CN111591641B - Automatic three-dimensional container system and storing and taking method thereof - Google Patents
Automatic three-dimensional container system and storing and taking method thereof Download PDFInfo
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- CN111591641B CN111591641B CN201910129051.7A CN201910129051A CN111591641B CN 111591641 B CN111591641 B CN 111591641B CN 201910129051 A CN201910129051 A CN 201910129051A CN 111591641 B CN111591641 B CN 111591641B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Abstract
The invention provides an automatic three-dimensional container system and a storage and taking method thereof. The access device comprises a transverse moving device and an access device. The transverse moving device comprises at least two moving parts, and the moving parts are arranged on the lifting device and transversely move along the access channel; the access device comprises a telescopic turning fork which is arranged on the moving part and stretches towards the tray; and the upper computer responds to the occupied space of the access unit to control the movement of the moving part and the expansion of the expansion turning fork so as to complete the storage or the taking out of the access unit. The automatic three-dimensional container system storing and fetching method provided by the invention realizes quick and accurate storing and fetching units, can realize high-efficiency storing and fetching of a plurality of storing and fetching units with different shapes and sizes through the storing and fetching equipment with a variable structure, and really realizes variable mixed storage in the width direction and the depth direction.
Description
Technical Field
The invention relates to the technical field of three-dimensional containers, in particular to an automatic three-dimensional container system and a storage and taking method thereof.
Background
The three-dimensional container, also called automatic container, is the main equipment of modern warehouse, and is mainly divided into vertical circulating container, vertical lifting container, horizontal circulating container, etc. it can realize the automatic operation of warehouse and improve the management efficiency.
The traditional vertical lifting three-dimensional container mainly takes a tray as an access unit, the tray for storing goods is taken out or sent to a proper goods position in the container body through the lifting and horizontal movement of the tray truck, and the storage space in the container body can be automatically and reasonably arranged so as to realize the intelligent distribution management of goods. As disclosed in japanese patent application No.8-324721, the automatic storage/retrieval system described in the aforementioned document includes at least a pair of multi-deck racks disposed in bilateral symmetry, each rack being composed of multi-deck shelves, and a shuttle car horizontally movable between each deck rack so as to store access units (e.g., trays) to and take out access units (e.g., trays) from the multi-deck racks.
As another example, chinese patent application No. CN201610130106.2 discloses a vertical lift container, which uses a pallet as an access unit, and takes out or sends the pallet storing goods to a proper goods position in the container by the lifting and horizontal movement of a pallet truck. When the scheme in the prior art needs to take out or store goods, the whole layer of trays need to be moved, and the next tray task can be carried out after the previous tray task is completed.
In addition, the three-dimensional container manufacturers always need to increase their storage capacity. Various strategies have been conventionally proposed for this need. One such strategy is a method that involves pushing the access unit as deep as possible onto each shelf of the multi-tier rack (as far as possible away from the path of travel of the shuttle). To implement this strategy, the left/right travel of the shuttle's telescoping mechanism needs to be approximately twice the left/right travel of the shuttle. As another example, U.S. patent publication No. US9919870 discloses an automated three-dimensional container with carriers as access units of the automated three-dimensional container, and a rear wall thereof is provided with supporting structures or interconnection devices arranged in a modular structure, and carriers with different heights and/or widths are handled through the modular structure, but this is achieved by adjusting the size structure of a rack to place carriers with different heights and/or widths, and only a single size of carrier can be accessed in the actual accessing process; variable mixed storage in the width and depth directions is not really realized.
According to the traditional storage and access unit of the automatic three-dimensional container, the width and the depth of the access unit are fixed, namely the goods grids on each layer of goods shelf are fixed in size, so that the access unit with a single size can be stored, the application scene of the three-dimensional container is greatly limited, and the storage capacity is small and the access efficiency is low.
Furthermore, the grabbing mechanism of the traditional shuttle car of the automatic three-dimensional container is arranged on a chassis of the shuttle car, wheels driving the shuttle car walk on a steel track, and the positioning is realized by arranging a sensor to avoid the shuttle car from impacting an access unit, so that certain errors exist in positioning precision, and the access efficiency is influenced by repositioning if the positioning is not accurate. In addition, when the maximum driving distance of the shuttle car of the automatic three-dimensional container is long, in order to overhaul the shuttle car conveniently (the shuttle car can be pushed manually), a driving wheel motor of the shuttle car is not provided with a brake device, when power is cut off accidentally, the trolley is completely out of control, on one hand, the trolley can collide with a barrier at the end of the guide rail, on the other hand, when the power is re-electrified, the trolley needs to run back to the original point to re-drive to search the box position, and the storing and taking efficiency is further influenced.
Disclosure of Invention
The invention aims to solve the problems and provides an automatic three-dimensional container system and a storage and taking method thereof, which overcome the technical problems of the traditional automatic three-dimensional container and realize quick and accurate storage and taking units, wherein the storage and taking units can be in any shapes (including trays, turnover boxes, cartons or goods), the storage and taking units in different shapes and sizes can be realized through the storage and taking equipment with a variable structure, the variable mixed storage in the width direction and the depth direction is really realized, the application scenes of the three-dimensional container is greatly increased, and the storage capacity and the storage and taking efficiency are improved. In addition, the transverse moving device drives the synchronous belt wheel to drive the synchronous belt to move by adopting a servo motor so as to drive the access device to move, and is also provided with a guide mechanism for guiding, so that the positioning is accurate by adopting the absolute control mode, the phenomenon of impacting an access unit is avoided, and the reliability of access is improved; the time cost consumption caused by inaccurate positioning and repositioning is avoided, and the access efficiency is further improved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automated stereoscopic container system comprising: storage rack and can follow the hoisting device that vertical direction reciprocated, the storage rack is including the tray that is used for the storage access unit and access way and access opening, still includes access arrangement and host computer, wherein:
the access equipment is integrally arranged on the lifting device and comprises a transverse moving device and an access device;
the transverse moving device comprises at least two moving parts which are arranged in parallel, and the moving parts are arranged on the lifting device and transversely move along the access channel relative to the lifting device;
the access device comprises telescopic turning forks, each moving part is at least provided with one telescopic turning fork, and each telescopic turning fork is arranged on the moving part, stretches towards the tray relative to the moving part and is used for storing the access unit into the tray and/or taking the access unit out of the tray;
the upper computer is electrically connected with the transverse moving device and the access device respectively and is arranged to respond to the occupied space of the access unit to control the movement of the moving part and the expansion and contraction of the expansion and contraction turnover fork so as to complete the storage and/or the taking out of the access unit.
In a further embodiment, the automatic three-dimensional container system further comprises a data acquisition device installed at the access port, and the data acquisition device is electrically connected with the upper computer and used for acquiring the occupied space of the access unit and the storage position of the access unit at the access port and feeding back the acquired space and the storage position to the upper computer.
