CN114261677B

CN114261677B - High-density stereoscopic warehouse

Info

Publication number: CN114261677B
Application number: CN202210111458.9A
Authority: CN
Inventors: 贾然
Original assignee: Shanghai Fangcang Intelligent Technology Co ltd
Current assignee: Shanghai Fangcang Intelligent Technology Co ltd
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2023-03-14
Anticipated expiration: 2042-01-29
Also published as: CN114261677A; WO2023142246A1

Abstract

The present invention provides a high-density stereoscopic warehouse, including: a cargo box; a derrick grid section comprising a base surface, a horizontally disposed track layer at a top level, and a plurality of columns; an accessor; an article access subsystem comprising an access platform, a conveyor, and an access well; the control subsystem comprises a scheduling system for the access machine and an information storage subsystem for recording and storing container identification information and container position information corresponding to the articles; wherein the conveyor comprises a rotary conveyor which conveys the containers to the access platform in a posture-fixed manner. By using the high-density stereoscopic warehouse according to the disclosure, the logistics transfer, storage or sorting efficiency of various and huge types of middle and small-sized articles or commodities can be greatly improved.

Description

High-density stereoscopic warehouse

Technical Field

The invention relates to the field of warehousing equipment, in particular to a high-density stereoscopic warehouse.

Background

In the fields of commercial activities, industrial activities and residential life services, a large number of articles of various sizes and varieties are required to be stored, and the articles are characterized by a large number of varieties. When a large amount of small and medium-sized articles are transported, stored or sorted in logistics, the traditional shelf type management is very inconvenient. For example, military products, semiconductor chips, confidential documents, drugs, or other articles requiring a higher security level are increasingly in demand for modern automated management while meeting the requirements of security, intelligence, and intensive storage. The traditional storage method has large floor area, low turnover efficiency, difficult taking, labor consumption, difficulty in coping with the increasing storage requirement and no adaptation to the development of the modern storage technology. In addition, in the transit warehouse of e-commerce of small goods, for example, how to access various large-sized and medium-sized goods with high efficiency and high density and to sort and transport them to the next link accurately and efficiently according to the need is a problem to be solved. For another example, in a small article temporary storage service system with a large flow of people, a large number of small articles need to be efficiently stored and extracted, and the problem of how to perform efficient and high-density storage is also faced.

With the development of intelligent informatization, stereoscopic warehouses and intelligent sorting robots are applied more and more. But the standard solutions of smart warehouses that can be applied on a practical large scale, specifically facing small and medium-sized goods, are still few. Although manufacturers have proposed a high-density storage system for containers with standard and uniform specification sizes, the high-density storage system is provided by a very small number of manufacturers, is not favorable for meeting the increasing requirements of intelligent storage in China, needs more technical manufacturers to invest in research and development, and provides a multi-element solution for intelligent storage, so that the popularization and application of industries such as domestic industry, business, military industry, medical treatment and the like are promoted.

Disclosure of Invention

In order to meet the increasing demand for high-density intelligent storage of medium and small goods, the disclosure provides a high-density stereoscopic warehouse.

According to an aspect of the present disclosure, there is provided a high-density stereoscopic warehouse, which may include: vertically stackable containers having one or more dimensional specifications; a derrick grid section for storing containers in a vertical direction, the derrick grid section including a floor surface, a horizontally disposed track layer on a top floor, and a plurality of columns between the track layer and the floor surface, the plurality of columns extending vertically upward from the floor surface and supporting the track layer, the track layer being provided with a plurality of first tracks and a plurality of second tracks which are interleaved to form a horizontal track grid, spaces in grid cells in the track grid serving as storage compartments for storing vertically stackable containers; the storage and taking machine runs on a track layer, the size of the vehicle body of the storage and taking machine covers at least one storage well, the storage and taking machine comprises a travelling mechanism, a grabbing and releasing mechanism used for carrying out vertical storage and taking on a container, a control module and a power module, and the travelling mechanism of the storage and taking machine comprises a first wheel set matched with a first track and a second wheel set matched with a second track; the goods storage and taking subsystem can comprise a storage and taking platform, a conveyor and a storage and taking well, the storage and taking platform is provided with a storage and taking port and used for taking the stored goods out of the goods box or storing the goods to be stored in the goods box, the conveyor is used for conveying the goods box to the storage and taking port, and the goods box is conveyed between the conveyor and the track layer by the storage and taking machine through the storage and taking well; the control subsystem can comprise a scheduling system for the access machine and an information storage subsystem for recording and storing container identification information and container position information corresponding to the articles; the conveyer comprises a rotary conveyer, the rotary conveyer conveys the container to the storage and taking platform in a posture fixing mode, the rotary conveyer comprises a rotary platform base, a central fixing shaft located in the center of the rotary platform base, a connecting arm pivoted to the central fixing shaft, a row constellation fixedly connected with the outer side end of the connecting arm, a rotary driving wheel and a rotary driven wheel, wherein the rotary driving wheel and the rotary driven wheel are installed on the row constellation, and a supporting seat used for conveying the container is installed on the row constellation through a supporting seat rotating shaft in a rotatable mode.

