CN112110112A

CN112110112A - Movable automatic storage system

Info

Publication number: CN112110112A
Application number: CN202010827505.0A
Authority: CN
Inventors: 何凯; 谢易廷; 徐耀辉; 赵文亮
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2020-08-17
Filing date: 2020-08-17
Publication date: 2020-12-22
Anticipated expiration: 2040-08-17
Also published as: CN112110112B; WO2022036898A1

Abstract

The invention belongs to the technical field of experimental auxiliary instruments, and particularly relates to a movable automatic storage system, which comprises a mobile device, a storage turret, a mechanical arm and a controller, wherein the storage turret comprises: a fixed base; a rotating mechanism; the storage rack structure comprises a plurality of pallet frames, a plurality of pallet base plates and a plurality of pallets, wherein the pallet base plates are fixedly connected to the bottom ends of the pallet frames, the pallet base plates are detachably connected to the rotating mechanism, the pallet frames surround into a prism shape, and each pallet frame is detachably connected with a plurality of pallets from bottom to top; the controller controls the mobile equipment to move to the bottom of the fixed base and pass through the space, controls the mobile equipment to jack up the fixed base so as to move the storage turret to a preset position provided with the mechanical arm, and controls the mechanical arm to grab or store articles on the pallet. By applying the technical scheme of the invention, the problems of inflexible use and low working efficiency of the fixed storage rack in the prior art can be solved.

Description

Movable automatic storage system

Technical Field

The invention belongs to the technical field of experimental auxiliary instruments, and particularly relates to a movable automatic storage system.

Background

With the development of synthetic biological experiments, it has become a trend to use intelligent machines to replace experimenters to perform a large number of repeated experiments. Various equipment instruments such as a mechanical arm, a cloning picking instrument, an automatic storage turret and the like are widely applied to laboratories. Wherein, automatic storing capstan head is many prismatic formula, makes every face all can cooperate the arm to deposit and withdraw experimental article such as experimental apparatus or culture dish through rotatory. A large amount of test samples are generated during the experiment, and therefore, the test samples need to be stored in a storage rack for waiting for the next experiment. At present, no automatic storage turret is produced in the market, most of the automatic storage turrets are fixed storage racks, and the automatic storage turrets cannot be moved to a preset place at any time and any place according to actual use.

Disclosure of Invention

The invention aims to provide a mobile automatic storage system, which aims to solve the problems that a fixed storage rack in the prior art is inflexible to use and low in working efficiency, and the existing storage rack is fixed and cannot be moved to a preset place at any time and any place according to actual use requirements.

In order to achieve the purpose, the invention adopts the technical scheme that: a mobile automated storage system comprising a mobile device, a storage turret, a robotic arm, and a controller, wherein the storage turret comprises: a stationary base having a bottom passage space; the rotating mechanism is arranged on the fixed base; the storage rack structure comprises a plurality of pallet frames, a plurality of pallet base plates and a plurality of pallets, wherein the pallet base plates correspond to the pallet frames one by one, the pallet base plates are fixedly connected to the bottom ends of the pallet frames, the pallet base plates are detachably connected to the rotating mechanism, the pallet frames surround into a prism shape, and each pallet frame is detachably connected with a plurality of pallets from bottom to top; the mobile equipment, the mechanical arm and the rotating mechanism are all in communication connection with the controller; the controller controls the mobile equipment to move to the bottom passing space, the controller controls the mobile equipment to jack the fixed base so as to move the storage turret to a preset position provided with the mechanical arm, and the controller controls the mechanical arm to grab or store articles on the pallet.

Optionally, the storage rack structure further comprises a buckle assembly by which each pallet is detachably connected to the pallet frame.

Optionally, the buckle assembly comprises buckle parts and a plunger part, each buckle part comprises a stop head and a plurality of elastic hooks, first ends of the elastic hooks are connected to the stop head, the elastic hooks are circularly surrounded and are distributed at intervals, and a turning hook facing away from the central axis is arranged at a second end of each elastic hook; the pallet comprises a horizontal storage plate and a vertical connecting portion, the horizontal storage plate and the vertical connecting portion are connected and fixed with each other, a first through hole is formed in the vertical connecting portion, a second through hole corresponding to the first through hole is formed in the pallet, the second end of the elastic clamping hook sequentially penetrates through the first through hole and the second through hole, and the plunger piece is inserted into a cylindrical space defined by the elastic clamping hooks to expand the elastic clamping hooks.

