CN114435834A

CN114435834A - Stereoscopic warehouse system capable of automatically storing and taking goods

Info

Publication number: CN114435834A
Application number: CN202210142590.6A
Authority: CN
Inventors: 唐孝勇
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-02-16
Filing date: 2022-02-16
Publication date: 2022-05-06

Abstract

The invention relates to the technical field of stereoscopic warehousing, in particular to a stereoscopic warehouse system capable of realizing automatic goods storage and taking, which comprises a rack; the device also comprises a storage unit, a main shaft, a clutch device, a rotary driver and a material moving robot; the warehousing units are arranged in a plurality and are sequentially and horizontally arranged on the rack, the goods inlet ends of the warehousing units are positioned at the front ends of the warehousing units, and the goods outlet ends of the warehousing units are positioned at the bottoms of the warehousing units; the main shaft is rotatably arranged on the rack, and the axis of the main shaft is consistent with the arrangement direction of the storage units; the number of the clutch devices corresponds to that of the storage units one by one, the clutch devices are installed on the storage units and are used for independently disconnecting or connecting the main shaft to control the delivery of the storage units; the rotary driver is arranged on the frame and is used for controlling the main shaft to rotate around the axis of the main shaft; the material moving robot is used for sending goods into the storage unit for storage. This application can realize the quick access of singleton or many goods high-efficient nimble, and simple structure easily realizes.

Description

Stereoscopic warehouse system capable of automatically storing and taking goods

Technical Field

The invention relates to the technical field of stereoscopic warehousing, in particular to a stereoscopic warehouse system capable of automatically storing and taking goods.

Background

An automatic stereoscopic warehouse is a new concept appearing in logistics storage. The high-rise rationalization, automatic access and simple and convenient operation of the warehouse can be realized by using the stereoscopic warehouse equipment; automated stereoscopic warehouses are a form of high state of the art. The main body of the automatic stereoscopic warehouse consists of a goods shelf, a roadway type stacking crane, a warehouse entering (exiting) workbench and an automatic transporting, entering (exiting) and operating control system. The goods shelf is a building or a structural body with a steel structure or a reinforced concrete structure, a goods space with standard size is arranged in the goods shelf, and a tunnel stacking crane passes through a tunnel between the goods shelf to finish the work of storing and taking goods. The management adopts computer and bar code technology.

However, the existing stereoscopic warehouse system is complex in structure and complex in goods taking process, generally needs to take a single goods through a mobile robot, needs a plurality of robots to work simultaneously when a plurality of goods need to be taken out simultaneously, and is high in cost.

Disclosure of Invention

In view of the above, there is a need to provide a stereoscopic warehouse system capable of automatically storing and taking goods.

In order to solve the problems of the prior art, the invention adopts the technical scheme that:

a stereoscopic warehouse system capable of realizing automatic goods storage and taking comprises a rack; the device also comprises a storage unit, a main shaft, a clutch device, a rotary driver and a material moving robot;

the warehousing units are arranged in a plurality and are sequentially and horizontally arranged on the rack, the goods inlet ends of the warehousing units are positioned at the front ends of the warehousing units, and the goods outlet ends of the warehousing units are positioned at the bottoms of the warehousing units;

the main shaft is rotatably arranged on the rack, and the axis of the main shaft is consistent with the arrangement direction of the storage units;

the number of the clutch devices corresponds to that of the storage units one by one, the clutch devices are installed on the storage units and are used for independently disconnecting or connecting the main shaft to control the delivery of the storage units;

the rotary driver is arranged on the frame, has a self-locking function and is used for controlling the main shaft to rotate around the axis of the main shaft;

the material moving robot is used for automatically sending goods into the storage unit through the goods inlet end of the storage unit for storage.

Preferably, the storage unit comprises an outer box body, an inner box body, a turnover shaft and an opening and closing assembly;

the outer box body is arranged on the rack, the front end and the bottom end of the outer box body are respectively provided with a first opening and a second opening, and the back of the upper end of the outer box body is of an arc structure;

the inner box body is of an L-shaped structure consisting of a first flat plate and a second flat plate which are vertical to each other, the inner box body is rotatably arranged inside the outer box body through turnover shafts on two sides of the inner box body, and the first flat plate of the inner box body is provided with a third opening;

the overturning shaft is in butt joint with the output end of the clutch device and is positioned at the joint of the first flat plate and the second flat plate;

the opening and closing assembly is arranged on the third opening and used for controlling the opening and closing of the third opening;

in a stock state, the first flat plate is attached to the first opening so as to enable the first opening to be communicated with the third opening, and the second flat plate horizontally closes the third opening of the outer box body;

the track of the rotation of one end of the first flat plate and the second flat plate far away from the turnover shaft around the turnover shaft is matched with the inner shape of the arc-shaped structure of the outer box body.