In a further embodiment, the upper computer is further configured to generate a unique ID of the access unit based on the footprint of the access unit, has a database module,
the database module is used for storing the unique ID, the corresponding occupied space and the binding relationship between the unique ID and the corresponding occupied space, and is also used for storing the occupied information of the access unit on the tray;
the upper computer is also arranged to automatically match suitable storage spaces on the trays for the access units and/or to take the access units out of the matched trays.
In a further embodiment, the automatic stereoscopic container system further comprises an information interaction device electrically connected with the upper computer and used for inputting and/or outputting the information stored and/or taken out by the access unit.
In a further embodiment, each of the moving portions is moved by a first synchronous belt drive mechanism;
the first synchronous belt transmission mechanism comprises a first driving device, a first driving belt wheel, a first driven belt wheel and a synchronous belt;
the first driving device, the first driving belt wheel and the first driven belt wheel are respectively and fixedly arranged on the lifting device, and the first driving belt wheel is driven by the first driving device to drive the first driven belt wheel to rotate so as to drive the synchronous belt to transversely move along the access channel;
the moving part is fixedly connected with the synchronous belt.
In a further embodiment, the lateral moving device further comprises a guide portion,
the guide part comprises a slide block and a guide rail;
the guide rail is fixedly connected to the lifting device and is parallel to the access channel;
the moving part is fixedly connected with the sliding block;
the slider moves along the guide rail with the moving portion.
In a further embodiment, each telescopic turnover fork comprises a front rail, a middle rail and a turnover fork,
the middle rail extends towards the tray through a second synchronous belt transmission mechanism fixedly arranged on the moving part;
the front rail extends and retracts towards the tray along the middle rail through a belt transmission mechanism;
the turning fork is fixedly connected with the front rail and used for grabbing the storing and taking unit.
In a further embodiment, the second synchronous belt transmission mechanism comprises a second driving device, a second driving pulley, a second driven pulley and a double-sided tooth synchronous belt;
the second driving device, the second driving belt wheel and the second driven belt wheel are respectively and fixedly arranged on the moving part, and the second driving belt wheel is driven by the second driving device to drive the second driven belt wheel to rotate so as to drive the double-sided tooth synchronous belt to move towards the tray;
the middle rail is provided with a tooth form which is matched with the double-sided tooth synchronous belt and is meshed with the double-sided tooth synchronous belt.
In a further embodiment, the belt transmission mechanism comprises a belt, a pulley block and a third driving device;
the pulley block is driven by a third driving device to drive the belt to move towards the tray;
the front rail extends and retracts along the middle rail toward the pallet along with the belt.
According to the improvement of the invention, a storage method of the automatic three-dimensional container system is also provided, which is based on the automatic three-dimensional container system, and the method comprises the following steps:
the access unit is arranged at the access port;
the upper computer controls the moving part to move to the access port and controls the moving part to adjust to the width suitable for the access unit in response to the occupied space of the access unit;
the telescopic turning fork extends from the initial position to the access opening and grabs the access unit, and the telescopic turning fork contracts to drive the access unit to return to the initial position;
the lifting device moves upwards to drive the access unit to ascend to the proper height of the tray;
the host computer controls the telescopic turnover fork to extend towards the tray so as to store the storing and taking unit on the tray.
In a further embodiment, the method further comprises:
the upper computer controls the moving part to move to the access opening, and automatically matches a proper storage space on the tray for the access unit after the moving part is adjusted to be suitable for the width of the access unit in response to the occupied space of the access unit.
According to the improvement of the invention, the invention also provides a taking out method of the automatic three-dimensional container system, which is based on the automatic three-dimensional container system, and the method comprises the following steps:
the access unit is stored on the tray;
the upper computer controls the moving part to move to the position of the tray stored in the access unit, and controls the moving part to adjust to the width suitable for the access unit in response to the occupied space of the access unit;
the telescopic turning fork extends from the initial position to the tray and grabs the access unit, and the telescopic turning fork contracts to drive the access unit to return to the initial position;
the lifting device moves downwards to drive the access unit to descend to the height of the access opening;
the upper computer controls the telescopic turning fork to extend towards the access port so as to place the access unit to the access port.
Compared with the prior art, the automatic three-dimensional container system and the storing and taking method thereof have the obvious beneficial effects that,
1) adopt this system can realize quick accurate deposit, get and access the unit, the access unit can be for arbitrary shape (including tray, turnover case, carton or goods itself), arbitrary size (length, width), can realize the deposit and withdraw unit that has, got different shapes, size through the access equipment of varistructure, real realization width and depth direction's changeable mixed storage, greatly increased three-dimensional packing cupboard's application scene, improved storage capacity, access efficiency.
2) When the multi-task storage and taking order is processed, the automatic three-dimensional container system is provided with the plurality of moving parts and the plurality of telescopic turnover forks, a plurality of different storage and taking units can be stored and taken at each time, automatic layer changing storage and taking can be realized, the storage and taking efficiency is greatly improved, and the power consumption is further reduced.
3) The transverse moving device realizes the double functions of transverse moving and width changing of storage and taking through the structural optimization design, the whole system is more compact in structure, more convenient to install and maintain through the integrated design, and the cost is reduced.
4) The transverse moving device drives the synchronous belt pulley to drive the synchronous belt to move so as to drive the access device to move by adopting a servo motor, and is also provided with a guide mechanism for guiding, so that the positioning is accurate in absolute control mode, the phenomenon of impacting an access unit is avoided, and the reliability of access is improved; the time cost consumption caused by inaccurate positioning and repositioning is avoided, and the access efficiency is further improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention and are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of the overall structure of an automated three-dimensional container system according to a preferred embodiment of the present invention.
FIG. 2 is a schematic diagram of the access equipment of the automated three-dimensional container system according to the preferred embodiment of the present invention.
FIG. 3 is a schematic diagram of an access device and an access unit of an automated three-dimensional container system according to a preferred embodiment of the present invention.
FIG. 4a is a schematic view of a part of the structure of an access device of an automated three-dimensional container system according to a preferred embodiment of the present invention.
FIG. 4b is a schematic diagram of a part of the structure of the access device of the automated three-dimensional container system according to the preferred embodiment of the present invention.
FIG. 5 is a schematic diagram of the structure of the access equipment (4 moving parts and 4 telescopic turning forks) of the automated three-dimensional container system according to another preferred embodiment of the present invention.
FIG. 6 is a schematic diagram of the structure of the access equipment (3 moving parts and 3 telescopic turning forks) of the automated three-dimensional container system according to another preferred embodiment of the present invention.
FIG. 7 is a schematic diagram of the access device of an automated three-dimensional container system according to another preferred embodiment of the present invention.
FIG. 8 is a schematic diagram of the layout of the access port and the access passage of the automated three-dimensional container system according to the preferred embodiment of the present invention.