Optionally, the buckle assembly further comprises an anti-dropping part, the anti-dropping part is arranged between the buckle part and the plunger part, and the anti-dropping part is used for preventing the plunger part from dropping off the buckle part.

Optionally, the anti-dropping part is an elastic clamping ring, the plunger part is provided with a first mounting groove, each elastic clamping hook is provided with a second mounting groove opposite to the first mounting groove, and the elastic clamping ring is extruded and mounted between the first mounting groove and the second mounting groove.

Optionally, from supreme opening down on the pallet frame has a plurality of installing ports, the notch has been seted up to the lower lateral wall of every installing port, every pallet includes board main part and coupling end, coupling end is including connecting in the board main part bear the weight of the extension and establish the section of colluding in bearing the weight of the extension both sides respectively, the section of colluding forms with board main part interval and dodges the space, coupling end inserts the installing port, and bears the weight of the extension and be located the notch, the both sides lateral wall of notch holds in dodging the space.

Optionally, the rotating mechanism includes a power motor and an installation turntable, the installation turntable is connected to a power output shaft of the power motor, the storage rack structure further includes a positioning connection assembly, and the pallet base plate is detachably positioned and connected to the installation turntable through the positioning connection assembly.

Optionally, the positioning and connecting assembly comprises a pin block and a plurality of spring plungers, the spring plungers are fixedly installed on the pin block, telescopic balls of the spring plungers extend out of the pin block, and the pin block is fixedly connected to the installation turntable; the pallet base plate is provided with an assembly hole, the hole wall of the assembly hole is provided with a positioning step, the assembly hole is gradually narrowed from the inlet of the assembly hole to the direction of the positioning step, and the telescopic ball of the spring plunger piston crosses the positioning step and then is matched with the positioning step in a stopping way to be connected in a positioning way.

Optionally, the mobile device comprises: the first positioning sensor is arranged at a preset position, the second positioning sensor is arranged on the fixed base, and the first positioning sensor and the second positioning sensor are in communication connection with the controller; the moving trolley is in communication connection with the controller; the lifting power part is arranged on the movable trolley and is in communication connection with the controller; the lifting structure is connected to the movable trolley, and the lifting power part is in driving connection with the lifting structure.

Optionally, the number of pallet frames is 8.

The invention has at least the following beneficial effects:

use this portable automatic storing system's storing capstan head to experimental device or culture dish to store in the laboratory, be prismatic structure through design storing frame structure, and every pallet frame sets up a plurality of pallets in the vertical direction interval, every pallet can be as a storing platform, make storing frame structure can utilize spatial position more fully, and controller control slewing mechanism rotates and drives storing frame structure and rotate, make storing frame structure realize 360 full angle rotations, and the controller controls the side of storing frame structure that arm cooperation was rotated to required storing article and gets article, thereby it is more convenient, choose the storing position for use in a flexible way, save the time of shifting the material for experimenter's experimental work in the laboratory, improve experimental work efficiency. And moreover, the controller controls the mobile device, so that the storage turret can be moved to a preset position required by actual work at any time and any place, the storage turret is more convenient and flexible to use, and the experimental work efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic view of an assembly structure of a mobile automatic storage system according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a mobile device in a mobile automated storage system according to a first embodiment of the present invention;

fig. 3 is a schematic view illustrating an assembly structure of a storage turret in the mobile automatic storage system according to the first embodiment of the present invention;

fig. 4 is a schematic view illustrating an assembly structure of a rotating mechanism of a storage turret in the mobile automatic storage system according to the first embodiment of the present invention;

fig. 5 is a schematic view illustrating an assembly structure of a pallet frame, a pallet base plate and a plurality of pallets in the storage rack structure of the storage turret in the mobile automatic storage system according to the first embodiment of the present invention;

fig. 6 is a schematic structural view of a pallet rack of a storage turret in a mobile automatic storage system according to a first embodiment of the present invention;

fig. 7 is a schematic structural view of a pallet of a storage turret in the mobile automatic storage system according to the first embodiment of the present invention;