Preferably, the opening and closing component comprises a door leaf, a limiting plate, a hinged shaft and a torsion spring;

the door leaves are provided with a pair of hinge shafts and symmetrically arranged at the third opening, and the door leaves can rotate towards the inner side of the third opening through the hinge shafts;

the limiting plate is arranged on the side edge of the door leaf, and the limiting plate is abutted against the inner side of the third opening when the door leaf is in a closed state;

the torsional spring sets up on the articulated shaft for provide the closed torsion of door leaf.

Preferably, the clutch device comprises a mounting frame, a transmission shaft, a sliding block, a control unit, a driven gear, a driving gear, a locking assembly and a plug-in assembly;

the mounting rack is fixed on one side of the storage unit;

the transmission shaft is rotatably arranged on the mounting frame and consists of a cylindrical section and a prismatic section which are coaxially arranged, and the cylindrical section is coaxially connected with the turnover shaft;

the sliding block is in sliding fit with the prism section;

the control unit is used for controlling the sliding block to be switched between two states close to or far away from the overturning shaft;

the driven gear is rotatably arranged on one side, far away from the turnover shaft, of the mounting rack, and the driven gear is collinear with the axis of the turnover shaft;

the driving gear is sleeved on the main shaft and meshed with the driven gear;

the locking assembly is arranged on one side of the sliding block, which is close to the overturning shaft, and is used for locking the sliding block with the mounting frame when the sliding block is close to the overturning shaft so as to eliminate the degree of freedom of circumferential rotation of the sliding block;

the plug-in components sets up the one side of keeping away from the trip shaft at the sliding block for thereby it rotates with driven gear synchronous with driven gear butt joint when making the sliding block keep away from the trip shaft.

Preferably, the control unit comprises a first electromagnet, a second electromagnet and a permanent magnet;

the first electromagnet and the second electromagnet are fixed on the mounting frame, and the magnetism of the first electromagnet is opposite to that of the second electromagnet;

the permanent magnet is installed on the sliding block, and first electro-magnet, second electro-magnet and permanent magnet set up in opposite directions.

Preferably, the locking assembly comprises a locking hole and an eccentric bolt;

the lock hole is arranged on the mounting frame, and the axis of the lock hole is parallel to the axis of the turnover shaft but not collinear;

the eccentric bolt is fixed on one side of the sliding block close to the turnover shaft, and the eccentric bolt is in clearance fit with the lock hole in a locking state.

Preferably, the plug assembly comprises a prism jack and a prism plug;

the prism jack is arranged at the center of the driven gear, and the axis of the prism jack is collinear with the axis of the driven gear;

the prism bolt is installed in the center department of sliding block towards driven gear one side, and prism bolt shape suits with prism jack shape, and prism bolt and prism jack are pegged graft and are cooperated.

Preferably, the mounting frame is fastened and connected with the side wall of the outer box body through bolts.

Preferably, the cylindrical section is butted with the overturning shaft through a coupling.

Preferably, a belt conveyor is further included; the belt conveyor passes through the bottom of the warehouse unit delivery end and is used for conveying goods falling from the warehouse unit delivery end.

This application compares in prior art's beneficial effect and is:

1. this application is through clutch control storage unit and main shaft butt joint or disconnection to can control one or more in the storage unit in a flexible way and go out goods under the drive of main shaft simultaneously, very big improvement the convenient degree of getting goods.

2. This application passes through the upset of box inside the external box body in the trip shaft drive to switch under stock and the two kinds of states of getting goods, control is convenient.

3. This application further improves the convenience of stock through the subassembly that opens and shuts that door leaf, limiting plate, articulated shaft and torsional spring constitute jointly.

4. This application has further improved the convenience of getting goods through setting up belt conveyor, simple structure, convenient operation.

