamping cross beam are loosened, and the second manipulator 4 is retracted; the latch 124 on the door frame 121 is clamped with the keyhole 23 of the tray, the door frame 121 moves back and forth together with the tray 21, the temporary goods position B is aligned with the appointed fixed goods position A, and the bulges of the first locking devices 5 on the first rail 13 and the second rail 14 pop out the fixed door frame 121 and the tray 21; the control system controls the trolley 123 to move to the temporary goods position B, the first mechanical arm 3 is put down, the electric push rod 36 is controlled to extend, the electric push rod 36 pushes the first clamping arm 31 to slide away from the second clamping arm 32, the electric push rod stops after the first mechanical arm 3 is opened to a position larger than the book package, and the tension spring 35 is stretched; the first clamping arm 31 and the second clamping arm 32 of the first manipulator 3 extend into the book package from two sides, the first manipulator 3 is sleeved on two sides of the book package to control the electric push rod 36 to retract, the first clamping arm 31 loses thrust, and slides down to the second clamping arm 32 under the action of spring tension until the anti-slip pads 37 of the first clamping arm 31 and the second clamping arm 32 are tightly attached to the book, and the first manipulator 3 clamps the book under the action of spring tension; the first lifting device lifts the first manipulator 3 together with the book package, and the trolley 123 moves to a position right above the appointed fixed goods position A, and then puts down the first manipulator 3 and the book package; the control trolley 123 moves back and forth between the temporary goods position B and the appointed fixed goods position A, and carries books in the temporary goods position B to the appointed fixed goods position A in a wrapped mode; if the book packaging machine needs to move to the next fixed goods location A for goods loading, the protrusion of the first locking device 5 is retracted, the door frame 121 is moved, the tray 21 is driven to the next fixed goods location A, and the operation is repeated until the number of book packages in the fixed goods location A reaches the designated number; withdrawing the projection of the first locking device 5, and moving the door frame 121 to drive the tray 21 to the tail end of the second rail 14; the second manipulator 4 is put down, the clamping device 42 is used for being fastened and fixed with the clamping cross beam of the tray 21, and the tray 21 is hoisted to the ground below the tail end of the second rail 14;

delivery from warehouse

Moving the empty AGV truck 2 to a position below the end of the second track 14; the control system controls the portal 121 and the trolley 123 of the portal crane 12 to move above the AGV carrier 2, the second manipulator 4 is put down, the clamping device 42 is used for being fastened and fixed with the clamping cross beam of the tray 21, the tray 21 is hoisted to the second track 14, the clamping device 42 and the clamping cross beam are loosened, and the second manipulator 4 is retracted; the latch 124 on the door frame 121 is clamped with the keyhole 23 of the tray 21, the door frame 121 moves back and forth together with the tray 21, moves to a temporary goods position B aligned with the appointed fixed goods position A, and the bulges of the first locking devices 5 on the first rail 13 and the second rail 14 pop out the fixed door frame 121 and the tray 21; the control system controls the trolley 123 to move to the fixed goods space A, the first mechanical arm 3 is put down, the electric push rod 36 is controlled to extend, the electric push rod 36 pushes the first clamping arm 31 to slide away from the second clamping arm 32, the electric push rod 36 stops after the first mechanical arm 3 is opened to be larger than the book package, and the tension spring 35 is stretched; the first clamping arm 31 and the second clamping arm 32 of the first manipulator 3 extend into the book package from two sides, the first manipulator 3 is sleeved on two sides of the book package to control the electric push rod 36 to retract, the first clamping arm 31 loses thrust, slides downwards to the second clamping arm 32 under the action of spring tension until the anti-skid pads of the first clamping arm 31 and the second clamping arm 32 cling to the book tightly, and the first manipulator 3 clamps the book under the action of spring tension; the first lifting device lifts the first manipulator 3 together with the book package, and the trolley 123 moves to a position right above the temporary goods space B and then puts down the first manipulator 3 and the book package; the control trolley 123 moves back and forth between the temporary goods position B and the appointed fixed goods position A, and carries books in the fixed goods position A to the temporary goods position B in a wrapped mode; if the book is required to be moved to the next fixed goods position A for goods delivery, the protrusion of the first locking device 5 is retracted, the portal frame 122 is moved to drive the tray 21 to the next fixed goods position A, and the operation is repeated until the number of book packages in the temporary goods position B reaches the designated number; retracting the protrusion of the first locking device 5, moving the gantry 122 to bring the tray 21 to the end of the second rail 14; the second manipulator 4 is lowered and the pallet 21 is hoisted to the ground below the end of the second rail 14 by the clamping device 42 being fastened to the clamping beam of the pallet 21.