FIG. 8 is an exploded view of a latch assembly of the storage turret of the mobile automated storage system of the first embodiment of the present invention;

fig. 9 is a schematic structural view of a pallet base of a storage turret in a mobile automated storage system according to a first embodiment of the present invention;

fig. 10 is a front view of the positioning connection assembly of the storage turret in the mobile automated storage system according to the first embodiment of the present invention;

FIG. 11 is a schematic view of the positioning linkage assembly of the storage turret of the mobile automated storage system of the first embodiment of the present invention with one of the spring plungers removed;

fig. 12 is a schematic structural view of a pallet rack of a storage turret in a mobile automatic storage system according to a second embodiment of the present invention;

fig. 13 is a schematic diagram illustrating a pallet structure of a storage turret in a mobile automated storage system according to a second embodiment of the present invention;

fig. 14 is a schematic structural view of a pallet frame according to a modification of the storage turret in the mobile automated storage system according to the second embodiment of the present invention;

fig. 15 is a first perspective view of a pallet with a modified storage turret in an automated mobile storage system according to a second embodiment of the present invention;

fig. 16 is a second perspective view of the pallet of fig. 15.

Wherein, in the figures, the respective reference numerals:

100. a fixed base; 10. a rotating mechanism; 11. a motor cover; 12. installing a turntable; 13. a thrust bearing; 20. a storage rack structure; 21. a pallet frame; 210. a second through hole; 211. an installation port; 2111. a recess; 212. a shoulder is formed; 22. a pallet base plate; 221. an assembly hole; 222. positioning a step; 23. a pallet; 231. a horizontal storage plate; 232. a vertical connecting portion; 2321. a first through hole; 233. a plate main body; 234. a connecting end portion; 2341. a load bearing extension; 23410. an opening; 2342. a hooking section; 24. a buckle assembly; 241. a fastener; 2411. a stop head; 2412. an elastic clamping hook; 24120. a second mounting groove; 2413. turning over the hook; 242. a plunger member; 243. a drop-off prevention member; 25. positioning the connecting assembly; 251. a pin block; 252. a spring plunger; 200. a mobile device; 201. moving the trolley; 202. a lifting power part; 203. a lifting structure; 300. storage capstan head.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 11, a first embodiment of the present invention provides a mobile automated storage system including a mobile device 200, a storage turret 300, a robot arm (not shown), and a controller (not shown), wherein the storage turret of the mobile automated storage system includes a fixed base 100, a rotating mechanism 10, and a controller (not shown)The storage rack structure 20 and the fixed base 100 have a bottom passing space, and these modules constitute a core structure of the mobile automatic storage system, and in the storage turret of the mobile automatic storage system, the storage rack structure 20 includes a plurality of pallet frames 21, a plurality of pallet floors 22 and a plurality of pallets 23. In the assembling process, unable adjustment base 100 supports on ground or table surface, slewing mechanism 10 is installed on unable adjustment base 100, a plurality of pallet bottom plates 22 and a plurality of pallet 21 one-to-one, every pallet 21 is equal vertical to be placed, pallet bottom plate 22 fixed connection is in the bottom of pallet 21, pallet bottom plate 22 detachably connects on slewing mechanism 10, make pallet bottom plate 22 can rotate along with slewing mechanism 10 is synchronous, thereby reach whole storing frame structure 20 along with slewing mechanism 10 synchronous pivoted purpose, a plurality of pallet 21 enclose into the prism form, for example, there are n pallet 21(n > 2), then slewing mechanism 10 is every pivoted turned round angle for slewing mechanism 10

Thereby rotate to one of them target pallet 21, follow supreme detachably on every pallet 21 and be connected with a plurality of pallets 23, every pallet 23 is as a storing platform to, can be to the pallet 23 quantity on the same pallet 21, thereby adjust the space height distance between two adjacent pallets 23, thereby adjust storing space's height, can adapt to the material of multiple not co-altitude and store. The mobile device 200, the mechanical arm and the rotating mechanism 10 are all in communication connection with the controller, so that the controller performs communication control on all the components. In an actual working process, the controller controls the moving device 200 to move to the bottom passage space, and the controller controls the moving device 200 to jack up the fixing base 100 to move and place the storage turret 300 to a predetermined position where the robot arm is provided, and the controller controls the robot arm to grab or store an article on the pallet 23.