FIG. 9 is a schematic diagram of the operation of the access device of the automated three-dimensional container system according to the preferred embodiment of the present invention.
FIG. 10 is a flow chart of the storage method of the automated three-dimensional container system according to the preferred embodiment of the present invention.
FIG. 11 is a flow chart of the method for removing the automated three-dimensional container system according to the preferred embodiment of the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
As shown in fig. 1 to 9, according to the preferred embodiment of the present invention, an automated three-dimensional container system is suitable for hybrid storage and retrieval of access units 1 (including pallets, containers, cartons, or goods themselves) with variable size and shape.
The automated three-dimensional container system comprises a storage rack 3 and a lifting device 9 that can move up and down in the vertical direction (Z direction in fig. 1). The magazine 3 includes trays 2 for storing access units 1 of variable shapes and sizes (width, depth, height) arranged in layers one above the other (in the present embodiment, as shown in fig. 1, the trays 2 are of an elongated type with the longitudinal direction thereof being parallel to the X direction in fig. 1), and an access passage 8 and an access port 7 for allowing the access units 1 to be stored and/or taken out when they are stored and/or taken out. As shown in fig. 1 and fig. 8, the access channel 8 is a channel for storing and/or taking out the access unit 1, and the longitudinal direction thereof is parallel to the X direction in fig. 1. As shown in fig. 3, the access units 1 (1 a, 1b, 1c, 1d, 1e, 1 f) of different sizes and shapes can be stored in the tray 2. In the present embodiment, as shown in fig. 1 in conjunction with fig. 8, the access opening 7 is disposed at the lowest layer of the storage rack 3 and near the free end surface of the access unit 1 for easy removal, the length of the access area of the access opening 7 is similar to or the same as the length of the tray 2, a plurality of access units 1 with different sizes and shapes can be placed at the same time, and the access unit 1 can be allowed to be placed at any position of the access opening 7. The aforementioned lifting device 9 is well known to those skilled in the art and will not be described herein.
The system also comprises an access device 6 and an upper computer 4. The access device 6 is integrally provided on the lifting device 9 and moves up and down in the vertical direction (Z direction in fig. 1) with the lifting device 9. The access device 6 comprises a traversing means 6-1 and an access means 6-2.
The lateral moving device 6-1, as shown in fig. 2 and 3 in combination with fig. 5 and 6, includes at least two moving portions 6-1a, 6-1b arranged in parallel with each other, the moving portions 6-1a, 6-1b, 6-1c, 6-1d being provided on the lifting device 9 and moving laterally along the access passage 8 (X direction in fig. 1) with respect to the lifting device 9; it should be noted that the moving portions 6-1a, 6-1b, 6-1c, 6-1d are independently controlled and bi-directional (may be provided on at least one of the two sides of the access passage 8 and cooperate with the access device 6-2 to access, that is, cooperate with the access device 6-2 to access, to the trays 2 on the two sides of the access passage 8. The access device 6-2 comprises telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d, at least one telescopic turnover fork is arranged on each moving part 6-1a, 6-1b, 6-1c and 6-1d, and each telescopic turnover fork 6-2a, 6-2b, 6-2c and 6-2d is arranged on each moving part 6-1a, 6-1b, 6-1c and 6-1d and moves in a telescopic mode towards the tray 2 (along the Y direction in the attached figure 1) relative to the moving parts 6-1a, 6-1b, 6-1c and 6-1d for storing the access unit 1 in the tray 2 and/or taking the access unit out of the tray 2. In the embodiment, each of the retractable turnover forks 6-2a, 6-2b, 6-2c and 6-2d is bidirectionally retractable, so that one access device 6-2 can store and take the trays 2 on two sides of the access channel 8, the utilization efficiency of the access device 6-2 and the whole access equipment 6 is improved, and the space is saved. Of course, each of the moving portions 6-1a, 6-1b, 6-1c, 6-1d may also be provided with two retractable turning forks (not shown in the drawings), which are respectively located at two sides of the access channel 8 and respectively extend and retract toward the trays 2 at two sides of the access channel 8 (along the Y direction in fig. 1) to store and take the trays 2 at two sides of the access channel 8.
Shown in fig. 2 and 3 are two moving parts 6-1a, 6-1b and two telescopic tipping forks 6-2a, 6-2b, it being understood that the number of moving parts and telescopic tipping forks can be selected according to practical requirements. As shown in FIG. 6, 3 moving parts 6-1a, 6-1b, 6-1c are selected and provided, and in actual use, since the three moving parts 6-1a, 6-1b, 6-1c are independently controlled and bidirectional, the moving parts 6-1a, 6-1c on both sides can share the moving part 6-1b in the middle to store and fetch the access units 1 with different sizes and shapes on the trays 2 on both sides of the access passage 8. As shown in FIG. 5, 4 moving parts 6-1a, 6-1b, 6-1c, 6-1d are selectively provided, and 2 access units 1 with different sizes and shapes can be simultaneously accessed. The remaining number of embodiments of the moving part, and so on, are not listed here. It should be noted that, in the process of storing and taking, if an order is a multitask order, that is, an order is to be stored in or taken out of a plurality of access units 1 with different sizes, the three-dimensional container in the prior art can only store and take a single access unit with a fixed size each time through the storage trolley and the conveying device, when a multitask order is stored and taken, the single access unit with a fixed size needs to be stored and taken back to the access port 7 after the storage and the taking are finished, and then the three-dimensional container runs to the shelf layer corresponding to the next access unit to be stored and taken again, so that the multitask order is completed with lower efficiency and higher power consumption; the automatic three-dimensional container system provided by the embodiment with the plurality of moving parts 6-1a, 6-1b, 6-1c and 6-1d and the plurality of telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d can realize automatic layer-changing storage and taking when storing and taking a multitask order. If a plurality of access units 1 need to be stored in different tray layers or a plurality of access units 1 need to be taken out of different tray layers, the access units 1 of the same tray layer only need to be stored and taken out, then the layer is directly changed to the tray layer corresponding to the next access unit 1 for storage and taking, and the access port 7 does not need to be returned every time, and when all the access units 1 are stored and taken out, the access port 7 is returned again; if a plurality of access units 1 need to be stored in the same pallet layer or a plurality of access units 1 need to be taken out of the same pallet layer, a multitask order can be completed once and then returned to the access opening 7 through a plurality of moving parts 6-1a, 6-1b, 6-1c and 6-1d and a plurality of telescopic turning forks 6-2a, 6-2b, 6-2c and 6-2 d. Therefore, the storage and fetching efficiency is greatly improved, the power consumption is reduced, the method is suitable for various application scenes, and the access units 1 on two sides of the access channel 8 can be simultaneously stored and fetched (as shown in fig. 5). Of course, there are other storage and taking modes that can be realized by the structure, for example, the tasks of storing and taking orders are located on the trays 2 on the same layer, and the occupied positions in the X direction are different, so that the structure can realize simultaneous storage and taking of goods, and realize multi-order operation. Other storage and retrieval modes that can be realized by the structure are not listed here.
