CN114368576A

CN114368576A - Non-shelf type full-automatic storehouse

Info

Publication number: CN114368576A
Application number: CN202210111408.0A
Authority: CN
Inventors: 贾然; 冯夫磊
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: 2022-04-19
Anticipated expiration: 2042-01-29
Also published as: CN114368576B

Abstract

The invention provides a non-shelf type full-automatic storehouse, which comprises: accessing a fetch operation subsystem; an item storage area including a storage well; a transport robot for carrying the storage box; the scheduling subsystem is used for receiving the job task request, distributing the job task request to the transport robot and controlling the transport robot in real time; the storage box is stored in a stacking mode, and a horizontal grid track is arranged at the top of the storage well; the article storage area comprises a base surface, horizontal grid rails and stand columns, the stand columns support the horizontal grid rails, the article storage area further comprises storage wells used for connecting the horizontal grid rails and the storage and retrieval platform, sorting platforms are arranged between the storage and retrieval platform and the storage wells, and the sorting platforms convey the storage boxes to the storage and retrieval platform in a posture fixing mode. The invention can realize high-density intelligent storage of articles with high efficiency.

Description

Non-shelf type full-automatic storehouse

Technical Field

The invention relates to the field of automatic storage equipment for article data, in particular to a non-shelf full-automatic storehouse.

Background

In the industries of archives (rooms), libraries, enterprises, medical institutions, laboratories, schools and express commercial logistics storage, a large number of articles with different sizes and a large variety are required to be stored for a short time or a long time, such as personnel files, scientific and technical files, business data, medical files, financial bills, experimental materials/experimental data, legal documents, case handling files, filing and check files and the like. Particularly, as a huge amount of document materials are accumulated and increased continuously, shelf type management is inconvenient, and the objective requirements cannot be met. For example, in the case where a personal file, a certificate, or the like is stored permanently but is also called or referred to in a specific case, it is important how to store and store the articles conveniently in a high density and to call the articles accurately and quickly.

The traditional storage method has large floor space, is difficult to search, is difficult to deal with the increasing storage requirement, and is not suitable for the management requirement of modern goods. How to store articles, document archives and the like with huge quantity in high efficiency and high density and accurately and efficiently access and store the articles and the document archives and the like according to needs is a problem which needs to be solved urgently. With the development of intelligent informatization, robots are applied more and more. But there are still few specific solutions specially designed for the data of objects that can satisfy the high-density, high-efficiency, standardized and highly automated intelligent storehouses at the same time.

Disclosure of Invention

To solve or alleviate the above-mentioned problems in the prior art, the present disclosure proposes a non-rack type fully-automatic storehouse.

According to one aspect of the present disclosure, there is provided a non-rack type fully automatic storehouse, comprising: the access calling operation subsystem comprises an access calling platform and a storage and calling platform, wherein the access calling platform is used for storing/taking out the articles with the identification marks into/from the article storage box individually or in groups; an article storage area including a plurality of storage wells for vertically storing storage bins in a stacked manner at the location; the transportation robot is used for transporting the storage box between the storing and taking platform and the article storage area, and is provided with a horizontal walking mechanism and a grabbing and placing mechanism used for hoisting or placing the storage box in the vertical direction so as to hoist or place the storage box from a stacking position to the stacking position; the dispatching subsystem receives the job task request transmitted by the access dispatching platform for storage or taking out, then distributes instructions to one or more transport robots according to the job tasks, and controls the running path and the job action of the transport robots in real time according to the instant job information fed back by the transport robots; the storage boxes in the article storage area are stored in a vertically upward stacking mode from the ground surface, and the top of each storage well is provided with a horizontal grid rail for one or more transport robots to walk simultaneously; the article storage area comprises a base surface, a horizontal grid rail which is arranged horizontally and positioned on the top layer of the storage well lattice, and a plurality of stand columns which are positioned between the horizontal grid rail and the base surface, wherein the plurality of stand columns support the horizontal grid rail, and the horizontal grid rail is provided with a plurality of first rails and a plurality of second rails which are approximately vertical; the storage and retrieval platform is arranged on the base surface of the warehouse, the article storage area further comprises a storage and retrieval well for connecting the horizontal grid track and the storage and retrieval platform, a sorting platform is arranged between the storage and retrieval platform and the storage and retrieval well, and the sorting platform conveys the storage boxes to the storage and retrieval platform in a posture fixing mode.