Use this portable automatic storing system's storing capstan head to experimental device or culture dish to store in the laboratory, be prismatic structure through design storage frame structure 20, and every pallet 21 sets up a plurality of pallets 23 on vertical direction interval, every pallet 23 can be as a storage platform, make storage frame structure 20 can utilize the spatial position more fully, and controller control slewing mechanism 10 rotates and drives storage frame structure 20 and rotate, make storage frame structure 20 realize 360 full angle rotations, and the controller control arm cooperation is rotated to the side of the storage frame structure 20 of required storage article and is got article, thereby make things convenient for more, select for the storage position in a flexible way, save the time of shifting the material for laboratory staff's experimental work in the laboratory, improve experiment work efficiency. In addition, the controller controls the moving device 200 to move the storage turret 300 to a predetermined position required by actual work at any time and any place, so that the storage turret is more convenient and flexible to use, and the experimental work efficiency is improved.

The pallet frames 21 of the storage turret of the mobile automatic storage system are 8 in number, and form an octagonal prism structure in an enclosing manner. Of course, the number of pallet frames 21 of the storage turret of the mobile automated storage system may be 3, 4, 5, 6, 7, 9, etc., and is preferably 8.

In the first embodiment, the storage rack structure 20 further comprises a buckle assembly 24, and each pallet 23 is detachably connected to the pallet frame 21 through the buckle assembly 24, so that each pallet 23 can be more conveniently and quickly disassembled or assembled when needed. Specifically, as shown in fig. 6 to 8, the buckle assembly 24 includes buckle elements 241 and a plunger 242, each buckle element 241 includes a stop head 2411 and a plurality of elastic hooks 2412, the elastic hooks 2412 are distributed circularly and spaced from each other, a second end of each elastic hook 2412 is provided with a turnover hook 2413 facing away from the central axis, and the pallet 23 includes a horizontal storage plate 231 and a vertical connecting part 232 which are fixedly connected with each other. In the assembling process, the first ends of the elastic hooks 2412 are connected to the stopper head 2411, the vertical connecting portion 232 is provided with a first through hole 2321, the pallet frame 21 is provided with a second through hole 210 corresponding to the first through hole 2321, the second end of the elastic hook 2412 sequentially passes through the first through hole 2321 and the second through hole 210, at this time, the stopper head 2411 and the periphery of the first through hole 2321 form a stopping relationship, and the flip hook 2413 and the periphery of the second through hole 210 also form a stopping relationship, so that the vertical connecting portion 232 and the pallet frame 21 are connected by the fastening member 241 (in this embodiment, two vertical connecting portions 232 are arranged on one side edge of the horizontal storage plate 231 at intervals, as shown in fig. 5). Then, the plunger 242 is inserted into the cylindrical space surrounded by the elastic hooks 2412 to expand the elastic hooks 2412, so that the elastic hooks 2412 with certain elasticity cannot gather together with the central axis, thereby hooking the periphery of the second through hole 210 more stably, making the connection between the vertical connecting portion 232 and the pallet frame 21 more stable, and the horizontal storage plate 231 serves as an actual storage platen.

Further, in order to prevent the plunger 242 from being released from the latch 241, which would result in the failure of the connection relationship between the latch 241 and the vertical connecting portion 232 and the pallet frame 21, the latch assembly 24 further includes a release preventer 243. A stopper 243 is provided between the catch 241 and the plunger 242, and the stopper 243 serves to prevent the plunger 242 from coming off the catch 241. When the pallet 23 needs to be disassembled, the plunger 242 is pulled out with force, and when the pulling-out acting force exceeds the anti-falling resistance of the anti-falling piece 243, the plunger 242 is pulled out, and then the elastic hooks 2412 are gathered slightly, and the turnover hooks 2413 can pass through the second through hole 210 and the first through hole 2321 to separate the pallet 23 from the pallet frame 21.