The storing and taking machine comprises wheel seat boxes respectively arranged at four corners of the chassis, each wheel seat box comprises a first wheel seat used for installing a first wheel in a first wheel set and a second wheel seat used for installing a second wheel in a second wheel set, the first wheel seat and the second wheel seat are respectively installed on the chassis through a suspension mechanism in a vertically movable mode, each first wheel seat comprises a first top plate, a first bottom plate, a first outer side plate and a first inner side plate, each second wheel seat comprises a second top plate, a second bottom plate, a second outer side plate and a second inner side plate, the first top plate and the second top plate jointly form a top plate of the wheel seat box in a mutually embedded mode, the first bottom plate and the second bottom plate jointly form a bottom plate of the wheel seat box in a mutually embedded mode, and the first outer side plate, the first inner side plate, the second outer side plate and the second inner side plate serve as side plates of the wheel seat boxes.

Preferably, in the high-density stereoscopic warehouse according to the present application, the first rail may be a double-track type rail capable of running two wheels in parallel or a single-track type rail capable of running a single vehicle at the same time. The second track may be a single track, or may be a dual track.

Preferably, in a specific embodiment of the high-density stereoscopic warehouse, the high-density stereoscopic warehouse may further comprise a maintenance platform area, preferably the maintenance platform area is arranged next to the derrick grid area. The maintenance platform area may arrange maintenance area tracks for access machines to enter or leave the derrick grid area.

Further, the high-density stereoscopic warehouse may further include charging piles disposed at edge areas and/or middle areas of the track layer.

In one embodiment of the high-density stereoscopic warehouse according to the present disclosure, the access station may be disposed on a floor of a building of the high-density stereoscopic warehouse, and a floor surface of the derrick lattice section is equal to or higher than the floor of the building.

Specifically, in the high-density stereoscopic warehouse of the present application, a transmission shaft of a traveling mechanism is arranged in a gap between wheel seat boxes of the storing and taking machine, and the transmission shaft is used for transmitting traveling power to a first wheel or a second wheel. The chassis of the storing and taking machine can also be provided with a reversing motor and a reversing transmission mechanism, a cam shaft and a first reversing cam and a second reversing cam which are arranged on the cam shaft and have a preset angle difference are arranged in each wheel seat box, so that the first wheel seat or the second wheel seat is biased downwards when the cam shaft rotates, and a first wheel arranged on the first outer side plate or a second wheel arranged on the second outer side plate moves downwards to be contacted with a corresponding track. Preferably, in the wheel-seat box of the accessor, a driven roller located below and abutting against the first reversing cam or the second reversing cam may be provided in at least one of the first wheel seat and the second wheel seat.

By using the high-density stereoscopic warehouse according to the disclosure, the logistics transfer, storage or sorting efficiency of various and huge types and quantities of medium and small-sized articles or commodities can be greatly improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 shows an overall schematic view of one embodiment of a high-density stereoscopic warehouse according to the present disclosure;

fig. 2 shows an overall schematic view of yet another embodiment of a high-density stereoscopic warehouse according to the present disclosure;

fig. 3 shows a schematic perspective view of a derrick grid section in one embodiment of a high density stereoscopic warehouse according to the present disclosure;

FIG. 4 shows a schematic side view of a high density stereoscopic warehouse according to the present disclosure;

fig. 5 shows a schematic view of an accessor in one embodiment of a high density stereoscopic warehouse according to the present disclosure;

FIG. 6 illustrates a perspective view of one embodiment of the chassis of the accessor shown in FIG. 5;

FIG. 7 shows a schematic top view of the chassis shown in FIG. 6;

FIG. 8 illustrates a side perspective view of a first wheel mount in the wheel-mount box of the accessor of the present application;

FIG. 9 illustrates a side perspective view of a second wheel mount in the wheel mount box of the accessor of the present application;

FIG. 10 shows a schematic top view of the internal construction of the chassis shown in FIGS. 6 and 7, with the top plate of each wheel seat removed for ease of illustration;

fig. 11 shows a perspective schematic view of the conveyor rotating parts of the access station in one embodiment of a high-density stereoscopic warehouse according to the present disclosure;

fig. 12 shows a schematic view of the rotating parts in the conveyor shown in fig. 11.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so related to the present invention are omitted.