In one embodiment of the warehouse according to the present disclosure, the sorting table may include a rotary sorting table including a rotary table base, a central fixing shaft at the center of the rotary table base, a connecting arm pivotally connected to the central fixing shaft, a row constellation fixedly connected to an outer end of the connecting arm, a rotary driving wheel and a rotary driven wheel installed at the row constellation, wherein a support base for transporting the storage box is rotatably installed at the row constellation through a support base rotating shaft. The satellite angle adjusting device is characterized in that a central angle adjusting wheel is fixed on the central fixed shaft, and a linkage connecting piece is arranged between the satellite angle adjusting wheel and the central angle adjusting wheel. Preferably, the linkage connecting piece is a transmission belt, and the satellite angle adjusting wheel and the center angle adjusting wheel have the same graduation. Optionally, both outer diameters are the same.

In one embodiment of the warehouse according to the present disclosure, the warehouse may further include an information management subsystem, and the information management subsystem stores the stored location of the stored item, the item identification information, and keeps synchronization with the information of the access scheduling operation subsystem and the scheduling subsystem.

Further, the warehouse may further include a charging subsystem for charging the transport robot. Preferably, the charging subsystem is disposed in a charging zone spaced a predetermined distance from the article storage zone, the charging zone being coupled to the horizontal grid tracks by charging zone guide rails. The dispatching subsystem and the transfer robot can communicate with each other through wireless network information, a wireless transceiver module is installed in the transfer robot, and an ad hoc network function is provided among the transfer robots.

In one embodiment of the warehouse according to the present disclosure, the transportation robot further includes a power battery, a master controller, a motor driver, a sensor, a switch, an indicator light, and the like. The access calling platform can also comprise a storage box conveying mechanism, a controller, a motor driver, a motor, a sensor, an information recorder, a file access port and the like.

Preferably, in one embodiment of the storehouse according to the present disclosure, the transport robot includes wheel-base boxes respectively disposed at four corners of the chassis, each of the wheel-base boxes includes a first wheel base for mounting a first wheel of the first wheel set and a second wheel base for mounting a second wheel of the second wheel set, the first wheel base and the second wheel base are respectively mounted to the chassis in an up-down movable manner through a suspension mechanism, the first wheel base includes a first top plate, a first bottom plate, a first outer side plate and a first inner side plate, the second wheel base includes a second top plate, a second bottom plate, the first top plate and the second top plate jointly form a top plate of the wheel seat box, the first bottom plate and the second bottom plate jointly form a bottom plate of the wheel seat box, 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 box.

The warehouse may further include a maintenance platform area disposed adjacent to the article storage area, the maintenance platform area being disposed with a maintenance area rail for the transport robot to enter or exit the article storage area.

By using the storeroom according to the disclosure, the storage demand of the articles growing day by day can be met, the articles with huge quantity can be stored in a high-efficiency and high-density manner, and the articles can be accurately and efficiently looked up and safely stored as required.

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 illustrates an overall schematic view of one embodiment of a warehouse in accordance with the present disclosure;

FIG. 2 illustrates an overall schematic view of yet another embodiment of a warehouse in accordance with the present disclosure;

FIG. 3 shows a partial perspective view of a warehouse according to the present disclosure;

FIG. 4 shows a schematic view of a transport robot in a side view in one embodiment of a warehouse according to the present disclosure;

FIG. 5 illustrates a perspective view of a sorting table rotating component of the access retrieval table in one embodiment of a warehouse according to the present disclosure;

FIG. 6 shows a schematic view of the rotating components in the sorting table of FIG. 5;