In this embodiment, as shown in fig. 1, the automated three-dimensional container system further includes a data acquisition device 5 installed at the access port 7, and electrically connected to the upper computer 4, for acquiring the occupied space of the access unit 1 (such as the image, length, width, height, volume, shape, etc. of the access unit 1) and the storage position of the access unit 1 at the access port 7 and feeding back the acquired space to the upper computer 4.
As shown in fig. 1, the automatic stereo container system further includes an information interaction device electrically connected to the upper computer 4 for inputting and/or outputting the information stored and/or taken out by the access unit 1. In this embodiment, the input of the information interaction device may be any input mode such as keyboard input, barcode input, voice input, touch screen input, and the like; the output of the information interaction device can be any output modes such as dynamic or static display of a display screen, voice broadcast, flashing of a warning light and the like. For example, when the barcode is stored in the access unit 1, a user can scan the barcode of the access unit 1 through the barcode scanner to obtain the occupied space of the access unit 1 and input the space to the upper computer 4; the occupied space of the access unit 1 can be acquired through a measuring instrument and a camera and is input to the upper computer 4 through a keyboard or voice; after the storage is finished, the information interaction device displays whether the storage is successful or not through the display screen in real time, and the current occupation information of the tray 2 is updated in real time so that a user can check the information in real time. The aforementioned and later-described occupancy information includes, but not limited to, the unique ID of the access unit 1, the occupancy space of the access unit 1 itself (such as the image, length, width, height, volume, shape, etc. of the access unit 1), and the occupancy position of the access unit 1 on the tray 2 (the coordinate position of the tray 2 in the direction X, Y, Z). When no suitable storage space exists, the information interaction device informs a user of reminding the user of carrying out manual processing in a voice broadcasting mode in real time. Therefore, the man-machine interaction is more convenient to store and fetch. It should be understood that the aforementioned information interaction means are well known in the art, and any suitable structure, either now existing or later developed, may be used in accordance with the present disclosure.
The upper computer 4 is electrically connected with the transverse moving device 6-1, the access device 6-2 and the lifting device 9 respectively; the lifting of the lifting device 9, the movement of the moving parts 6-1a, 6-1b, 6-1c, 6-1d and the telescoping of the telescoping turnover forks 6-2a, 6-2b, 6-2c, 6-2d are controlled in response to the occupied space of the access unit 1 to complete the storage or retrieval of the access unit 1. The occupied space of the access unit 1 can be acquired automatically by the data acquisition device 5, can be acquired by manual measurement and input methods, and can also be acquired by information such as the occupied space of the access unit 1 stored in the upper computer 4 in advance. It should be understood that the aforementioned host computer 4 is well known in the art, and any suitable structure, either existing or developed in the future, may be used in accordance with the present disclosure. Of course, the upper computer 4 may be replaced by other control devices, such as a PLC system.
In some preferred embodiments, the upper computer 4 is further arranged to generate a unique ID for the access unit 1 based on the footprint of the access unit 1 and has a database module. And the database module is used for storing the unique ID, the occupied space corresponding to the unique ID and the binding relationship between the unique ID and the occupied space, and is also used for storing the occupied information of the access unit 1 on the tray 2. During storage, the upper computer 4 automatically adapts the appropriate storage space on the tray 2 for the access unit 1 (i.e. the free space on the tray 2 that is obtained by removing the occupied position of the stored access unit 1 on the tray 2 with the total storage space) according to the occupied space of the access unit 1 in combination with the stored occupied position of the access unit 1 on the tray 2. After the storage is finished, the upper computer 4 stores the ID of the access unit 1, the occupied space of the access unit 1 and the occupied information of the access unit 1 on the tray 2 to the database module in real time for subsequent storage of other access units 1 or calling when the access unit 1 is taken out. When taking out, a user can input the ID of the access unit 1, the upper computer 4 calls the occupied space of the access unit 1 corresponding to the ID stored in the database module and the occupied position of the access unit 1 on the tray 2 according to the ID of the access unit 1, and the lifting device 9 and the access equipment 6 are controlled to take out the access unit 1 from the occupied position on the tray 2 matched with the access unit 1. After the access unit 1 is taken out, the upper computer 4 clears the original occupation information from the database module in real time for being called when other access units 1 are stored subsequently.
The automated three-dimensional container system provided in this embodiment takes an automated three-dimensional container system having two moving parts 6-1a, 6-1b and two retractable turning forks 6-2a, 6-2b as an example, and the operating principle thereof is as follows:
when storing the access unit 1, the access unit 1 is placed at an arbitrary position of the access port 7. The upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c and 6-1d to transversely move to the position, corresponding to the access opening 7, of the storage access unit 1 along the access passage 8 (along the X direction) according to the storage position, collected by the data collection device 5, of the storage access unit 1, and controls the moving parts 6-1a, 6-1b, 6-1c and 6-1d to be adjusted to be suitable for the width of the storage access unit 1 according to the occupied space of the storage access unit 1 (the occupied space can be automatically collected by the data collection device 5 and can also be obtained by a manual measurement input method). The telescopic flipping forks 6-2a, 6-2b, 6-2c, 6-2d extend from the initial position (as shown in fig. 9) towards the access opening 7 (in the Y direction) and grab the access unit 1, and the telescopic flipping forks 6-2a, 6-2b, 6-2c, 6-2d retract to bring the access unit 1 back to its initial position (as shown in fig. 9, when the access unit 1 is located in the access channel 8). The host computer 4 automatically matches the access unit 1 with a suitable storage space on the tray 2 according to the occupied space of the access unit 1 and the occupied position of the stored access unit 1 on the tray 2 (for example, storing one row of goods with the same specification along the Y direction, and then storing one row of goods with the same width along the Y direction, etc.). The lifting device 9 moves upward to lift the access unit 1 to a suitable height of the tray 2 (i.e. the height of the tray 2 corresponding to the suitable storage space). The upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c and 6-1d to drive the access unit 1 grabbed on the upper computer to transversely move to a tray position to be stored of the access unit 1 along the access channel 8 (along the X direction), and then the upper computer 4 controls the telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d to extend towards the tray 2 (along the Y direction) to store the access unit 1 onto the tray 2, so that storage is completed. After the storage is finished, the upper computer 4 controls the telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d to contract back to the initial positions; the lifting device 9 drives the access device 6 to move downwards to the lowest layer of the storage rack 3 to wait for the next storage operation or taking out operation. Meanwhile, the upper computer 4 generates the unique ID of the access unit 1, and stores the ID of the access unit 1, the occupied space of the access unit 1 and the occupied information of the access unit 1 on the tray 2 to the database module in real time for subsequent storage of other access units 1 or calling when the access unit 1 is taken out, and the information interaction device displays the storage result and stores the occupied information in real time so as to be convenient for a user to check.
