CN114084553A - Space storage system - Google Patents
Space storage system Download PDFInfo
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- CN114084553A CN114084553A CN202111183187.XA CN202111183187A CN114084553A CN 114084553 A CN114084553 A CN 114084553A CN 202111183187 A CN202111183187 A CN 202111183187A CN 114084553 A CN114084553 A CN 114084553A
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- goods
- traveling
- storage system
- electromagnet
- space storage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention creatively discloses a space storage system, which comprises: the goods shelf is provided with a plurality of goods bins arranged in rows, and the goods shelf is provided with a first rail at the side of each goods bin; the storage vehicle is provided with a vehicle frame, the lower part of the vehicle frame is provided with a traveling device and a traveling electromagnet, the traveling device drives a traveling wheel, the traveling wheel can move along a first track, the traveling electromagnet and a goods shelf are arranged at intervals, and the goods shelf at least has magnetism on the projection position of the moving path of the traveling electromagnet; the frame is provided with a taking and placing device which drives a taking and placing part for taking and placing the goods in the freight house. Magnetic force between walking electro-magnet and the goods shelves can provide necessary walking frictional force for the walking wheel for the storage car still can remove along first track in the environment of gravity-free, and get through getting the device and come to get the goods in every warehouse and put, in order to solve the technical problem that exists among the prior art.
Description
Technical Field
The invention relates to the technical field of storage, in particular to a space storage system.
Background
With the construction of the Tiangong I, the further development of China in the field of space is marked, but materials in the existing space station are mainly carried by astronauts, so that the space station is time-consuming and labor-consuming, and has certain safety risks.
In order to solve the problem of automation of space material storage, the existing agv technology can be combined for solving, but the space station is in a weightless environment, so that the walking friction force to agv cannot be generated through gravity.
Disclosure of Invention
The invention aims to provide a space storage system, which solves one or more technical problems in the prior art and at least provides a beneficial selection or creation condition.
The space warehousing system according to the embodiment of the first aspect of the invention comprises:
the goods shelf is provided with a plurality of goods bins arranged in rows, and the goods shelf is provided with a first rail at the side of each goods bin;
the storage vehicle is provided with a vehicle frame, the lower part of the vehicle frame is provided with a traveling device and a traveling electromagnet, the traveling device drives a traveling wheel, the traveling wheel can move along the first track, the traveling electromagnet and the goods shelf are arranged at intervals, and the goods shelf at least has magnetism on the projection position of the moving path of the traveling electromagnet; the frame is provided with a taking and placing device, and the taking and placing device drives a taking and placing part which can take and place goods in the goods warehouse.
The space storage system provided by the embodiment of the invention at least has the following beneficial effects: the magnetic force between the walking electromagnet and the goods shelf can provide necessary walking friction force for the walking wheels, so that the storage vehicle can still move along the first track in a gravity-free environment, and goods in each goods bin are picked and placed through the picking and placing device, and the technical problem in the prior art is solved.
According to some embodiments of the invention, in order to increase the storage capacity, the number of the shelves is multiple, and the shelves are arranged in an array and jointly form a goods station, so that all the goods bins are distributed in a matrix.
According to some embodiments of the invention, the goods station is provided with a secondary aisle between each two adjacent shelves, each secondary aisle being provided with the first track; the goods station is characterized in that main passageways are respectively arranged at two ends of the goods station and communicated with all goods shelves, a second track is arranged in each main passageway, the second tracks are orthogonal to the first tracks, and the travelling wheels can move along the second tracks. The arrangement is such that the storage cart can move along the first track and the second track.
According to some embodiments of the invention, since the second track is orthogonal to the first track, in order to achieve mutual steering of the storage cart between the first track and the second track, the storage cart is provided with a steering module, the steering module comprises a telescopic device, a rotating device and a steering electromagnet, the telescopic device is mounted on the cart frame, the telescopic device is provided with a telescopic part capable of being telescopic towards the goods station, the rotating device is connected to the telescopic part, the rotating device is provided with a rotatable rotating part, and the steering electromagnet is connected to the rotating part. When the storage vehicle needs to be steered, firstly, the telescopic device extends downwards to the telescopic part, so that the steering electromagnet is abutted against and attracted with the goods station, the whole vehicle frame is lifted by the telescopic device along with the gradual extension of the telescopic part, and meanwhile, the walking electromagnet stops working; after that, the turning device turns the turning part, and the turning device drives the whole vehicle frame to turn by 90 degrees due to the temporary fixed connection of the steering electromagnet and the cargo station; finally, the steering electromagnet stops working, and the telescopic device retracts upwards to the telescopic part, so that the whole vehicle frame descends, the travelling wheels fall on the track again, and the steering electromagnet leaves the cargo station.