FIG. 7 illustrates a perspective view of one embodiment of the chassis of the transport robot shown in FIG. 4;

fig. 8 illustrates a side perspective view of a first wheel seat in the wheel-seat box of the transport robot illustrated in fig. 7;

fig. 9 illustrates a side perspective view of a second wheel seat in the wheel-seat box of the transport robot illustrated in fig. 7;

fig. 10 shows a schematic top view of the internal construction of the chassis shown in fig. 8 and 7, with the top plate of each wheel seat removed for ease of illustration.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present application will be described in further detail 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 closely 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" herein may mean not only directly coupled, but also indirectly coupled, in which case intermediates may be present, if not specifically stated. 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 disclosure, a non-rack fully automated warehouse is presented. Referring to FIG. 1, there is shown an overall schematic view of one embodiment of a warehouse according to the present disclosure. This storehouse includes: storage bins 100, item storage areas 200, transport robots 300, access and dispatch operations subsystem 400, and dispatch subsystem 510. The access retrieval operation subsystem 400 includes an access retrieval station 410, which is provided with an access port 411, a sorting station 420, and an access well 430. Wherein the scheduling subsystem 510 and the information management subsystem 520 are used for recording and storing the identification information of the storage box and the position information of the storage box corresponding to the archive. The control subsystem 500 is used to control various automation and movement of items in the warehouse. The control subsystem may include a scheduling subsystem 510 and an information management subsystem 520 for the transport robot. The position information here may be position information of a storage box, storage box information where a stored article is located, storage well information where a stored article is located, position information of an access robot, and the like.

For example, the information management subsystem 520 may maintain the stored location of the stored item, item identification information, and maintain synchronization with the access of the information from the dispatch operations subsystem and the dispatch subsystem.

Specifically, in this non-shelf type fully automatic storehouse, include: an access calling operation subsystem including an access calling station for storing/taking out articles with identification marks into/from the storage boxes individually or in groups; an article storage area 200 comprising a plurality of storage wells for vertically storing the storage bins in a stacked manner at storage well locations; a transport robot 300 for carrying the storage box between the access and retrieval operation subsystem 400 and the article storage area 200, the transport robot being provided with a horizontal traveling mechanism and a pick and place mechanism for vertically lifting or placing the storage box to a predetermined stacking position from the stacking position; the scheduling subsystem 510 receives the job task request transmitted by the access calling station for storage or retrieval, then distributes instructions to one or more transport robots according to the job task, and controls the running path and job action of the transport robots in real time according to the instant job information fed back by the transport robots; the storage boxes in the article storage area are stored in a vertically upward stacking mode from the ground surface, and the top of each storage well is provided with a horizontal grid rail for one or more transport robots to walk simultaneously; the article are deposited the district and are included the basal plane, be located the horizontal grid track of the horizontal arrangement of storage well check top layer and be located a plurality of stands between horizontal grid track and the basal plane, a plurality of stands support horizontal grid track, horizontal grid track is provided with many first tracks of approximate vertically and many second tracks, the access is transferred the platform and is arranged the basal plane in the storehouse, the article are deposited the district and are still included the access well that is used for connecting horizontal grid track and access and transfer the platform, the letter sorting platform has been arranged between access is transferred the platform and the access well, the letter sorting platform conveys the thing case to the access and transfer the platform with the fixed mode of gesture.

Preferably, in a warehouse according to the present disclosure, the sorting station may comprise a rotary sorting station. Fig. 5 and 6 illustrate one embodiment of a sorting table 420 for use in the warehouse of the present application.

To achieve attitude-fixed delivery of the deposit box to the access retrieval station, the rotary sorting station 420 comprises a rotary table base 421, a central fixed shaft 422 at the center of the rotary table base, a connecting arm 423 pivotally connected to the central fixed shaft, a planetary carrier 424 fixedly connected to an outer end of the connecting arm, a rotary driving wheel 425 mounted to the row constellation 424, and a rotary driven wheel 426, wherein a support 429 for conveying the deposit box is rotatably mounted to the row constellation 424 through the support 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.

Further, the warehouse may further include a charging subsystem for charging the transport robot. Preferably, the charging region is spaced apart from the article storage region 200 by a predetermined distance. Optionally, the charging region is coupled to the horizontal grid rails 210 via charging region rails. The charging system is arranged and installed in the independent space, and can not spread to a storage area when the charging system is in a fire. The charging system provides charging for the robot needing to supplement the electric energy and a corresponding channel.

The dispatching subsystem and the transfer robot can communicate with each other through wireless network information, a wireless transceiver module is installed in the transfer robot 300, and an ad hoc network function is provided among the transfer robots.