It should be emphasized that the term "comprises/comprising/comprises/having" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.

In the present description, references to up, down, left, right, front and back are only described with particular reference to the situation and may vary from one reference to another. It should be noted that the terms of orientation and orientation used in the present specification are relative to the position and orientation shown in the drawings; the term "coupled" as used herein may mean not only a direct connection, but also an indirect connection in which an intermediate is present, unless specifically stated otherwise. A direct connection is one in which two elements are connected without the aid of intermediate elements, and an indirect connection is one in which two elements are connected with the aid of other elements.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, like reference characters designate the same or similar parts throughout the several views.

According to one aspect of the present disclosure, a high-density stereoscopic warehouse is provided. Referring to fig. 1, there is shown an overall schematic view of one embodiment of a high-density stereoscopic warehouse according to the present disclosure. In one embodiment of the high-density stereoscopic warehouse according to the present disclosure, the high-density stereoscopic warehouse includes: a container 100, a derrick grid section 200, an accessor 300, an item access subsystem 400, and a control subsystem 500. The item access subsystem 400 includes an access station 410, which is provided with an access opening 411, a conveyor 420, and an access well 430. The control subsystem may include a dispatch subsystem 510 and an information storage subsystem 520 for recording and storing location information corresponding to the items.

The control subsystem may include a dispatch subsystem 510 for accessing the robot and an information storage subsystem 520 for recording and storing bin identification information, bin location information corresponding to the items. The position information here may be position information of a storage box, information of a storage box in which an article to be stored is located, information of a storage well in which the article is located, position information of an access robot, and the like.

Referring to fig. 1, 2 and 3, fig. 1 and 2 show schematic views of two embodiments of a high-density stereoscopic warehouse according to the present application. Fig. 3 shows a schematic perspective view of a derrick grid section in one embodiment of a high density stereoscopic warehouse according to the present disclosure.

In the high-density stereoscopic warehouse according to the present disclosure, the warehousing system may include: a vertically stackable identification-bearing container 100 having one or more dimensional specifications; a derrick grid section 200 for storing containers in a vertical orientation, the derrick grid section including a floor surface, a horizontally disposed track layer 210 at a top level, and a plurality of posts 220 between the track layer and the floor surface, the plurality of posts extending vertically upward from the floor surface and supporting the track layer, the track layer being provided with a plurality of first tracks 230 and a plurality of second tracks 240 interleaved to form a horizontal track grid, voids of one grid cell of the track grid serving as storage compartments for storing vertically stackable containers 100, one grid cell of the track grid corresponding to a top opening of at least one storage compartment; the storage and taking machine 300 runs on a track layer, the size of the body of the storage and taking machine 300 covers at least one storage well, the storage and taking machine comprises a travelling mechanism, a grabbing and releasing mechanism used for carrying out vertical storage and taking on containers, a control module and a power module, and the travelling mechanism of the storage and taking machine 300 comprises a first wheel set matched with the first track 230 and a second wheel set matched with the second track 240; an article access subsystem 400, which may include an access station 410 provided with an access opening 411 for retrieving an article that has been accessed from within a container or storing an article to be stored in a container 100, a conveyor 420 for conveying a container to the access opening 411, and an access well 430, the access machine 300 transporting a container between the conveyor 420 and the track level 210 via the access well 430; and a control subsystem 500, which may include a dispatch system 510 for an accessor and an information storage subsystem 520 for recording and storing container identification information, container position information corresponding to the items.

The conveyer comprises a rotary conveyer, the rotary conveyer conveys the container to the access platform in a posture fixing mode, the rotary conveyer comprises a rotary platform base, a central fixing shaft positioned in the center of the rotary platform base, a connecting arm connected to the central fixing shaft in a pivot mode, a row constellation fixedly connected with the outer end of the connecting arm, a rotary driving wheel and a rotary driven wheel, the rotary driving wheel and the rotary driven wheel are mounted on the row constellation, and a supporting seat used for conveying the container is mounted on the row constellation through a supporting seat rotating shaft in a rotatable mode.

In one embodiment, the article access subsystem 400 may include an access station 410 provided with an access opening 411 for taking out articles that have been accessed from the storage bin or storing articles to be stored in the storage bin 100, a sorting station 420 for transporting the storage bin to the access opening 411, and an access well 430 through which the access robot 300 carries the storage bin between the sorting station 420 and the track level 210.