When the access unit 1 is taken out, the access unit 1 is stored on the tray 2. The upper computer 4 calls the occupied space of the access unit 1 corresponding to the ID stored in the database module and the occupied position of the access unit 1 on the tray 2 according to the unique ID number of the access unit 1. The lifting device 9 moves to the height of the tray 2 stored in the access unit 1; the upper computer 4 controls the moving portions 6-1a, 6-1b, 6-1c, 6-1d to move laterally along the access passage 8 (in the X direction) to a tray position where the access unit 1 is stored, and controls the moving portions 6-1a, 6-1b, 6-1c, 6-1d to adjust to a width suitable for the access unit 1 in response to the occupied space of the access unit 1. The telescopic flipping forks 6-2a, 6-2b, 6-2c, 6-2d extend from an initial position (as shown in fig. 9) towards the tray 2 (in the Y direction) and grab the access unit 1, and the telescopic flipping forks 6-2a, 6-2b, 6-2c, 6-2d retract to bring the access unit 1 back to its initial position (as shown in fig. 9, when the access unit 1 is located in the access channel 8). The lifting device 9 moves downwards to drive the access unit 1 to descend to the height of the access opening 7. The upper computer 4 controls the telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d to extend towards the access opening 7 (along the Y direction) to place the access unit 1 to the access opening 7, and a user takes away the access unit to wait for the next storage operation or taking out operation. Meanwhile, the upper computer 4 clears the original occupation information from the database module in real time for calling when other access units 1 are stored subsequently, and the information interaction device displays the taking-out result and the taken-out storage occupation information in real time, so that a user can conveniently check the information.
The working principle of the automatic stereo container system with a plurality of moving parts 6-1a, 6-1b, 6-1c, 6-1d and a plurality of telescopic turning forks 6-2a, 6-2b, 6-2c and 6-2d is basically the same as that of the automatic stereo container system with two moving parts 6-1a, 6-1b and two telescopic turning forks 6-2a and 6-2b, and the working principle when processing multitask orders is as described above.
Thus, the system can realize fast and accurate access unit 1, as shown in fig. 3, the access unit 1 can be in any shape (including a tray, a turnover box, a carton box or goods), and the access device 6 with a variable structure can realize the access unit 1 with different shapes and sizes (length, width and height), and replace the storage mode which can only store the tray 2 or the turnover box with limited size as described in the background art (the technical scheme disclosed in the prior art, even if the storage size is variable, the access unit is realized by only adjusting the size of the goods shelf or the storage carrier, such as adjusting the structural width of the goods shelf and goods grid, the shape and the size are still invariable substantially, the function of increasing the storage capacity is limited, and if the storage carrier is a large-sized tray and turnover box, when the stored goods are few, the space of the storage rack is not fully utilized, and the storage and the taking out still need larger power consumption, thus wasting space and energy). The three-dimensional container system disclosed by the technical scheme really realizes variable mixed storage in the width direction and the depth direction through the moving part and the telescopic turnover fork, can reasonably utilize space of each layer, and only needs to directly transport the access unit 1 during access and only occupies a smaller space on the tray even if the access unit 1 is smaller, thereby greatly increasing the application scene of the three-dimensional container, improving the storage capacity and the access efficiency, reducing the access power consumption and saving energy. In addition, the transverse moving device 6-1 realizes double functions of transverse moving and variable access width (the width of the access unit 1 grabbed by the transverse moving device is variable) through structural optimization design, the whole system is more compact in structure, more convenient to install and maintain and lower in cost through integrated design. When a multitask order is processed, the automatic three-dimensional container system with the plurality of moving parts 6-1a, 6-1b, 6-1c and 6-1d and the plurality of telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d can realize automatic layer-changing storage and taking, greatly improves the storage and taking efficiency and reduces the power consumption.
In certain preferred embodiments, as shown in fig. 1 and 2, the lifting device 9 further has a support frame 9-1 horizontally disposed along the access passage 8, and the support frame 9-1 is used for supporting and fixing the whole access device 6. Each moving part 6-1a, 6-1b, 6-1c, 6-1d is moved by a first synchronous belt transmission mechanism fixed on the support frame 9-1. The first synchronous belt transmission mechanism comprises a first driving device 6-12, a first driving belt wheel 6-11, a first driven belt wheel 6-15 and a synchronous belt 6-14. The first driving device 6-12, the first driving belt wheel 6-11 and the first driven belt wheel 6-15 are respectively and fixedly installed on the supporting frame 9-1 of the lifting device 9, and the first driving belt wheel 6-11 is driven by the first driving device 6-12 to drive the first driven belt wheel 6-15 to rotate so as to drive the synchronous belt 6-14 to transversely move along the access channel 8. The moving parts 6-1a, 6-1b, 6-1c, 6-1d are fixedly connected with the timing belts 6-14 and move transversely along the access channel 8 along with the movement of the timing belts 6-14. In the present embodiment, the first driving devices 6-12 are servo motors, but of course, any other driving device may be selected according to actual requirements.
As shown in fig. 2, the lateral moving device 6-1 further includes a guide portion 6-13. The guide portion 6-13 includes a slider 6-132 and a guide rail 6-131. The guide rails 6-131 are fixedly connected to the lifting device 9 parallel to the access channel 8. The moving parts 6-1a, 6-1b, 6-1c, 6-1d are fixedly connected with the sliding blocks 6-132, and the sliding blocks 6-132 move along the guide rails 6-131 along with the moving parts 6-1a, 6-1b, 6-1c, 6-1 d. In this way, the entire guide portion 6-13 is guided when the moving portions 6-1a, 6-1b, 6-1c, 6-1d move laterally along the access passage 8.
Therefore, the transverse moving device 6-1 drives the first synchronous belt pulley to drive the synchronous belt 6-14 to move so as to drive the access device 6-2 to move, the transverse moving device 6-1 is also provided with a guide part 6-13 for guiding, when the transverse moving device moves transversely in an absolute control mode, the transverse moving device is accurate in positioning, the phenomenon of impacting the access unit 1 is avoided, the width is changed more accurately, the access reliability is improved, and the phenomenon of impacting caused by inaccurate positioning of the trolley by a sensor in the traditional technology is avoided; the time cost consumption caused by inaccurate positioning and repositioning is avoided, and the access efficiency is further improved.