Drawings

FIG. 1 is an overall perspective view of the embodiment;

FIG. 2 is a front view of the embodiment;

FIG. 3 is a front view of a warehouse unit of an embodiment;

FIG. 4 is a perspective view of a warehouse unit of an embodiment;

FIG. 5 is an exploded perspective view of a warehouse unit of an embodiment;

FIG. 6 is a sectional view taken along line A-A of FIG. 3 according to an embodiment;

FIG. 7 is a perspective view of a clutch device of the embodiment;

FIG. 8 is an exploded perspective view of a clutch device according to an embodiment;

FIG. 9 is a perspective view of a drive shaft of the embodiment;

fig. 10 is a front view of the clutch device in the locked state of the embodiment;

FIG. 11 is a front view of the clutching device in the docked state of the embodiment;

FIG. 12 is a cross-sectional view of section B-B of FIG. 10 of the embodiment;

FIG. 13 is a cross-sectional view of section C-C of FIG. 11 of an embodiment;

the reference numbers in the figures are:

1-a frame;

2-a storage unit; 2 a-outer box; 2 b-an inner box body; 2b 1-first plate; 2b 2-second plate; 2 c-a roll-over shaft; 2 d-an opening and closing assembly; 2d 1-door leaf; 2d 2-limiting plate; 2d 3-articulated shaft; 2d 4-torsion spring;

3-a main shaft;

4-a clutch device; 4 a-a mounting frame; 4 b-a drive shaft; 4b 1-cylindrical section; 4b2 — a prismatic section; 4b 3-coupling; 4 c-sliding block; 4 d-a control unit; 4d1 — first electromagnet; 4d2 — second electromagnet; 4d 3-permanent magnet; 4 e-driven gear; 4 f-a drive gear; 4 g-a locking assembly; 4g 1-keyhole; 4g 2-eccentric bolt; 4 h-plug assembly; 4h 1-prismatic receptacle; 4h 2-prism bolt;

5-a rotary drive;

6-belt conveyor.

Detailed Description

For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.

As shown in fig. 1 and 2:

a stereoscopic warehouse system capable of realizing automatic goods storage and taking comprises a rack 1; the device also comprises a storage unit 2, a main shaft 3, a clutch device 4, a rotary driver 5 and a material moving robot;

the warehousing units 2 are arranged in sequence on the rack 1 in a horizontal mode, the goods inlet ends of the warehousing units 2 are located at the front ends of the warehousing units, and the goods outlet ends of the warehousing units 2 are located at the bottoms of the warehousing units;

the main shaft 3 is rotatably arranged on the frame 1, and the axis of the main shaft 3 is consistent with the arrangement direction of the storage units 2;

the number of the clutch devices 4 corresponds to that of the storage units 2 one by one, the clutch devices 4 are installed on the storage units 2, and the clutch devices 4 are used for independently disconnecting or connecting the spindle 3 to control the shipment of the storage units 2;

the rotary driver 5 is arranged on the frame 1, the rotary driver 5 has a self-locking function, and the rotary driver 5 is used for controlling the spindle 3 to rotate around the axis of the spindle;

the material moving robot is used for automatically sending goods into the storage unit 2 through the goods inlet end of the storage unit 2 for storage.

Based on the above embodiment, the goods that need to be stored are automatically sent into the storage unit 2 through the goods inlet end of the storage unit 2 by the material moving robot. When goods in any one or more of the storage units 2 in the same row need to be delivered, the controller sends a signal to the clutch device 4 on the corresponding storage unit 2, and the clutch device 4 is connected to the spindle 3 after receiving the signal, so that the driving force generated by the rotation of the spindle 3 can be received. The controller sends the signal and gives rotary actuator 5, and rotary actuator 5 receives the signal and then controls the main shaft 3 rotatory, then gives power transmission and passes through clutch 4 and the storage unit 2 rather than the butt joint, and the goods in the storage unit 2 falls through the shipment end of its bottom to accomplish and get goods. The operator who accesses the goods selects a batch of goods that need take out simultaneously through control panel, carries out foretell control procedure after confirming, and convenient operation has greatly reduced the trouble of getting the goods, has improved the efficiency of getting the goods. The safety of the falling of the goods can be further improved by adding a guide rail or a buffer air bag at the bottom of the delivery end of the storage unit 2. The rotary driver 5 is a servo motor provided with a screw speed reducer, so that the self-locking effect is ensured. The speed reduction and the force increase can be realized by using structures such as worm and gear, so that the servo motor is further protected, and a user can select the servo motor according to the self requirement. The main shaft 3 is further self-locked by increasing self-locking to the rotary driver 5, so that the accuracy of the clutch device 4 accessing the main shaft 3 is ensured, additional structures such as a sensor for positioning are avoided, and the cost can be saved to a certain extent.