Specifically, as shown in fig. 8, the anti-slip member 243 is an elastic snap ring, a first mounting groove (not shown) is formed on the plunger 242, a second mounting groove 24120 opposite to the first mounting groove is formed on each elastic snap 2412, and the elastic snap ring is press-fitted between the first mounting groove and the second mounting groove 24120. In the first embodiment, the elastic snap ring may be a resistance ring member made of a silicone material, and after the plunger 242 is assembled to the elastic snap ring 2412, the elastic snap ring is clamped between the first mounting groove and the second mounting groove 24120.

In the first embodiment, the rotating mechanism 10 includes a power motor (not shown) and a mounting turntable 12, and as shown in fig. 3 and fig. 4, the power motor is fixedly mounted on the fixed base 100, and the power motor is covered by a motor cover 11, the motor cover 11 is connected to a power output shaft of the power motor and rotates synchronously with the power output shaft, and the mounting turntable 12 is connected to the motor cover 11, so that the mounting turntable 12 rotates synchronously with the power output shaft. And, install footstep bearing 13 between motor cover 11 and unable adjustment base 100, so, footstep bearing 13 not only can support motor cover 11 and make motor cover 11 and installation carousel 12 rotate the process more stable, has avoided direct contact slip between motor cover 11 and unable adjustment base 100 moreover, has reduced the rotation resistance of motor cover 11 for motor cover 11 and installation carousel 12 rotate the process more smoothly.

To more stably define the relative position between the magazine structure 20 and the mounting turntable 12, the magazine structure 20 further includes a positioning connection assembly 25, and the pallet base 22 is removably positioned and connected to the mounting turntable 12 by the positioning connection assembly 25. As shown in fig. 9 to 11, the positioning and connecting assembly 25 includes a pin block 251 and a plurality of spring plungers 252, the plurality of spring plungers 252 are fixedly mounted on the pin block 251, the telescopic balls of the spring plungers 252 extend out of the pin block 251, and the pin block 251 is fixedly connected to the mounting turntable 12. Further, the pallet base 22 is provided with a mounting hole 221, a positioning step 222 is provided on the wall of the mounting hole 221, the mounting hole 221 gradually narrows from the entrance of the mounting hole 221 to the positioning step 222, and after the retractable ball of the spring plunger 252 passes over the positioning step 222, the retractable ball is in stop fit with the positioning step 222 for positioning connection. When it is desired to remove the storage shelf structure 20 from the mounting turntable 12, the removal can be accomplished by simply applying force to the pallet base 22 such that the telescoping balls of the spring plunger 252 are compressed by the positioning steps 222 and then pulling out the pallet base 22.

Of course, the pallet base 22 may also be fixedly attached to the mounting turntable 12 by bolts.

As shown in fig. 1 and fig. 2, the moving device 200 includes a first positioning sensor (not shown), a second positioning sensor (not shown), a moving cart 201, a lifting power portion 202, and a lifting structure 203, wherein the moving cart 201 is an AGV (Automated Guided Vehicle), the lifting power portion 202 is a hydraulic cylinder, and the lifting structure 203 is a scissor structure. The first positioning sensor and the second positioning sensor are in communication connection with the controller, the movable trolley 201 is in communication connection with the controller, and the lifting power part 202 is in communication connection with the controller. The first positioning sensor is arranged at a preset position, the second positioning sensor is arranged on the fixed base 100, the lifting power part 202 is arranged on the movable trolley 201, the lifting structure 203 is connected on the movable trolley 201, and the lifting power part 202 is in driving connection with the lifting structure 203. After the moving cart 201 is controlled by the controller to move to the bottom passing space of the fixed base 100, the controller controls the piston rod of the hydraulic cylinder to extend, thereby driving the scissor structure to lift the entire storage turret, and then the controller controls the moving cart to move, thereby moving the entire storage turret to a predetermined position for use.