Optionally, in a smart warehousing system according to the present application, the item access subsystem includes a handling robot (AGV) interfacing with the access robot. The AGV may interface with the access robot indirectly or directly. After the storage box transported by the access robot reaches a designated place and is transferred by the transfer rack or other auxiliary transport equipment, the transfer robot (AGV) may transport the storage box to a designated location, such as an access platform or a warehouse exit, according to an instruction after obtaining the storage box.

Optionally, in another embodiment of the smart warehousing system according to the application, the item access subsystem comprises a robotic arm and a conveyor belt that interface with the access robot. In this example, after the transfer robot transfers the storage box to the proper position, the storage box may be directly placed on the conveyor or transferred to the conveyor with the aid of a robot arm, and the storage box may be transferred to the proper position by the conveyor.

In the high-density stereoscopic warehouse of the present application, the accessor may be, for example, a machine car as shown in fig. 5, which travels on a track bed. In the example shown in the drawing, the body size of the accessor 300 may cover 2 storage wells, and the body of the machine vehicle including the travel drive mechanism occupies one well, and the gripper mechanism 320 occupies another well. The storing and taking machine comprises a travelling mechanism, a grabbing and placing mechanism 320 for vertically storing and taking the containers, a control module and a power module. The traveling mechanism of the accessor 300 includes a first wheel assembly 330 engaged with the first rail 230 and a second wheel assembly 340 engaged with the second rail 240.

Referring to fig. 6 to 10, an example of a wheel-seat box for an accessor of the present application is given.

In this example, the accessor 300 includes wheel-mount boxes 310 arranged at four corners of the chassis, respectively. As shown in fig. 6, the chassis of the storage machine 300 further includes a travel driving motor 351 and a reversing motor 361, which are disposed above the wheel housing 310.

Each wheel-carrier box comprises a first wheel-carrier 370 for mounting a first wheel 330 of a first wheel set and a second wheel-carrier 380 for mounting a second wheel 340 of a second wheel set. The first wheel base 370 and the second wheel base 380 are mounted to the chassis via a suspension mechanism in a manner to be movable up and down, respectively. As shown in fig. 8 and 9, for example, the first fixed sleeve 379 or the second fixed sleeve 389 is fixedly connected to the chassis of the accessor by a first fixed sleeve 379 or a second fixed sleeve 389 sleeved with a spring (not shown). In one embodiment, the chassis of accessor 300 may be rectangular.

Specifically, each wheel carrier case and wheel carrier in this example will be specifically described with reference to fig. 6, 8, and 9. For example, a wheel house box located at a right-hand corner in fig. 6 is taken as an example. The other three wheelbase boxes also have the same or similar construction.

The first wheel base 370 includes a first top plate 371, a first bottom plate 372, a first outer side plate 373, and a first inner side plate 374. The second wheel seat 380 includes a second top plate 381, a second bottom plate 382, a second outer side plate 383, and a second inner side plate 384, the first top plate 371 and the second top plate 372 jointly constitute a top plate of the wheel seat box 310 in an interfitting manner, the first bottom plate 372 and the second bottom plate 382 jointly constitute a bottom plate of the wheel seat box in an interfitting manner, and the first outer side plate 373, the first inner side plate 374, the second outer side plate 383, and the second inner side plate 384 serve as side plates of the wheel seat box 310.

In the example shown in the figures, first top plate 371 and first bottom plate 374 of first wheel mount 370 are of an F-like configuration, and first top plate and second bottom plate 382 of second wheel mount 380 are of a U-like configuration. The convex part in the middle of the F-shaped structure is matched with the U-shaped concave part to form a finished rectangular top plate or a finished rectangular bottom plate.

The first wheel base 370 and the second wheel base 380 are respectively connected to the chassis and are simultaneously split into a box body, namely a wheel base box. Preferably, the first top plate 371 and the second top plate 372, and the first bottom plate 372 and the second bottom plate 382, which are jointed or engaged with each other, are each provided with a guide structure, such as a guide post, for limiting the movement in the vertical direction.

Fig. 10 shows a schematic top view of the internal configuration of the chassis shown in fig. 6 and 7, with the top plate of each wheel seat removed for ease of illustration. In this view, the components that pass through or are arranged in the wheel-seat box are also shown.