According to some embodiments of the present invention, since both the linear motor and the motor can be normally used in a gravity-free environment, the extension and retraction device is a second linear motor and the rotation device is a second motor.
According to some embodiments of the invention, in order to mark different bins of the same shelf, the cargo station is provided with a plurality of first scanning labels on each sub-aisle, and all the first scanning labels are arranged in one-to-one correspondence with all the bins; in order to mark different shelves, the goods station is provided with a second scanning label on each main passageway, and all the second scanning labels are arranged in one-to-one correspondence with all the shelves.
According to some embodiments of the invention, in order to enable the storage cart to be positioned to different bins of different shelves, the lower portion of the cart frame is further provided with a camera sensor for identifying the first scanning label and the second scanning label.
According to some embodiments of the invention, the first rail and the second rail are both ribbed rails, and the traveling wheels are grooved wheels matched with the ribbed rails, so as to reduce the risk of derailment of the traveling wheels on the rails.
According to some embodiments of the invention, the frame is provided with guide rails on both left and right sides of the pick-and-place device, and the width between the two guide rails is slightly larger than the width of the goods. The setting of direction fence can provide the direction for getting of goods to put, avoids the goods to take place the skew at the in-process of getting and putting.
According to some embodiments of the invention, since both the linear motor and the motor can be normally used in a gravity-free environment, the walking device is a first motor, and the pick-and-place device is a first linear motor; the taking and placing part is a taking and placing electromagnet or a clamping jaw, when the taking and placing part is the taking and placing electromagnet, the external packages of all goods are provided with magnetic components which can be attracted by the taking and placing electromagnet, and when the taking and placing part is the clamping jaw, no mandatory requirement is required on the external packages of the goods.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic perspective view of a space storage system according to an embodiment of the present invention;
FIG. 2 is a top plan view of the space storage system shown in FIG. 1;
FIG. 3 is an enlarged partial view of the space storage system of FIG. 1 at A;
fig. 4 is a schematic perspective view of a storage cart according to an embodiment of the present invention;
fig. 5 is a front view of the storage cart shown in fig. 4.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of illustrating the invention and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as up, down, front, rear, left, right, etc., is the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of the description of the present invention, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the invention, the meaning of a plurality of the terms is one or more, the meaning of a plurality of the terms is two or more, and the terms larger, smaller, larger, etc. are understood to include no essential numbers, and the terms larger, smaller, etc. are understood to include essential numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly defined, terms such as setup, installation, connection, and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the terms in the present invention in combination with the detailed contents of the technical solutions.
As shown in fig. 1 to 3, the space storage system according to the embodiment of the first aspect of the present invention includes a cargo station 100 and a storage cart 200, wherein the cargo station 100 is provided with a plurality of shelves 110 arranged in a row, and each of the shelves 110 is provided with a plurality of bins 111 arranged in a row, such that all the bins 111 are distributed in a matrix. The cargo station 100 is provided with a secondary aisle 120 between each two adjacent shelves 110, and each secondary aisle 120 is provided with a first rail 121, and the first rail 121 extends from the warehouse 111 at the head end of the shelf 110 to the warehouse 111 at the tail end of the shelf 110. The two ends of the cargo station 100 are respectively provided with a main aisle 130, the main aisle 130 communicates with all the shelves 110, each main aisle 130 is provided with a second rail 131, the second rail 131 extends from the shelf 110 at the head end of the cargo station 100 to the shelf 110 at the tail end of the cargo station 100, and the second rail 131 is orthogonal to the first rail 121.
Further, in order to mark different bins 111 of the same shelf 110, the cargo station 100 is provided with a plurality of first scanning labels 122 on each sub-aisle 120, and all the first scanning labels 122 are uniformly arranged corresponding to all the bins 111; in order to mark different shelves 110, the cargo station 100 is provided with a second scanning tag 132 on each main aisle 130, and all the second scanning tags 132 are arranged corresponding to all the shelves 110. The arrangement is such that each bin 111 has a unique number to facilitate distinguishing between different bins 111.