According to another aspect of the present invention, as shown in fig. 12 and 13, there is also provided a design structure form of the storage turret of the mobile automatic storage system of the second embodiment. In the second embodiment, the design structure of the storage turret of the mobile automated storage system has the following differences compared to the first embodiment.

From supreme a plurality of installing ports 211 of having opened down on pallet frame 21, notch 2111 has been seted up to the lower lateral wall of every installing port 211, every pallet 23 includes board main part 233 and connecting end portion 234, connecting end portion 234 is including connecting in the load extension 2341 of board main part 233 and establishing the section 2342 of colluding that bears the load extension 2341 both sides respectively, it dodges the space to collude section 2342 and board main part 233 interval formation, connecting end portion 234 inserts installing port 211, and bear extension 2341 and be located notch 2111, the both sides lateral wall of notch 2111 holds in dodging the space. In this way, each pallet 23 is directly hooked on the pallet 21 through the connection end 234 and the fitting hole 211, so that the stable connection of the pallet 23 on the pallet 21 can be ensured. When the pallet 23 needs to be removed, the hooking relation between the connecting end 234 and the mounting port 211 can be directly released without any tool, so that the pallet 23 can be removed conveniently and quickly.

In addition, according to the principle of the construction in which the pallet 21 and the pallet 23 of the second embodiment are hooked to each other to form a stable connection position relationship, the construction of the mounting opening 211 of the pallet 21 and the construction of the connection end 234 of the pallet 23 are modified, and the pallet 21 and the pallet 23 shown in fig. 14 to 16 are formed. Specifically, the notches 2111 are communicated, two protruding shoulders 212 are respectively arranged on two sides of the communicated long space, and correspondingly, an opening 23410 is arranged in the middle of the bearing extension 2341, the opening 23410 can be sleeved on the two protruding shoulders 212, and the hooking sections 2342 are respectively arranged on two sides of the bearing extension 2341, so that the pallet 23 can be stably hooked on the pallet frame 21.

The design structure of the storage turret of the mobile automatic storage system of the second embodiment is the same as that of the storage turret of the mobile automatic storage system of the first embodiment except that the above structures are different, and thus the description thereof is omitted.

According to yet another aspect of the present invention, an automated storage system is provided. Specifically, the automatic storage system comprises a mechanical arm, a controller and the storage turret of the mobile automatic storage system, wherein the mechanical arm and the rotating mechanism are respectively in communication connection with the controller. The controller controls the mechanical arm to grab the material from the material conveying end, then the controller controls the storage turret of the mobile automatic storage system to rotate to the appointed pallet frame 21 according to a preset rotating angle, and then the controller controls the mechanical arm to find the pallet 23 according to the number of the pallet 23 on the pallet frame 21 input in advance, so that the material is stored on the pallet 23, the automatic storage of the material is realized, and the working efficiency is improved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A mobile automated storage system comprising a mobile device (200), a storage turret (300), a robotic arm, and a controller, wherein,

the storage turret (300) comprises:

a stationary base (100), the stationary base (100) having a bottom passage space;

the rotating mechanism (10), the said rotating mechanism (10) is installed on said fixed base (100);

the storage rack structure (20), the storage rack structure (20) comprises a plurality of pallet frames (21), a plurality of pallet plates (22) and a plurality of pallets (23), the pallet plates (22) correspond to the pallet frames (21) one by one, the pallet plates (22) are fixedly connected to the bottom ends of the pallet frames (21), the pallet plates (22) are detachably connected to the rotating mechanism (10), the pallet frames (21) enclose into a prism shape, and each pallet frame (21) is connected with the pallets (23) from bottom to top in a detachable manner;

the mobile equipment (200), the mechanical arm and the rotating mechanism (10) are in communication connection with the controller;

the controller controls the mobile equipment (200) to move to the bottom passing space, the controller controls the mobile equipment (200) to jack up the fixed base (100) so as to move the storage turret (300) and place the storage turret to a preset position provided with the mechanical arm, and the controller controls the mechanical arm to grab or store articles on the pallet (23).