Specifically, in the high-density stereoscopic warehouse of the present application, a transmission shaft of a traveling mechanism for transmitting traveling power to a first wheel or a second wheel is disposed in a gap between the wheel-seat boxes 310 of the storing and taking machine 300. The chassis of the storing and taking machine can also be provided with a reversing motor and a reversing transmission mechanism, and a cam shaft and a first reversing cam and a second reversing cam which are arranged on the cam shaft and have a preset angle difference are arranged in each wheel seat box so as to bias the first wheel seat or the second wheel seat downwards when the cam shaft rotates. Preferably, when the first wheel seat or the second wheel seat is biased downward upon rotation of the camshaft, this can be achieved by a driven roller arranged on the base plate. By the action of the downward bias, the first or the second wheel set can move up and down. The second or first wheel set corresponding to the unbiased wheel seat may be reset away from the rail plane, for example, by a spring force. In one example, a first wheel mounted to the first outboard panel or a second wheel mounted to the second outboard panel moves downward to contact a corresponding track when the first wheel mount or the second wheel mount is biased downward. In a preferred embodiment, the outer contour parts of the first reversing cam and the second reversing cam are designed to be overlapped, so that the four sets of wheel sets are in contact with the rail at the same time, and the four sets of wheel sets are positioned on the rail more stably.

Referring to fig. 6 and 10, as best shown in fig. 10, in the present embodiment, a travel driving motor 351 is connected to a travel

driving gear group

352, and 352 transmits a rotational motion to a first travel driving shaft 353, and both ends of the first travel driving shaft 353 are connected to the travel wheels 340 of the second wheel group through a belt transmission (not shown) so that the accessor can travel on the first track. The traveling drive gear set 352 simultaneously rotates the bevel gear 354, and transmits power to the second traveling drive shaft 355. Both ends of the second travel driving shaft 355 drive the travel wheels 330 of the first wheel set through belt transmission, so that the storing and taking machine can travel on the second track.

The reversing motor 361 is connected to the first reversing transmission shaft 362, and drives the first reversing transmission shaft 363 through a belt transmission (not shown), two sets of cams 364 and 365 (a first reversing cam and a second reversing cam) with opposite directions are respectively fixed at two ends of the first reversing transmission shaft 363, when the cam shaft rotates, the two sets of cams respectively bias the first wheel seat or the second wheel seat downwards to the driven roller, so that the first or second wheel set can move up and down, and the second or first wheel set can be reset away from the track plane through spring force. And the four groups of wheel sets can be contacted with the track simultaneously by designing the outer contour parts of the first reversing cam and the second reversing cam to be overlapped, so that the four groups of wheel sets are positioned on the track more stably.

When the cam shaft rotates, the two groups of cams respectively bias the first wheel seat or the second wheel seat downwards so as to drive the first wheel set or the second wheel set to move downwards, so that the first wheel train component and the second wheel train component can alternately contact one group of wheels with the track by virtue of the height difference caused by the opposite directions of the cams.

When the cam shaft rotates, the two groups of cams respectively bias the first wheel seat or the second wheel seat downwards so as to drive the first wheel set or the second wheel set to move downwards, so that the first wheel train component and the second wheel train component can alternately contact one group of wheels with the track by means of the height difference caused by different phases of the cams.

Preferably, in the reversing mechanism according to the present application, a guide mechanism with an elastic member is disposed between the first top plate and the first bottom plate, and a guide mechanism with an elastic member is also disposed between the second top plate and the second bottom plate.

Preferably, in the reverser according to the application, the first cam and the second cam are fixed on the same camshaft, the displacement curves of the first wheel seat and the second wheel seat in the first angular section are identical, and the displacement curves of the first wheel seat and the second wheel seat in the second angular section are opposite.

Alternatively, in the reversing mechanism according to the present application, the first cam and the second cam are fixedly mounted on the same camshaft, the first cam and the second cam having the same profile, in such a manner that the phase difference of the first cam and the second cam enables the first wheel holder and the second wheel holder to be biased downward, respectively, when the camshaft rotates.

Preferably, in the reversing mechanism according to the present application, the first cam and the second cam are fixedly mounted on the same camshaft, the first cam and the second cam have the same profile, and are mounted in opposite directions 180 degrees apart.

Preferably, in the reversing mechanism according to the present application, the first cam and the second cam are fixed to the same camshaft, and the first cam and the second cam have different profiles and are installed in such a manner that the phase difference between the first cam and the second cam enables the first wheel holder and the second wheel holder to be biased downward, respectively, when the camshaft rotates.

Optionally, in the reversing mechanism according to the present application, the first cam and the second cam are fixed on the same camshaft, and the first cam and the second cam have different profiles and are installed in a manner that they are 180 degrees apart in opposite directions.