The control system records the goods position information of each fixed goods position, the goods position information comprises a goods position number, an ISBN number, a book package number, a remaining book box number and a remaining book number in the remaining book box, and the books are discharged according to the book number in the following types of orders:

firstly, taking a whole package of books if the number of the books in the order is equal to the whole package or no books are left;

secondly, taking the surplus book boxes when the number of the books in the order is equal to the surplus books;

thirdly, taking the whole package and adding the surplus book boxes when the number of books in the order is equal to the number of the whole package and the surplus books;

fourthly, taking the whole package, and taking out the rest book boxes at the same time, wherein the number of books in the order is larger than the number of the whole package and the rest books; different from the third situation, the book taking and remaining book box is used for filling the remaining books after the whole package is delivered into the original remaining book box to form a new remaining book box, so that the number of the remaining book boxes is reduced;

after delivery is finished, the surplus books generated by delivery are respectively loaded into the respective surplus book boxes, a plurality of surplus book boxes are formed, then the respective fixed goods positions are returned, and the goods position information of the fixed goods positions is updated.

Preferably, in order to improve the operation efficiency and reduce the moving frequency of the door frame, only books with a fixed goods position are placed on one tray, every kind of books on the tray cannot be placed in a mixed mode, and the books placed on the tray can be placed in the fixed goods position firstly.

The following examples illustrate the inventory management and task design, for example, each fixed cargo space can store at least 25 entire books, there are 100 books a at a time, 5 books in each warehouse, the system assigns 1, 2, 3, 4 fixed cargo spaces in row 1 of the 1 st shelf to the books a, and establishes a cargo space table in the database:

when the books are delivered for the first time, the quantity to be delivered is 19, because the books are all the whole packages and no other books exist, the system instructs the first mechanical arm of the No. 1 shelf to take out 4 packages of 20 books in total from the No. 1 fixed goods space (actually, the books can be taken out from any one of the No. 1 to the No. 4 fixed goods space), 1 number of books can be generated after delivery, and the other books can be temporarily stored in a working area;

during the second shipment, there are several situations according to the quantity to be delivered and the time:

the first is that 1 surplus book is not put in storage on the same day, the quantity to be issued is 6 books, the control system instructs to take out 2 whole packages of books from the No. 1 shelf, and update the stock level table, send out 6 books and produce 4 surplus books, these 4 surplus books will also be stored in the operation area temporarily, after the delivery is finished on the same day, load into surplus book box together with 1 surplus book produced after the first delivery, although the surplus book quantity in surplus book box is equal to the quantity of whole package of books at this moment, because already unpack, so still pack in the form of surplus book box;

the second is that 1 surplus book is put into the fixed goods position No. 1 on the next day, the quantity to be issued is 1, and the control system instructs to take out the surplus book box (1 surplus book is in the box) from the fixed goods position No. 1;

thirdly, 1 surplus books are placed in the fixed goods position No. 1 on the next day, the number to be issued is 5, the control system instructs to take out 1 whole package of books from the fixed goods position No. 1, and the surplus book boxes cannot be taken out at the moment because the book ends ordered by the customers are equal to the number of the whole packages;

fourthly, 1 surplus book is placed into the fixed goods position No. 1 on the next day, the number to be issued is 6, and the control system instructs to take out 1 whole bag of books from the fixed goods position No. 1 and take out surplus book boxes (1 surplus book is in the surplus book boxes);

fifthly, 1 surplus book is placed in the fixed goods position No. 1 on the next day, the number to be issued is 9, the control system instructs to take out 2 whole packages of books from the fixed goods position No. 1 and take out surplus book boxes (1 surplus book is in the surplus book boxes), at this time, after 9 books are sent out, the remaining 1 book is placed in the surplus book boxes, at this time, 2 surplus books exist in the surplus book boxes, and the surplus book boxes return to the original fixed goods position after the delivery of the books on the same day is finished;

the system updates the book table after each access operation to books in the fixed book is completed.