In one embodiment of the warehouse according to the present disclosure, the transportation robot further includes a power source, a master controller, a motor driver, a sensor, a switch, an indicator light, and the like. The access and retrieval platform can comprise a storage box conveying mechanism, a controller, a motor driver, a motor, a sensor, an information recorder, a file access port and the like.

Preferably, in one embodiment of the storehouse according to the present disclosure, the transport robot includes wheel-mount boxes respectively arranged at four corners of the chassis, each of the wheel-mount boxes includes a first wheel mount for mounting a first wheel of the first wheel group and a second wheel mount for mounting a second wheel of the second wheel group, and the first wheel mount and the second wheel mount are respectively mounted to the chassis in an up-and-down movable manner by a suspension mechanism. The first wheel seat and the second wheel seat are respectively connected to a chassis to form the wheel seat box in a split mode. Specifically, for example, the first wheel seat includes a first top plate, a first bottom plate, a first outer side plate, and a first inner side plate, and the second wheel seat includes 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 together constituting a top plate of the wheel seat box, the first bottom plate and the second bottom plate together constituting a bottom plate of the wheel seat box, and the first outer side plate, the first inner side plate, the second outer side plate, and the second inner side plate serving as side plates of the wheel seat box.

When filing, articles are stored in the storage box at the storage and taking platform, the storage box is transported to the storage well by the sorting platform and is transferred to an operation area of the transportation robot, the transportation robot grabs and lifts the storage box to the horizontal grid rail, the transportation robot walks to a preset storage well grid, then the lower part of the storage box is placed in the storage well, and the grabbing mechanism is loosened, and the storage box is stored at a preset position. When the gear shifting is carried out, the dispatching subsystem sends an instruction to the transport robot, the transport robot reaches the well lattice where the storage box stored by the article is located, the storage box is grabbed and conveyed to the horizontal position of the access well, the storage box is placed on the sorting table, and the storage box is conveyed to the access and retrieval table by the sorting table.

Referring to fig. 1, 2 and 3, schematic views of two embodiments of a warehouse according to the present application are shown. In the storehouse according to the present disclosure, the storehouse may include the following components. First, vertically stackable bins 100 having one or more dimensional specifications; an article storage area 200 for storing storage bins in a vertical orientation, the article storage area comprising a base surface, a horizontally disposed horizontal grid rail 210 located on a top level, and a plurality of uprights 220 located between the horizontal grid rail and the base surface, the plurality of uprights extending vertically upwardly from the base surface and supporting the horizontal grid rail, the horizontal grid rail being provided with a grid of approximately vertical first 230 and second 240 rails, the void of one grid cell of the grid of rails acting as a storage well for storing vertically stackable storage bins 100, one grid cell of the grid of rails corresponding to a top opening of at least one storage well; a transport robot 300 traveling on a horizontal grid track, the transport robot 300 having a body sized to cover at least one storage well, the transport robot including a pick and place mechanism provided with a horizontal traveling mechanism and for vertically lifting or lowering the storage box to lift or place the storage box from or to a predetermined stacking position. The traveling mechanism of the transfer robot 300 includes a first wheel set engaged with the first rail 230 and a second wheel set engaged with the second rail 240. The access and retrieval operation subsystem 400, which may include an access and retrieval table 410 provided with an access port 411 for retrieving an already accessed file from the storage box or storing a file to be stored in the storage box 100, a sorting table 420 and an access well 430.

The sorting table 420 is used to transfer the deposit box to the access opening 411, and the transport robot 300 transfers the storage box between the sorting table 420 and the horizontal grid rail 210 via the access well 430.

In the storehouse of the present application, the transport robot may be, for example, a robot as shown in fig. 3 and 4, traveling on a horizontal grid track. In the example shown in the drawing, the body size of the transfer robot 300 may cover 2 storage wells, with the robot body including the travel drive mechanism in one well and the pick-and-place mechanism 320 occupying another well. The transport robot also comprises a power supply, a master controller, a motor driver, a sensor, a switch, an indicator light and the like.

In this example, the traveling mechanism of the transport robot 300 includes a first wheel set 330 cooperating with the first rail 230 and a second wheel set 340 cooperating with the second rail 240.

Referring to fig. 7 to 10, an example of a wheel-seat box for a transport robot of the present application is given.