In certain preferred embodiments, as shown in FIG. 2, each telescoping flip fork 6-2a, 6-2b, 6-2c, 6-2d includes a front rail 6-21, a center rail 6-22, and a flip fork 6-20. The middle rail 6-22 extends and retracts towards the tray 2 through a second synchronous belt transmission mechanism 6-23, and the second synchronous belt transmission mechanism 6-23 is installed on the moving parts 6-1a, 6-1b, 6-1c and 6-1d through a fixing plate. The front rails 6-21 extend and retract towards the tray 2 along the middle rails 6-22 through belt transmission mechanisms 6-24; and the turning fork 6-20 is fixedly connected with the front rail 6-21 and used for grabbing the access unit 1. In this embodiment, the maximum travel of the front rail 6-21 is 2 times the maximum travel of the middle rail 6-22. The variable-depth storage (the depth of the access unit 1 grabbed by the telescopic turnover fork is variable) is realized, the running time of the system is greatly saved, and the efficiency is improved. It should be noted that the flippers 6-20 are well known in the art and any suitable structure, either now known or later developed in the future, may be used in accordance with the present disclosure. Of course, the tipping forks 6-20 could be replaced by other gripping devices, such as a six-axis robot arm, etc.
Fig. 3 shows a schematic view of two telescopic turning forks 6-2a, 6-2b, 6-2c, 6-2d arranged parallel to each other, it being understood that the angle between the telescopic turning forks 6-2a, 6-2b, 6-2c, 6-2d may also be adjustable in some embodiments in order to facilitate gripping of access units 1 of different shapes. For example, in some embodiments, as shown in fig. 7, the front rail 6-21 of each of the telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d is replaced with a sprocket assembly 6-25 or a synchronous belt assembly 6-25, the sprocket assembly 6-25 or the synchronous belt assembly 6-25 includes a driving wheel 6-251, a driven wheel 6-252 and a synchronous belt or chain 6-254 for driving, and 3 push-pull blocks 6-253 are fixed on the synchronous belt or chain 6-254. When the middle rail 6-22 drives the chain wheel transmission assembly 6-25 or the synchronous belt transmission assembly 6-25 to extend to a proper position, the driving wheel 6-251 rotates to drive the driven wheel 6-252 to rotate so as to drive the synchronous belt or chain 6-254 to move towards the tray (along the direction Y in the attached figure 1), thereby driving the push-pull block 6-253 on the synchronous belt or chain to adjust the angle, and storing the access unit 1 into the tray 2 or taking the access unit 1 out of the tray 2.
Preferably, as shown in fig. 4a and 4b, the second synchronous belt drive mechanism 6-23 includes a second driving device 6-235, a second driving pulley 6-231, a second driven pulley 6-232, a tension pulley 6-234, and a double-sided tooth synchronous belt 6-233. The second driving device 6-235, the second driving belt wheel 6-231, the tensioning wheel 6-234 and the second driven belt wheel 6-232 are respectively and fixedly arranged on the moving parts 6-1a, 6-1b, 6-1c and 6-1d, the second driving belt wheel 6-231 is driven by the second driving device 6-235 to drive the second driven belt wheel 6-232 to rotate so as to drive the double-sided tooth synchronous belt 6-233 to move towards the tray 2, and the first stage of expansion is realized. And the middle rail 6-22 is provided with a tooth form matched with the double-sided tooth synchronous belt 6-233, and the tooth form of the double-sided tooth synchronous belt 6-233 is meshed with the double-sided tooth synchronous belt 6-233. The inner sides of the double-sided tooth synchronous belts 6-233 are connected with second driving belt wheels 6-231, second driven belt wheels 6-232 and tensioning wheels 6-234, so that a closed-loop belt wheel conveying set is formed, power is provided through second driving devices 6-235 (in the embodiment, the second driving devices 6-235 are motors), and meanwhile, the double-sided tooth synchronous belts 6-233 are meshed, so that a transmission mechanism is effectively simplified, parts are reduced, the telescopic transmission positioning of the middle rails 6-22 is more accurate through meshing, and the grabbing reliability is higher.
In some embodiments, as shown in fig. 4a, the belt drive 6-24 comprises a belt 6-242, a pulley block 6-241 and a third drive means (not shown in fig. 4 a). The pulley block 6-241 is driven by the third driving device to drive the belt 6-242 to move towards the tray 2; the front rail 6-21 is extended and retracted along the middle rail 6-22 toward the pallet 2 with the belt 6-242, which is a second stage of extension and retraction. Therefore, two-stage extension and contraction are adopted and are respectively driven independently, and the stability is better than that of one-stage extension and contraction under the state of long stroke.
In some embodiments, as shown in fig. 4b, the belt drive 6-24 comprises a belt 6-242 and a pulley block 6-241. One end of the belt 6-242 is connected to the middle rail 6-22 of the fixing plate, the other end is fixedly connected with the front rail 6-21, and when the middle rail 6-22 of the pulley moves, the belt 6-242 is driven to move, so that the front rail 6-21 is driven to move.
According to the improvement of the present invention, as shown in fig. 10, there is also provided a storage method of an automated three-dimensional container system, which is based on the above-mentioned automated three-dimensional container system, the storage method comprising:
the access unit 1 is placed in the access port 7.
The upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, 6-1d to move to the access port 7, and controls the moving parts 6-1a, 6-1b, 6-1c, 6-1d to adjust to the width suitable for the access unit 1 in response to the occupied space of the access unit 1.
The telescopic turnover forks 6-2a, 6-2b, 6-2c, 6-2d extend from the initial position towards the access opening 7 and grab the access unit 1, and the telescopic turnover forks 6-2a, 6-2b, 6-2c, 6-2d retract to bring the access unit 1 back to its initial position.
The lifting device 9 moves upwards to lift the access unit 1 to the proper height of the tray 2.
The upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c and 6-1d to move to the position of the tray to be stored in the access unit 1.
The upper computer 4 controls the telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d to extend towards the tray 2 so as to store the access unit 1 on the tray 2.
The more detailed storage method (including the storage method of the multitask order) is the same as the working principle of the automatic three-dimensional container system, and is not described herein again.
Preferably, the method further comprises: the upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c and 6-1d to move to the access opening 7, and controls the moving parts 6-1a, 6-1b, 6-1c and 6-1d to adjust to the width suitable for the access unit 1 in response to the occupied space of the access unit 1, and then automatically matches the access unit 1 with the suitable storage space on the tray 2.
According to the improvement of the present invention, as shown in fig. 11, there is also provided a method for taking out an automated three-dimensional container system, which is based on the above automated three-dimensional container system, the method for taking out includes:
the access unit 1 is stored on the tray 2.
The upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, 6-1d to move to the tray position where the access unit 1 is stored, and controls the moving parts 6-1a, 6-1b, 6-1c, 6-1d to adjust to the width suitable for the access unit 1 in response to the occupied space of the access unit 1.
The telescopic tipping forks 6-2a, 6-2b, 6-2c, 6-2d extend from the initial position towards the tray 2 and grip the access unit 1, and the telescopic tipping forks 6-2a, 6-2b, 6-2c, 6-2d retract to bring the access unit 1 back to its initial position.
The lifting device 9 moves downwards to drive the access unit 1 to descend to the height of the access opening 7.