Preferably, in the reversing mechanism according to the present application, a driven roller that is located below and abuts against the first reversing cam or the second reversing cam is provided in at least one of the first wheel base and the second wheel base.

Preferably, in the reverser according to the application, a portion of the displacement curves of the first and second wheel carriages is overlapping.

Wherein, in the reversing mechanism according to one of the previous applications, a guide mechanism with an elastic piece is arranged between the first top plate and the first bottom plate, and the radius of the cam contour line from the cam axis is increased along with the rotation motion of the first cam, so that the first cam is contacted with the first bottom plate; when the radius of the cam contour line from the cam axis is increased and the elastic piece is compressed, the distance between the first top plate and the vehicle body chassis of the robot is reduced, so that the first wheel set moves towards the direction close to the track relative to the vehicle body chassis; a guide mechanism with an elastic piece is arranged between the second top plate and the second bottom plate, and simultaneously along with the rotation motion of the second cam, the radius of the cam contour line from the axis of the cam is reduced, so that the second wheel set is subjected to the restoring force action of the elastic piece between the second top plate and the second bottom plate, the distance between the second top plate and the vehicle body chassis is increased, and the second wheel set moves relative to the vehicle body chassis in the direction away from the track.

It will be appreciated by those skilled in the art that the first and second cam profiles may be the same or may be different. Preferably having the same profile. The installation mode is 180 degrees different in opposite directions, and may not be 180 degrees. Along with the rotary motion of the cam, the radius of the cam contour line from the axis of the cam is increased, so that the first cam is in contact with the driven roller or other matching parts, the elastic part between the top plate and the bottom plate corresponding to the first wheel set is compressed, the distance between the first top plate and the vehicle body chassis is reduced, and the first wheel set moves towards the direction close to the track relative to the vehicle body chassis. Simultaneously because the second cam that sets up oppositely, the cam profile line reduces apart from cam axis radius for the second wheelset receives the elasticity of the elastic component between the roof that the second wheelset corresponds and the bottom plate, shows as second wheelset roof and automobile body ground plate interval increase, shows more as second wheelset for the automobile body chassis is to keeping away from orbital direction removal. Additionally, when the first cam and the second cam are installed oppositely, partial curve sections can be overlapped, when the curve sections are overlapped, the first wheel set and the second wheel set are shown to have the same distance relative to the ground disc of the vehicle body under the action of the cam and the elastic element, and the first wheel set and the second wheel set are shown to be in contact with the rail simultaneously, so that the vehicle body can better stay on the rail to obtain better stability. It is also possible that there are no coinciding curve segments, and that the distance of the first and second wheel sets relative to the vehicle body chassis is the same only at certain points where the first and second cam profiles intersect.

The elastic member may be a spring or a component having a similar function.

Preferably, in the wheel-seat box of the accessor, a driven roller located below and abutting against the first reversing cam or the second reversing cam may be provided in at least one of the first wheel seat and the second wheel seat. By arranging an elastic force reset device in the wheel seat box, for example, a reset spring sleeved on the guide post, the driven roller at the first wheel seat or the second wheel seat which is not biased downwards when the camshaft rotates can still abut against the first reversing cam or the second reversing cam through the spring force.

For example, as shown in fig. 8 or 9, a first driven roller 375 may be disposed in the first wheel base 370, and a second driven roller 385 may be disposed in the second wheel base 380. When fitted in place, the

cams

364 and 365 abut against the first driven roller 375 and the second driven roller 385, respectively. As shown in fig. 9, the second follower roller 385 is mounted on the second follower roller shaft seat 386 through a follower roller rotation shaft 385S. Similarly, the first driven roller 375 is also mounted on the first driven roller shaft seat 376 through a rotating shaft.

Similarly, the second reversing drive shaft 366 on the other side drives the corresponding set of cams to effect the reversing synchronously. For example, the first and second reversing

drive shafts

363, 366 may transmit power and maintain synchronization via a belt or chain at each end of the shafts.

The first and

second cams

364, 365 of each cam set may be fixed on the same camshaft. To further ensure stability of the reversing process, the displacement curves of the first and second wheel bases 370, 380 in the first angular segment may be the same, while the displacement curves of the first and second wheel bases 370, 380 in the second angular segment may be opposite. In order to achieve simultaneous contact of all wheel sets with the rail, there is partial overlap of the cam displacement curves.