It should be noted that the above mentioned embodiments are only preferred embodiments of the present invention, and the purpose is to make the skilled in the art better understand the present invention, and it should not be used to limit the scope and application of the present invention, and any modification, equivalent replacement, improvement, etc. made within the spirit or principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A book warehousing system is characterized by comprising a plurality of warehousing units, AGV carriers and a control system;

the storage unit comprises a goods shelf and a portal crane; the goods shelf comprises an upper rectangular frame and a lower rectangular frame which are identical in structure, the frames are provided with four side frames, a plurality of beams extending inwards are arranged on the inner sides of the two opposite side frames, the beams of the two side frames are opposite in pairs and have intervals, and fixed goods positions are formed; a vertical first upright post is arranged between the tail ends of the cross beams corresponding to the upper frame and the lower frame, a vertical second upright post is arranged between the corresponding frames, and each second upright post is positioned between two adjacent cross beams of the same frame; the middle parts of two sides of the goods shelf are provided with first rails, and the inner side of one first rail is provided with two second rails parallel to the first rail; the portal crane comprises a portal and a trolley on a portal main beam; the portal frame is arranged on the two first rails in a spanning mode, is positioned above the goods shelf and can slide on the first rails; the gantry main beam is vertical to the first track, and the trolley can slide on the gantry main beam; the bottom of the trolley is provided with a first lifting device, and the bottom end of a lifting rope of the first lifting device is fixedly connected with a first manipulator; the first mechanical arm comprises a first vertical clamping arm and a second vertical clamping arm, and the tops of the inner sides of the first vertical clamping arm and the second vertical clamping arm are respectively provided with a horizontal slot and an inserting plate, so that the first clamping arm and the second clamping arm can relatively move in the horizontal direction; a tension spring is arranged between the tops of the first clamping arm and the second clamping arm, so that the first clamping arm and the second clamping arm are normally positioned at the position with the minimum distance between the first clamping arm and the second clamping arm; a horizontal electric push rod is fixedly arranged at the top of the inner side of the first clamping arm or the second clamping arm, and the telescopic end of the electric push rod is in contact with but not fixed with the inner side of the second clamping arm or the first clamping arm; a second lifting device is arranged on the periphery of the first lifting device, and the bottom end of a lifting rope of the second lifting device is fixedly connected with a second manipulator; the second manipulator comprises a rectangular frame, and clamping devices are arranged at the front end and the rear end of the rectangular frame;

the AGV carrier is arranged between two second rails in a spanning mode and comprises a tray with wheels, a plurality of rows of rails with fixed intervals are arranged at the top of the tray, and spaces among four adjacent rails arranged in a rectangular mode are temporary goods positions and correspond to book wrapping shapes; clamping cross beams corresponding to the clamping devices are arranged at the front end and the rear end of the tray, so that the clamping devices can clamp the clamping cross beams; a plurality of lock holes are arranged on two sides of the tray and can be fixed with the locking buckles on the inner side of the portal frame, so that the tray can move along with the portal frame, and the temporary goods positions are aligned and fixed;

the control system is connected with the portal crane and the AGV.

2. The book warehousing system of claim 1, wherein: the side surfaces of the first rail and the second rail are provided with a plurality of first locking devices, each first locking device is provided with two protrusions capable of popping up, and the two protrusions can block wheels on the first rail and the second rail, so that the temporary goods position is continuously aligned to the fixed goods position and does not deviate.

3. The book warehousing system of claim 2, wherein: the portal main beam is provided with a plurality of second locking devices, each second locking device is provided with two protrusions capable of popping up, and the two protrusions can block the wheels of the trolley, so that the trolley is continuously aligned to the fixed goods position or the temporary goods position and does not deviate.

4. The book warehousing system of claim 1, wherein: vertical rotating rods are arranged on the outer sides of the first clamping arm and the second clamping arm, and horizontal supporting plates are arranged at the bottom ends of the rotating rods; the top end of the rotating rod is connected with a motor with an electromagnetic valve, so that the rotating rod can rotate and drive the supporting plate to rotate to the bottoms of the first clamping arm and the second clamping arm.

5. The book warehousing system of claim 1, wherein: and anti-slip pads are arranged on the inner sides of the bottoms of the first clamping arm and the second clamping arm.

6. The book warehousing system of claim 1, wherein: the shelf also comprises a plurality of book boxes, the shape and the size of which are the same as those of book packages, and the book boxes are positioned in the fixed goods space.

7. A method of book handling in a book warehousing system as claimed in any one of claims 1 to 6, characterized by the steps of:

warehousing:

wrapping books to be loaded in the temporary loading positions on the tray, and moving the AGV carrier to the position below the tail end of the second rail; the control system controls a portal frame and a trolley of the portal crane to move above the AGV carrier, a second manipulator is put down, the clamping device and a clamping beam of the tray are fastened and fixed, the tray is hoisted to a second track, the clamping device and the clamping beam are loosened, and the second manipulator is withdrawn; the locking card on the portal frame is used for locking a keyhole of the tray, the portal frame drives the tray to move back and forth together, the tray moves to a temporary goods position to be aligned with an appointed fixed goods position, and the bulges of the first locking devices on the first track and the second track pop out the fixed portal frame and the tray; the control system controls the trolley to move to the temporary goods position, the first mechanical arm is put down, the electric push rod is controlled to extend, the electric push rod pushes the first clamping arm to slide away from the second clamping arm, the electric push rod stops after the first mechanical arm is opened to be larger than the book package, and the tension spring is stretched; the first clamping arm and the second clamping arm of the first mechanical arm extend into the book package from two sides, the first mechanical arm is sleeved on two sides of the book package to control the electric push rod to retract, the first clamping arm loses thrust, slides to the second clamping arm under the action of spring tension until the anti-slip pads of the first clamping arm and the second clamping arm are tightly attached to books, and the first mechanical arm clamps the books under the action of the spring tension; the first lifting device lifts the first manipulator together with the book package, and the first manipulator and the book package are put down after the trolley moves to a position right above the appointed fixed goods position; the control trolley moves back and forth between the temporary goods position and the appointed fixed goods position and wraps and carries books in the temporary goods position to the appointed fixed goods position; if the book packaging machine needs to move to the next fixed goods position for goods loading, the protrusion of the first locking device is retracted, the portal frame is moved, the tray is driven to the next fixed goods position, and the operation is repeated until the number of book packages in the fixed goods position reaches the designated number; withdrawing the protrusion of the first locking device, and moving the gantry to drive the tray to the tail end of the second track; putting down the second manipulator, fastening and fixing the second manipulator with a clamping beam of the tray by using a clamping device, and hoisting and transporting the tray to the ground below the tail end of the second track;

delivery from warehouse

Moving the empty AGV carrier to the position below the tail end of the second track; the control system controls a portal frame and a trolley of the portal crane to move above the AGV carrier, a second manipulator is put down, the clamping device and a clamping beam of the tray are fastened and fixed, the tray is hoisted to a second track, the clamping device and the clamping beam are loosened, and the second manipulator is withdrawn; the locking card on the portal frame is used for locking a keyhole of the tray, the portal frame drives the tray to move back and forth together, the tray moves to a temporary goods position to be aligned with an appointed fixed goods position, and the bulges of the first locking devices on the first track and the second track pop out the fixed portal frame and the tray; the control system controls the trolley to move to a fixed goods position, the first mechanical arm is put down, the electric push rod is controlled to extend, the electric push rod pushes the first clamping arm to slide away from the second clamping arm, the electric push rod stops after the first mechanical arm is opened to be larger than the book package, and the tension spring is stretched; the first clamping arm and the second clamping arm of the first mechanical arm extend into the book package from two sides, the first mechanical arm is sleeved on two sides of the book package to control the electric push rod to retract, the first clamping arm loses thrust, slides to the second clamping arm under the action of spring tension until the anti-slip pads of the first clamping arm and the second clamping arm are tightly attached to books, and the first mechanical arm clamps the books under the action of the spring tension; the first mechanical arm and the book package are lifted by the first lifting device, and the first mechanical arm and the book package are put down after the trolley moves to a position right above the temporary goods position; the control trolley moves back and forth between the temporary goods position and the appointed fixed goods position and wraps and carries books in the fixed goods position to the temporary goods position; if the book packaging box needs to be moved to the next fixed goods location for goods delivery, the protrusion of the first locking device is retracted, the portal frame is moved, the tray is driven to the next fixed goods location, and the operation is repeated until the number of book packages in the temporary goods location reaches the designated number; withdrawing the protrusion of the first locking device, and moving the gantry to drive the tray to the tail end of the second track; and putting down the second manipulator, and hoisting and transporting the tray to the ground below the tail end of the second track by utilizing the clamping device to be fixed with the clamping beam buckle of the tray.

8. The book handling method in the book warehousing system of claim 7, characterized in that: the control system records the goods position information of each fixed goods position and controls the delivery of goods according to the number of books in the following types of orders:

firstly, taking a whole package of books if the number of the books in the order is equal to the whole package or no books are left;

secondly, taking the surplus book boxes when the number of the books in the order is equal to the surplus books;

thirdly, taking the whole package and adding the surplus book boxes when the number of books in the order is equal to the number of the whole package and the surplus books;

fourthly, taking the whole package, and taking out the rest book boxes at the same time, wherein the number of books in the order is larger than the number of the whole package and the rest books;

after delivery is finished, the surplus books generated by delivery are respectively loaded into the respective surplus book boxes, a plurality of surplus book boxes are formed, then the respective fixed goods positions are returned, and the goods position information of the fixed goods positions is updated.

9. The book handling method in the book warehousing system of claim 8, characterized in that: the goods position information comprises a goods position number, an ISBN (International Standard organization for binding) number, book package number, remaining book box number and remaining book number in the remaining book box.

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