As shown in fig. 4 and 5, the storage cart 200 includes a cart frame 210, a traveling device, a pick-and-place device, a battery, and a control box, the battery and the control box are installed in the cart frame 210, the battery is used for supplying power, the control box is used for controlling the storage cart 200 to operate according to a predetermined program, the traveling device is installed at the lower portion of the cart frame 210, the traveling device is provided with traveling wheels 221 driven by a first motor 220, the number of the traveling wheels 221 is two or more, and the traveling wheels 221 can move along the first rail 121 and the second rail 131. Since the storage cart 200 is in a weightless state in space, in order to provide a necessary walking friction force to the walking wheels 221, a walking electromagnet 230 is disposed at the lower portion of the frame 210, the walking electromagnet 230 is disposed at a distance from the cargo station 100 but relatively close to the cargo station 100, the cargo station 100 has magnetism at least at a projection position of a moving path of the walking electromagnet 230, and when the walking electromagnet 230 is energized, the walking electromagnet can generate a magnetic force for attracting the cargo station 100, and the magnetic force can provide the necessary walking friction force to the walking wheels 221 in a gravity-free environment, so as to realize normal running of the storage cart 200 along a track. It is understood that the larger the current flowing through the walking electromagnet 230 or the closer the distance between the walking electromagnet 230 and the cargo station 100 is, the larger the walking friction of the walking wheel 221 is, and vice versa.
In addition, the taking and placing device is mounted on the frame 210, in this embodiment, the taking and placing device may be selected from a first linear motor 240, which is provided with a moving portion 241 capable of reciprocating up and down, and the moving portion 241 is connected with a taking and placing portion for taking and placing the goods 400 in the storage 111. In this embodiment, the pick-and-place part may be a pick-and-place electromagnet 250, and at this time, all the outer packages of the goods 400 are provided with a magnetic member that can be attracted by the pick-and-place electromagnet 250. The invention is not limited to the pick-and-place part, and the pick-and-place part may also be a clamping jaw, which realizes the pick-and-place of the goods 400 by clamping, and is not limited to the above embodiments.
Since the cargo station 100 has the main aisle 130 and the sub-aisle 120 which are staggered with each other, in order to realize the mutual steering of the storage cart 200 between the first track 121 and the second track 131, the storage cart 200 is provided with the steering module 300, the steering module 300 comprises a telescopic device 310, a rotating device 320 and a steering electromagnet 330, the telescopic device 310 is mounted on the frame 210, the telescopic device 310 is located at the outer side of the traveling device, the telescopic device 310 is provided with a telescopic part 311 which can be telescopic towards the cargo station 100, the rotating device 320 is connected to the telescopic part 311, the rotating device 320 is provided with a rotatable rotating part 321, and the steering electromagnet 330 is connected to the rotating part 321. In this embodiment, the telescopic device 310 may be selected as a second linear motor, and the rotating device 320 may be selected as a second motor. When the storage cart 200 needs to be steered, firstly, the telescopic device 310 extends downwards to the telescopic part 311, so that the steering electromagnet 330 is abutted against and attracted to the cargo station 100, the whole cart frame 210 is lifted by the telescopic device 310 along with the gradual extension of the telescopic part 311, and meanwhile, the walking electromagnet 230 stops working; after that, the turning device 320 turns the turning part 321, and since the turning electromagnet 330 is temporarily and fixedly connected with the cargo station 100, the turning device 320 drives the entire frame 210 to turn by 90 °; finally, the steering electromagnet 330 stops and the telescopic device 310 retracts the telescopic part 311 upwards, so that the whole vehicle frame 210 descends, the road wheels 221 fall on the rail again, and the steering electromagnet 330 leaves the cargo station 100. It should be noted that, in order to enable the storage cart 200 to steer on the two main aisles 130, the number of the steering modules 300 is two, and the two steering modules 300 are respectively located at two outer opposite sides of the traveling device.
In order to enable the storage cart 200 to be positioned to different storage bins 111 of different shelves 110, the lower portion of the cart frame 210 is further provided with a camera sensor 260 for identifying the first scanning tag 122 and the second scanning tag 132, and in this embodiment, each of the first scanning tag 122 and the second scanning tag 132 may be selected as a two-dimensional code. When the goods 400 in the designated bin 111 need to be extracted, since the bin 111 has a unique number, for example, A1b5, the warehouse vehicle 200 is first positioned to the shelf 110 of A1 by scanning the second scanning tag 132 of the main aisle 130, then is turned by 90 ° by the turning module 300, so that the warehouse vehicle 200 can move on the first track 121, is positioned to the bin 111 of b5 by scanning the first scanning tag 122 of the sub-aisle 120, and finally is extracted from the goods 400 in the bin 111 by the pick-and-place device. Similarly, substantially the same steps may be taken to place cargo 400 into designated cargo compartment 111. It will be appreciated that the steering module 300 starts steering only when the storage vehicle 200 is moved to a specified position, otherwise the road wheels 221 of the storage vehicle 200 cannot just fall on the first rails 121 after steering, thereby causing the storage vehicle 200 to derail.