The upper computer 4 controls the telescopic turnover forks 6-2a, 6-2b, 6-2c and 6-2d to extend towards the access opening 7 so as to place the access unit 1 to the access opening 7.
More detailed specific fetching methods (including the fetching method of the multitask order) are the same as the working principle of the automatic three-dimensional container system, and are not described herein again.
The automatic three-dimensional container system and the storing and taking method thereof provided by the invention have the following advantages:
1) adopt this system can realize quick accurate deposit, get and access the unit, the access unit can be for arbitrary shape (including tray, turnover case, carton or goods itself), arbitrary size (length, width), can realize the deposit and withdraw unit that has, got different shapes, size through the access equipment of varistructure, real realization width and depth direction's changeable mixed storage, greatly increased three-dimensional packing cupboard's application scene, improved storage capacity, access efficiency.
2) When processing multitask order, automatic three-dimensional packing cupboard system has a plurality of removal portions and a plurality of flexible fork that turns over, can realize automatic layer changing and deposit, get, improves greatly and deposits, gets efficiency, further reduces the consumption.
3) The transverse moving device realizes the double functions of transverse moving and width changing of storage and taking through the structural optimization design, the whole system is more compact in structure, more convenient to install and maintain through the integrated design, and the cost is reduced.
4) The transverse moving device drives the synchronous belt pulley to drive the synchronous belt to move so as to drive the access device to move by adopting a servo motor, and is also provided with a guide mechanism for guiding, so that the positioning is accurate in absolute control mode, the phenomenon of impacting an access unit is avoided, and the reliability of access is improved; the time cost consumption caused by inaccurate positioning and repositioning is avoided, and the access efficiency is further improved.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (12)
1. Automatic three-dimensional packing cupboard system of change, including storage rack (3) and can follow hoisting device (9) of vertical direction upper and lower removal, storage rack (3) are including tray (2) that are used for storage access unit (1) and access way (8) and access opening (7), and the length of the access area of access opening (7) is set to and can places a plurality of access units (1) simultaneously, its characterized in that, automatic three-dimensional packing cupboard system of change still includes access arrangement (6) and host computer (4), wherein:
the access equipment (6) is integrally arranged on the lifting device (9) and comprises a transverse moving device (6-1) and an access device (6-2);
the transverse moving device (6-1) comprises at least three moving parts, each moving part is independently controlled, each moving part (6-1 a, 6-1b, 6-1c, 6-1 d) is arranged on the lifting device (9) and transversely moves along the access channel (8) relative to the lifting device (9), and each moving part (6-1 a, 6-1b, 6-1c, 6-1 d) can transversely move to the position of the tray (2) or the storage access unit (1) corresponding to the access opening (7);
the access device (6-2) comprises telescopic turning forks, each telescopic turning fork is independently controlled, at least one telescopic turning fork (6-2 a, 6-2b, 6-2c, 6-2 d) is arranged on each moving part (6-1 a, 6-1b, 6-1c, 6-1 d), and the telescopic turning forks (6-2 a, 6-2b, 6-2c, 6-2 d) are telescopic towards the tray (2) relative to the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) and used for storing the access unit (1) into the tray (2) and/or taking the access unit (1) out of the tray (2);
the upper computer (4) is respectively and electrically connected with the transverse moving device (6-1) and the access device (6-2), is arranged to control the moving part (6-1 a, 6-1b, 6-1c, 6-1 d) to move transversely along the access channel (8) to the position of the tray (2) or the access opening (7) corresponding to the storage access unit (1), to control the moving part (6-1 a, 6-1b, 6-1c, 6-1 d) to move transversely along the access channel (8) to be adjusted to be suitable for the width of the access unit (1) in response to the occupied space of the access unit (1), and to control the telescopic turning fork (6-2 a, 6-2b, 6-2c, 6-2 d) to be telescopic so as to complete the storage and/or taking of the access unit (1);
each mobile part is arranged to be controlled by the upper computer to be matched with other mobile parts, and can access a plurality of access units (1) of the same layer and/or different layers at one time; the aforementioned one-time access to multiple access units (1) of the same layer and/or different layers specifically means: when a plurality of access units are stored on a tray (2) of the same layer and/or different layers or a plurality of access units (1) are taken out from a tray of the same layer and/or different layers, the whole access device (6) only reaches the access port (7) once.
2. The automated dimensional container system according to claim 1, further comprising a data acquisition device (5) mounted at the access port (7);
and the data acquisition device (5) is electrically connected with the upper computer (4) and is used for acquiring the occupied space of the access unit (1) and the storage position of the access unit (1) at the access port (7) and feeding back the acquired space to the upper computer (4).
3. The automated stereo container system according to claim 1, characterized in that the upper computer (4) is further arranged to generate a unique ID of the access unit (1) from the occupation space of the access unit (1) and has a database module;
the database module is used for storing the unique ID, the corresponding occupied space and the binding relationship between the unique ID and the corresponding occupied space, and is also used for storing the occupied information of the access unit (1) on the tray (2);
the upper computer (4) is also set to automatically adapt a suitable storage space on the tray (2) for the access unit (1) and/or to take the access unit (1) out of the adapted tray (2).
4. The automated stereo container system of claim 1, further comprising an information interaction device;
the information interaction device is electrically connected with the upper computer (4) and is used for inputting and/or outputting the information stored in and/or taken out of the access unit (1).
5. The automated stereo container system according to any one of claims 1-4, wherein each of the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) is moved by a first synchronous belt drive mechanism;
the first synchronous belt transmission mechanism comprises a first driving device (6-12), a first driving belt wheel (6-11), a first driven belt wheel (6-15) and a synchronous belt (6-14);
the first driving device (6-12), the first driving belt wheel (6-11) and the first driven belt wheel (6-15) are fixedly installed on the lifting device (9) respectively, and the first driving belt wheel (6-11) is driven by the first driving device (6-12) to drive the first driven belt wheel (6-15) to rotate so as to drive the synchronous belt (6-14) to move transversely along the access channel (8);
the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) are fixedly connected with the synchronous belts (6-14).
6. The automated stereo container system of claim 5, wherein the lateral moving means (6-1) further comprises a guide (6-13),
the guide part (6-13) comprises a slide block (6-132) and a guide rail (6-131);
the guide rails (6-131) are fixedly connected to the lifting device (9) and are parallel to the access channel (8);
the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) are fixedly connected with the sliding blocks (6-132);
the slider (6-132) moves along the guide rail (6-131) with the moving section (6-1 a, 6-1b, 6-1c, 6-1 d).