In this example, the chassis of the transport robot 300 is rectangular and includes wheel-mount boxes 310 arranged at four corners of the chassis, respectively. As shown in fig. 7, the chassis of the transport robot 300 further includes a travel driving motor 351 and a reversing motor 361 disposed above the wheel-seat box 310.

Each wheel-mount box comprises a first wheel-mount 370 for mounting a first wheel 330 of a first wheel set and a second wheel-mount 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 fixing sleeve 379 or the second fixing sleeve 389 sleeved with a spring (not shown) is fixedly connected to the chassis of the transport robot.

Specifically, each wheel house case and wheel house in this example is specifically explained with reference to fig. 7, 8, and 9. For example, a wheel house box located at a right-hand corner in fig. 7 is taken as an example. The other three wheelbase boxes also have the same or similar construction.

The first wheel seat 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 together constitute a top plate of the wheel seat box 310, the first bottom plate 372 and the second bottom plate 382 together constitute a bottom plate of the wheel seat box, 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. Alternatively, the first top plate 371 and the second top plate 372 may be mutually engaged to form a top plate of the wheel-seat box 310.

In the example shown in the figures, the first top and

bottom plates

371, 374 of the first wheel carriage 370 are of an F-like configuration and the first and second bottom plates 382 of the second wheel carriage 380 are of a U-like configuration. The middle convex part of the F-shaped structure is matched with the U-shaped concave part to form a finished rectangular top plate or 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, i.e. a wheel base box. Preferably, at least one of the thickness of the first top plate 371 and the second top plate 372 combined with each other and the thickness of the first bottom plate 372 and the second bottom plate 382 is greater than the stroke length of the wheel seat moving up and down, so as to prevent the first wheel seat and the second wheel seat from being laterally misaligned. Or the first wheel seat and the second wheel seat are prevented from being transversely dislocated by the guide mechanism without considering the relation formed by the thickness of the top plate and the vertical movement.

Fig. 10 shows a schematic top view of the internal construction of the chassis shown in fig. 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 storage room 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 transport robot 300.

The chassis of the transport robot 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. 7 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 transport robot can travel on the first track. The travel drive gear set 352 simultaneously rotates the bevel gear 354, and simultaneously transmits power to the second travel 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 transfer robot 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 by designing the outer contour parts of the first reversing cam and the second reversing cam to be partially overlapped, so that the four groups of wheel sets are more stably positioned on the track. 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.

Preferably, in the wheel-seat box of the transport robot, 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.

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 driven roller 385 is mounted on the second driven roller shaft holder 386 through a driven 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 that all wheel sets contact the rail simultaneously, the cam displacement curves may have a partial overlap. For example, the displacement curves of first wheel base 370 and second wheel base 380 within the third angular segment may overlap.

Specifically, the displacement curves of the first wheel seat 370 and the second wheel seat 380 in the first angle section 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 °, preferably in the range of 0 ° to 3 °, the profile curves of the first cam 364 and the second cam 365 are the same, and then the contact height of the first wheel seat and the second wheel seat with the rail is not changed at the same time. The displacement curves of the first wheel seat and the second wheel seat in the angular segment are opposite, which means that the profile curves of the first cam 364 and the second cam 365 in a certain angular range are symmetrical to each other, and when the cam shaft rotates in the angular 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 of the first cam from the second cam in the mounting direction is 180 degrees, in other words, the phase angle of the first cam differs from the phase angle of the second cam by 180 degrees.

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 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 transport robot 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 guide rod shown in the figure and a spring (not shown) sleeved on the guide rod, such as a guide post 376 shown in fig. 8, are also arranged in the wheel seat. Because each guide rod is positioned between the top plate and the bottom plate of each wheel seat, the spring is particularly arranged between the bottom plate and the sliding block. The number of the guide rods in the first wheel seat and the second wheel seat is at least two. 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 sliding 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 one embodiment of the warehouse, the warehouse may further include a maintenance platform area 600, preferably disposed proximate to the item storage area. The service platform area may be provided with service area rails for access machines to enter or leave the item storage area.

In one embodiment of the warehouse according to the present disclosure, the access retrieval station may be disposed on a floor of a building of the warehouse, and the floor of the item storage area is at the same height as or higher than the floor of the building.