In some embodiments of the present invention, the first rail 121 and the second rail 131 are both ribbed rails, and the road wheel 221 is a sheave matched with the ribbed rails, so as to reduce the risk of derailment of the road wheel 221 on the rails. In this embodiment, the lug track may be a V-shaped track, and the sheave may be a V-shaped wheel.
In some embodiments of the present invention, the frame 210 is provided with guide bars 270 on both left and right sides of the pick-and-place device, and the width between the two guide bars 270 is slightly larger than the width of the cargo 400. The arrangement of the guide rail 270 can provide guidance for picking and placing the goods 400, and the goods 400 are prevented from shifting in the picking and placing process.
As shown in fig. 1 and 2, in some embodiments of the present invention, in order to improve the efficiency of picking and placing the goods 400, the number of the storage vehicles 200 may be multiple, and the multiple storage vehicles 200 perform the partition work under the control of the respective control boxes.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. Space storage system, characterized by, includes:
the goods shelf is provided with a plurality of goods bins arranged in rows, and the goods shelf is provided with a first rail at the side of each goods bin;
the storage vehicle is provided with a vehicle frame, the lower part of the vehicle frame is provided with a traveling device and a traveling electromagnet, the traveling device drives a traveling wheel, the traveling wheel can move along the first track, the traveling electromagnet and the goods shelf are arranged at intervals, and the goods shelf at least has magnetism on the projection position of the moving path of the traveling electromagnet; the frame is provided with a taking and placing device, and the taking and placing device drives a taking and placing part which can take and place goods in the goods warehouse.
2. A space storage system according to claim 1 wherein: the goods shelves are arranged in an array mode to form a goods station, so that all the goods bins are distributed in a matrix mode.
3. A space storage system according to claim 2 wherein: the goods station is provided with an auxiliary passageway between every two adjacent goods shelves, and each auxiliary passageway is provided with the first track; the goods station is characterized in that main passageways are respectively arranged at two ends of the goods station and communicated with all goods shelves, a second track is arranged in each main passageway, the second tracks are orthogonal to the first tracks, and the travelling wheels can move along the second tracks.
4. A space storage system according to claim 3 wherein: the storage car is equipped with and turns to the module, turn to the module and include telescoping device, rotating device and steering electromagnet, the telescoping device install in the frame, the telescoping device be equipped with can court the goods station carries out the pars contractilis that stretches out and draws back, rotating device connect in the pars contractilis, rotating device is equipped with rotatable rotation portion, turn to the electromagnet connect in rotation portion.
5. A space storage system according to claim 4 wherein: the telescopic device is a second linear motor; the rotating device is a second motor.
6. A space storage system according to claim 3 wherein: the cargo station is provided with a plurality of first scanning labels on each auxiliary passageway, and all the first scanning labels and all the cargo bins are arranged in a one-to-one correspondence manner; the goods station is provided with a second scanning label on each main passageway, and all the second scanning labels and all the goods shelves are arranged in a one-to-one correspondence mode.
7. A space storage system according to claim 6 wherein: the lower part of the frame is also provided with a camera sensor for identifying the first scanning label and the second scanning label.
8. A space storage system according to claim 3 wherein: the first track and the second track are both convex edge tracks, and the traveling wheels are grooved wheels matched with the convex edge tracks.
9. A space storage system according to claim 1 wherein: the frame is in get the left and right sides of putting the device and all be equipped with the direction fence.
10. A space storage system according to claim 1 wherein: the walking device is a first motor; the taking and placing device is a first linear motor; the taking and placing part is an electromagnet or a clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111183187.XA CN114084553B (en) | 2021-10-11 | 2021-10-11 | Space warehouse system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111183187.XA CN114084553B (en) | 2021-10-11 | 2021-10-11 | Space warehouse system |
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| CN114084553A true CN114084553A (en) | 2022-02-25 |
| CN114084553B CN114084553B (en) | 2023-05-16 |
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| CN202111183187.XA Active CN114084553B (en) | 2021-10-11 | 2021-10-11 | Space warehouse system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116062362A (en) * | 2023-01-10 | 2023-05-05 | 中国科学院微小卫星创新研究院 | Space storage device |
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| US20040126210A1 (en) * | 2002-12-18 | 2004-07-01 | Tgw Transportgerate Gmbh & Co. Kg | Load-bearing frame for a shelf-stacking device |
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| CN114084553B (en) | 2023-05-16 |
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