7. The automated stereo container system according to any one of claims 1-4, wherein each of the telescopic tipping forks (6-2 a, 6-2b, 6-2c, 6-2 d) comprises a front rail (6-21), a middle rail (6-22) and a tipping fork (6-20),
the middle rail (6-22) extends towards the tray (2) through a second synchronous belt transmission mechanism (6-23) fixedly arranged on the moving parts (6-1 a, 6-1b, 6-1c and 6-1 d);
the front rails (6-21) extend and retract towards the tray (2) along the middle rails (6-22) through belt transmission mechanisms (6-24) fixedly arranged on the middle rails (6-22);
the turning fork is fixedly connected with the front rails (6-21) and used for grabbing the access unit (1).
8. The automated stereo container system of claim 7, wherein the second synchronous belt drive mechanism (6-23) comprises a second driving device (6-235), a second driving pulley (6-231), a second driven pulley (6-232), and a double-sided tooth synchronous belt (6-233);
the second driving device (6-235), the second driving belt wheel (6-231) and the second driven belt wheel (6-232) are respectively and fixedly arranged on the moving parts (6-1 a, 6-1b, 6-1c and 6-1 d), and the second driving belt wheel (6-231) is driven by the second driving device (6-235) to drive the second driven belt wheel (6-232) to rotate so as to drive the double-sided tooth synchronous belt (6-233) to move towards the tray (2);
the middle rail (6-22) is provided with a tooth shape which is matched with the double-sided tooth synchronous belt (6-233), and the tooth shape is meshed with the double-sided tooth synchronous belt (6-233).
9. The automated dimensional container system according to claim 7, wherein the belt drive mechanism (6-24) comprises a belt (6-242), a pulley block (6-241) and a third drive means;
the pulley block (6-241) is driven by a third driving device to drive the belt (6-242) to move towards the tray (2);
the front rail (6-21) is extended and retracted along the middle rail (6-22) toward the pallet (2) with the belt (6-242).
10. A storage method of an automated stereo container system, characterized in that it is based on the automated stereo container system of any one of claims 1-9, the storage method comprising:
the access unit (1) is arranged at the access port (7);
the upper computer (4) controls the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) to move to the access opening (7), and controls the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) to adjust to the width suitable for the access unit (1) in response to the occupied space of the access unit (1);
the telescopic turning forks (6-2 a, 6-2b, 6-2c, 6-2 d) extend from the initial positions to the access opening (7) and grab the access unit (1), and the telescopic turning forks (6-2 a, 6-2b, 6-2c, 6-2 d) contract to drive the access unit (1) to return to the initial positions;
the lifting device (9) moves upwards to drive the access unit (1) to ascend to the proper height of the tray (2);
the upper computer (4) controls the telescopic turnover forks (6-2 a, 6-2b, 6-2c and 6-2 d) to extend towards the tray (2) so as to store the access unit (1) on the tray (2).
11. The method of claim 10, further comprising:
the upper computer (4) controls the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) to move to the access opening (7), and controls the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) to adjust to the width suitable for the access unit (1) in response to the occupied space of the access unit (1), and then automatically matches the access unit (1) with the suitable storage space on the tray (2).
12. A method of taking out an automated stereo container system, based on the automated stereo container system of any one of claims 1-9, the method comprising:
the access unit (1) is stored on the tray (2);
the upper computer (4) controls the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) to move to the tray position stored in the access unit (1), and controls the moving parts (6-1 a, 6-1b, 6-1c, 6-1 d) to adjust to the width suitable for the access unit (1) in response to the occupied space of the access unit (1);
the telescopic turning forks (6-2 a, 6-2b, 6-2c, 6-2 d) extend from the initial positions towards the tray (2) and grab the access unit (1), and the telescopic turning forks (6-2 a, 6-2b, 6-2c, 6-2 d) contract to drive the access unit (1) to return to the initial positions;
the lifting device (9) moves downwards to drive the access unit (1) to descend to the height of the access opening (7);
the upper computer (4) controls the telescopic turnover forks (6-2 a, 6-2b, 6-2c and 6-2 d) to extend towards the access opening (7) so as to place the access unit (1) to the access opening (7).
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910129051.7A CN111591641B (en) | 2019-02-21 | 2019-02-21 | Automatic three-dimensional container system and storing and taking method thereof |
| PCT/CN2019/079412 WO2020168609A1 (en) | 2019-02-21 | 2019-03-25 | Automatic three-dimensional container system and storage and retrieval method therefor |
| DE202020100289.9U DE202020100289U1 (en) | 2019-02-21 | 2020-01-21 | Automatic three-dimensional storage system |
| PCT/CN2020/075796 WO2020169044A1 (en) | 2019-02-21 | 2020-02-19 | Storage and retrieval mechanism, device, apparatus, system and method |
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| CN201910129051.7A CN111591641B (en) | 2019-02-21 | 2019-02-21 | Automatic three-dimensional container system and storing and taking method thereof |
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| CN113879775A (en) * | 2020-07-01 | 2022-01-04 | 广州赛特智能科技有限公司 | Double-chain vertical directional circulating lifting device, built-in automatic storing and taking device and storing and taking method |
| CN114074839B (en) * | 2020-08-14 | 2023-05-30 | 浙江晖石药业有限公司 | Cache transfer module and storage type clamping device |
| CN112407730A (en) * | 2020-11-26 | 2021-02-26 | 南京熊猫电子股份有限公司 | Integrated stacking device for narrow space |
| CN113095599B (en) * | 2021-05-10 | 2024-04-05 | 苏州艾斯达克智能科技有限公司 | SMT material storage method |
| CN113213038B (en) * | 2021-05-13 | 2023-03-24 | 莱德沃重工机械(上海)有限公司 | Digital pickup device based on logistics storage |
| CN115432340A (en) * | 2021-06-02 | 2022-12-06 | 江苏华章物流科技股份有限公司 | Three-dimensional sorting station, sorting method and sorting ex-warehouse method |
| CN113683025A (en) * | 2021-07-08 | 2021-11-23 | 长沙华恒机器人系统有限公司 | Formula fork device is embraced to displacement clamp |
| CN114383042B (en) * | 2021-12-03 | 2022-12-06 | 河南省日立信股份有限公司 | Automatic storage and taking method for intelligent storage square cabin of steel cylinder |
| CN114701764B (en) * | 2022-03-10 | 2023-06-09 | 南通牧野机械有限公司 | Sponge storage bin |
| CN114506608A (en) * | 2022-03-15 | 2022-05-17 | 黄稚翘 | Shaftless printing plate roller storing and taking storage device |
| CN116119241B (en) * | 2023-04-17 | 2023-07-21 | 杭州慧仓信息科技有限公司 | Modularized warehousing system |
| CN117464344B (en) * | 2023-12-26 | 2024-03-12 | 今创集团股份有限公司 | Energy storage container assembly quality |
| CN117622750A (en) * | 2024-01-24 | 2024-03-01 | 天津朗祺模具有限公司 | Automatic stacking device for three-dimensional storage |
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| WO2020168609A1 (en) | 2020-08-27 |
| DE202020100289U1 (en) | 2020-01-30 |
| CN111591641A (en) | 2020-08-28 |
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