Specifically, the displacement curves of the first wheel seat 370 and the second wheel seat 380 in a certain angle range are the same, which means that the profile curves of the first cam 364 and the second cam 365 in a certain angle range are the same, for example, in the range of 0 ° to 10 °, more preferably in the range of 0 ° to 3 °, and the profile curves of the first cam 364 and the second cam 365 are the same, so that the first wheel seat and the second wheel seat are simultaneously in contact with the rail and the height is not changed. The displacement curves of the first wheel seat and the second wheel seat in the second angle segment are opposite, which means that the profile curves of the first cam 364 and the second cam 365 in a certain angle range are symmetrical to each other, and when the cam shaft rotates in the angle range, the first wheel seat and the second wheel seat move at the same speed and in opposite directions.

In one embodiment of the invention, the first cam and the second cam are identical in shape, the first cam and the second cam having an angular deviation in the mounting direction. Preferably, the angular deviation in the mounting direction of the first cam and the second cam is 180 degrees, in other words, the phase angle of the first cam and the second cam differs by 180 degrees.

In the schematic structure of the first wheel seat 370 shown in fig. 8, the first top plate 371 and the first bottom plate 372 are parallel to each other, and the first top plate 372 and the first bottom plate 372 are both substantially shaped like an "F", i.e., the length of the transverse plate located at the middle of the longitudinal plate is shorter than the length of the transverse plate located at the end of the longitudinal plate.

In the structure of the second wheel seat shown in fig. 9, the second top plate 381 and the second bottom plate 382 have a groove, and the groove is matched with the convex portion of the middle portion of the first top plate 371 and the convex portion of the middle portion of the first bottom plate 372, so that the shape of the combination of the first wheel seat and the second wheel seat is substantially square. The structure makes the wheel seat box of the storing and taking machine more compact, and improves the strength of each wheel seat.

Further, a guiding component for guiding the wheel seat to move up and down, such as a guiding rod shown in the figure and a spring (not shown) sleeved on the guiding rod, such as a guiding column 376 shown in fig. 8, are also arranged in the wheel seat. Since each guide rod is positioned between the top plate and the bottom plate of each wheel seat, the spring can be specifically arranged between the bottom plate or the top plate and the chassis fixing device of the access robot. The chassis mounts may be, for example,

sliders

379 and 389 fixed to the vehicle body chassis. The guide rods in the first wheel base and the second wheel base are at least one, preferably three or more. Illustratively, when the first cam drives the first wheel seat to descend, the first cam pushes the first wheel seat to descend, and the spring between the first bottom plate and the slide block is compressed; when the first cam drives the first wheel seat to ascend, the first wheel seat is always contacted with the profile of the first cam by the counterforce of the spring between the sliding block and the first bottom plate.

Preferably, as shown in fig. 2, in a specific embodiment of the high-density stereoscopic warehouse, the high-density stereoscopic warehouse may further comprise a maintenance platform area 600, preferably arranged in close proximity to the derrick grid area. The maintenance platform area may arrange maintenance area tracks for access machines to enter or leave the derrick grid area.

Further, the high-density stereoscopic warehouse may further include charging piles 700 disposed at edge areas and/or middle areas of the track layer.

In one embodiment of the high-density stereoscopic warehouse according to the present disclosure, the access platform may be disposed on a floor of a building of the high-density stereoscopic warehouse, and a floor surface of the derrick lattice section is equal to or higher than the floor of the building.

Alternatively, in one embodiment of a high density stereoscopic warehouse according to the present disclosure, the conveyor may include a rotary conveyor.

Fig. 11 and 12 illustrate one embodiment of a conveyor 420 for use in the high-density stereoscopic warehouse of the present application.

The rotary conveyor 420 includes a rotary table base 421, a center fixing shaft 422 at the center of the rotary table base, a connecting arm 423 pivotally connected to the center fixing shaft, a planetary seat 424 fixedly connected to an outer end of the connecting arm, a rotary driving wheel 425 mounted on the planetary seat 424, and a rotary driven wheel 426, wherein a support base 429 for conveying a cargo box is rotatably mounted on the planetary seat 424 through the support base rotating shaft.

Further preferably, a satellite angle adjusting wheel 427S is fixed on the supporting base rotating shaft, a central angle adjusting wheel 427 is fixed on the central fixing shaft 422, and a linkage connecting piece 428 is arranged between the satellite angle adjusting wheel and the central angle adjusting wheel. Alternatively, the linkage connection is a belt and the satellite angle adjustment wheels 427S are indexed the same as the center angle adjustment wheels 427. Preferably, the linkage connecting piece is a transmission belt, and the satellite angle adjusting wheel and the central angle adjusting wheel have the same outer diameter.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims

1. A high-density stereoscopic warehouse, comprising:

vertically stackable containers having one or more dimensional specifications;

a derrick grid section for storing the containers in a vertical direction, the derrick grid section including a horizontally disposed track layer of a top floor and a plurality of columns between the track layer and a ground floor, the plurality of columns extending vertically upward from the ground floor and supporting the track layer, the track layer being provided with a plurality of first tracks and a plurality of second tracks which are interleaved with each other to form a horizontal track grid, a void of one grid cell in the track grid serving as one storage bin for storing the vertically stackable containers;

the container storing and taking machine comprises a travelling mechanism and a grabbing and releasing mechanism, wherein the grabbing and releasing mechanism is used for carrying out vertical storage and taking on the container, the travelling mechanism of the container storing and taking machine comprises a first wheel set matched with the first track and a second wheel set matched with the second track, the container storing and taking machine comprises wheel seat boxes respectively arranged at four corners of a chassis, and each wheel seat box comprises a first wheel seat used for mounting a first wheel in the first wheel set and a second wheel seat used for mounting a second wheel in the second wheel set; the first wheel seat and the second wheel seat are respectively connected to a chassis and are spliced into a wheel seat box, the first wheel seat and the second wheel seat are respectively installed on the chassis in a vertically movable mode through a suspension mechanism and are fixedly connected to the chassis of the storing and taking machine through a first fixing sleeve or a second fixing sleeve sleeved with a spring, a transmission shaft of the traveling mechanism is arranged in a gap between the wheel seat boxes, and the transmission shaft is used for transmitting traveling power to a first wheel or a second wheel;

an article access subsystem comprising an access platform provided with an access opening for taking out articles that have been accessed from within a container or storing articles to be stored in a container, a conveyor for conveying containers to the access opening, the access machine handling the containers between the conveyor and the track layer via an access well; and

the control subsystem comprises a scheduling system for the access machine and an information storage subsystem for recording and storing container identification information and container position information corresponding to the articles;

the conveyer comprises a rotary conveyer, the rotary conveyer conveys the containers to the access platform in a posture-fixed mode, the rotary conveyer comprises a rotary platform base, a central fixed shaft positioned in the center of the rotary platform base, a connecting arm pivoted to the central fixed shaft, a row constellation fixedly connected with the outer side end of the connecting arm, a rotary driving wheel and a rotary driven wheel, wherein the rotary driving wheel and the rotary driven wheel are mounted on the row constellation, and a supporting seat used for conveying the containers is rotatably mounted on the row constellation through a supporting seat rotating shaft; a satellite angle adjusting wheel is fixed on the supporting seat rotating shaft, a central angle adjusting wheel is fixed on the central fixing shaft, and a linkage connecting piece is arranged between the satellite angle adjusting wheel and the central angle adjusting wheel; the satellite angle adjusting wheel and the central angle adjusting wheel have the same graduation; the satellite angle adjusting wheel and the central angle adjusting wheel have the same outer diameter.

2. The high-density stereoscopic warehouse of claim 1 wherein the linkage connection is a belt.

3. The high-density stereoscopic warehouse of claim 2, further comprising a maintenance platform area arranged with maintenance area rails for the accessor to enter or exit the derrick grid area.

4. The high-density stereoscopic warehouse of claim 3, wherein the chassis of the stocker further mounts a reversing motor and a reversing transmission, each of the wheel-seating boxes mounts therein a cam shaft and a first reversing cam and a second reversing cam having a predetermined angular difference mounted on the cam shaft to bias the first wheel-seating or the second wheel-seating downward when the cam shaft rotates, so that the first wheel mounted on the first outer side plate or the second wheel mounted on the second outer side plate moves downward to be in contact with the corresponding track.

5. The high-density stereoscopic warehouse of claim 4, wherein a guide mechanism with an elastic member is disposed between the first top plate and the first bottom plate, and a guide mechanism with an elastic member is also disposed between the second top plate and the second bottom plate; the first cam and the second cam are fixed on the same camshaft, the displacement curves of the first wheel seat and the second wheel seat in the first angle section are the same, the displacement curves of the first wheel seat and the second wheel seat in the second angle section are opposite,

the first cam and the second cam have the same or different profiles and are mounted in a manner that the phase difference between the first cam and the second cam enables the first wheel seat and the second wheel seat to be respectively biased downwards when the camshaft rotates.

6. The high-density stereoscopic warehouse as claimed in claim 5, wherein the first cam and the second cam are fixed to the same cam shaft, and the first cam and the second cam have different profiles and are installed in a manner that they are different by 180 degrees in opposite directions.

7. The high-density stereoscopic warehouse of claim 5 or 6, wherein a portion of the displacement curves of the first wheel base and the second wheel base are overlapped.