2. The mobile automated storage system of claim 1,

the storage rack structure (20) further comprises buckle assemblies (24), and each pallet (23) is detachably connected to the pallet frame (21) through the buckle assemblies (24).

3. The mobile automated storage system of claim 2,

the buckle assembly (24) comprises buckle pieces (241) and plunger pieces (242), each buckle piece (241) comprises a stop head (2411) and a plurality of elastic hooks (2412), the first ends of the elastic hooks (2412) are connected to the stop head (2411), the elastic hooks (2412) circularly surround and are distributed at intervals, and the second end of each elastic hook (2412) is provided with a turnover hook (2413) facing away from the central axis;

the pallet (23) includes that interconnect is fixed level stores up board (231) and vertical connecting portion (232), vertical connecting portion (232) are opened there is first through-hole (2321), pallet frame (21) open have with second through-hole (210) that first through-hole (2321) correspond, the second end of elasticity trip (2412) passes in proper order first through-hole (2321) with second through-hole (210), stopper post (242) insert in the cylindric space that a plurality of elasticity trips (2412) enclose with will a plurality of elasticity trips (2412) rise to open.

4. The mobile automated storage system of claim 3,

the buckle assembly (24) further comprises a release prevention piece (243), the release prevention piece (243) is arranged between the buckle piece (241) and the plunger piece (242), and the release prevention piece (243) is used for preventing the plunger piece (242) from being separated from the buckle piece (241).

5. The mobile automated storage system of claim 4,

the anti-disengaging piece (243) is an elastic clamping ring, a first mounting groove is formed in the plunger piece (242), each elastic clamping hook (2412) is provided with a second mounting groove (24120) opposite to the first mounting groove, and the elastic clamping ring is extruded and mounted between the first mounting groove and the second mounting groove (24120).

6. The mobile automated storage system of claim 1,

from supreme opening down on pallet frame (21) has a plurality of installing ports (211), every notch (2111) have been seted up to the lower lateral wall of installing port (211), every pallet (23) include board main part (233) and connecting end portion (234), connecting end portion (234) including connect in board main part (233) bear extension (2341) and divide and establish bear the weight of extension (2341) both sides hang up section (2342), hang up section (2342) with board main part (233) interval formation dodges the space, connecting end portion (234) insert installing port (211), just bear extension (2341) and be located in notch (2111), the both sides lateral wall of notch (2111) holds dodge in the space.

7. The mobile automated storage system of any one of claims 1 to 6,

slewing mechanism (10) include power motor and installation carousel (12), installation carousel (12) are connected on power motor's the power output shaft, storage frame structure (20) still include positioning connection subassembly (25), pallet bottom plate (22) pass through positioning connection subassembly (25) detachably positioning connection be in on installation carousel (12).

8. The mobile automated storage system of claim 7,

the positioning connection assembly (25) comprises a pin block (251) and a plurality of spring plungers (252), the spring plungers (252) are fixedly installed on the pin block (251), telescopic balls of the spring plungers (252) extend out of the pin block (251), and the pin block (251) is fixedly connected to the installation turntable (12);

the pallet base plate (22) is provided with an assembly hole (221), the hole wall of the assembly hole (221) is provided with a positioning step (222), the assembly hole (221) is gradually narrowed from the inlet of the assembly hole (221) to the positioning step (222), and after the telescopic ball of the spring plunger (252) passes over the positioning step (222), the telescopic ball is matched with the positioning step (222) in a stopping way to be connected in a positioning way.

9. The mobile automated storage system of claim 1,

the mobile device (200) comprises:

the first positioning sensor is arranged at the preset position, the second positioning sensor is arranged on the fixed base (100), and the first positioning sensor and the second positioning sensor are both in communication connection with the controller;

a mobile trolley (201), wherein the mobile trolley (201) is in communication connection with the controller;

the lifting power part (202), the lifting power part (202) is installed on the moving trolley (201), and the lifting power part (202) is in communication connection with the controller;

the lifting structure (203), the lifting structure (203) is connected to the moving trolley (201), and the lifting power part (202) is in driving connection with the lifting structure (203).

10. The mobile automated storage system of claim 1,

the number of the pallet frames (21) is 8.