The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. 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 non-shelf full-automatic warehouse, characterized in that, the warehouse includes:

an access calling operation subsystem including an access calling station for storing/taking out articles with identification marks into/from the storage boxes individually or in groups;

an article storage area comprising a plurality of storage wells at which the bins are vertically stored in a stacked manner;

the transportation robot is used for transporting the storage box between the access and retrieval operation subsystem and the article storage area, and is provided with a horizontal walking mechanism and a grabbing and placing mechanism used for hoisting or placing the storage box in a vertical direction so as to hoist or place the storage box from a stacking position to a stacking position;

the dispatching subsystem receives a job task request transmitted by the access dispatching platform for storage or taking out, then distributes an instruction to one or more transport robots according to the job task, and controls the running path and the job action of the transport robots in real time according to the instant job information fed back by the transport robots;

wherein the storage bins in the article storage area are stored in a stacked manner vertically upward from the base surface, the top of each storage well being arranged with a horizontal grid track on which a transport robot/transport robots walk;

the article storage area comprises the base surface, a horizontal grid rail arranged horizontally on the top layer of the storage well lattice, and a plurality of stand columns arranged between the horizontal grid rail and the base surface, wherein the plurality of stand columns support the horizontal grid rail, and the horizontal grid rail is provided with a plurality of first rails and a plurality of second rails which are approximately vertical;

the storage and retrieval platform is arranged on the base surface of the warehouse, the article storage area further comprises a storage and retrieval well for connecting the horizontal grid rail and the storage and retrieval platform, a sorting platform is arranged between the storage and retrieval platform and the storage and retrieval well, and the sorting platform conveys the storage boxes to the storage and retrieval platform in a posture-fixed mode.

2. The warehouse of claim 1, wherein the sorting station comprises a rotary sorting station comprising a rotary table base, a central fixed shaft centrally located on the rotary table base, a connecting arm pivotally connected to the central fixed shaft, a row constellation fixedly connected to an outer end of the connecting arm, a rotary drive wheel and a rotary driven wheel mounted on the row constellation, wherein a support for transporting the storage bins is rotatably mounted on the row constellation by a support shaft,

the satellite angle adjusting wheel is fixed on the supporting seat rotating shaft, the central angle adjusting wheel is fixed on the central fixed shaft, and a linkage connecting piece is arranged between the satellite angle adjusting wheel and the central angle adjusting wheel.

3. The warehouse of claim 2, wherein the linkage connection is a belt, and the satellite angle adjustment wheel is indexed the same as the central angle adjustment wheel.

4. The storehouse according to one of claims 1 to 3, wherein the storehouse further comprises an information management subsystem, wherein the information management subsystem stores the stored location of the stored item, item identification information, and keeps synchronization with the information of the access scheduling operation subsystem and the scheduling subsystem.

5. The warehouse of any one of claims 1 to 3, wherein the warehouse further comprises a charging subsystem for charging the transport robot, and the charging area and the horizontal grid rail are connected together by a charging area rail.

6. The storehouse according to claim 4, wherein the dispatching subsystem and the transfer robots are in information intercommunication through a wireless network, wireless transceiving modules are installed in the transport robots, and an ad hoc network function is provided between the transport robots.

7. The storehouse according to claim 6, wherein the transport robot further comprises a battery, a master controller, a motor driver, a sensor, a switch, an indicator light, and the like.

8. The storehouse of claim 7, wherein the access retrieval station comprises a storage bin transport mechanism, a controller, a motor driver, a motor, a sensor, an information recorder, and a file access port.

9. The storehouse according to one of claims 1 to 3, wherein the transport robot includes wheel-mount boxes respectively arranged at four corners of the chassis, each wheel-mount box including a first wheel mount for mounting a first wheel of a first wheel set and a second wheel mount for mounting a second wheel of a second wheel set, the first wheel base and the second wheel base are respectively mounted to a chassis in a vertically movable manner through a suspension mechanism, the first wheel seat comprises a first top plate, a first bottom plate, a first outer side plate and a first inner side plate, the 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, the first bottom plate and the second bottom plate jointly form a bottom plate of the wheel seat box, 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 box.

10. The storehouse of one of claims 1 to 3, further comprising a maintenance platform area disposed proximate the item storage area, the maintenance platform area being disposed with a maintenance area track for the transport robot to enter or exit the item storage area.