Further, in order to solve the problem of how to realize the loading and unloading of the storage unit 2, as shown in fig. 3 to 6:

the storage unit 2 comprises an outer box body 2a, an inner box body 2b, a turnover shaft 2c and an opening and closing assembly 2 d;

the outer box 2a is arranged on the rack 1, the front end and the bottom end of the outer box 2a are respectively provided with a first opening and a second opening, and the back of the upper end of the outer box 2a is of an arc structure;

the inner box body 2b is an L-shaped structure consisting of a first flat plate 2b1 and a second flat plate 2b2 which are vertical to each other, the inner box body 2b is rotatably arranged inside the outer box body 2a through turnover shafts 2c at two sides of the inner box body 2b, and a third opening is formed in the first flat plate 2b1 of the inner box body 2 b;

the turnover shaft 2c is butted with the output end of the clutch device 4, and the turnover shaft 2c is positioned at the joint of the first flat plate 2b1 and the second flat plate 2b 2;

the opening and closing component 2d is arranged on the third opening and used for controlling the opening and closing of the third opening;

in the stock state, the first plate 2b1 fits over the first opening so that the first opening communicates with the third opening, and the second plate 2b2 horizontally closes the third opening of the outer box 2 a;

the track of the rotation of the end of the first flat plate 2b1 and the second flat plate 2b2 far away from the turnover shaft 2c around the turnover shaft 2c is matched with the inner shape of the arc-shaped structure of the outer box 2 a.

Based on the above embodiment, in the state of stock in the storage unit 2, the material transfer robot or the worker opens the opening and closing assembly 2d, and then puts the goods into the outer box 2a through the first opening and the third opening, and the goods fall on the second flat plate 2b2 horizontally placed at this time. When goods need to be taken, a worker transmits the power of the main shaft 3 to the turnover shaft 2c through the clutch device 4, the turnover shaft 2c drives the whole inner box body 2b to turn downwards in the outer box body 2a, so that the second flat plate 2b2 is closed to the second opening in the bottom of the outer box body 2a, and the goods fall out from the bottom of the outer box body 2a under the action of gravity. After the shipment is completed, the clutch device 4 reversely drives the turning shaft 2c to reset, and then drives the inner box body 2b to reset for the next inventory. Thereby solving the problem of how to realize the goods entering and exiting of the storage unit 2.

Further, in order to solve the problem of how to further improve the opening and closing convenience of the opening and closing assembly 2d, as shown in fig. 5:

the opening and closing component 2d comprises a door leaf 2d1, a limit plate 2d2, a hinge shaft 2d3 and a torsion spring 2d 4;

the door leaf 2d1 is provided with a pair of doors and symmetrically arranged at the third opening, and the door leaf 2d1 can rotate towards the inner side of the third opening through a hinge shaft 2d 3;

the limit plate 2d2 is provided on the side of the door 2d1, and the limit plate 2d2 abuts against the inner side of the third opening when the door 2d1 is in a closed state;

a torsion spring 2d4 is provided on the hinge shaft 2d3 to provide a torsion force for closing the door leaf 2d 1.

Based on the above embodiments, the present application rotates the pair of door leaves 2d1 outward around the hinge shaft 2d3 until the hinge shaft 2d3 abuts on the sidewall of the third opening by the torsion spring 2d4, thereby closing the third opening. The depth of the pair of door leaves 2d1 when turned inwards can be effectively reduced by the half-width structure, so that the door leaves 2d1 can be conveniently rebounded when goods enter the outer box 2 a. Thereby solving the problem of how to further improve the opening and closing convenience of the opening and closing assembly 2 d.

Further, in order to solve the problem of how to interface or disconnect the shipment control of the stocker unit 2 with the spindle 3, as shown in fig. 7 to 13:

the clutch device 4 comprises a mounting frame 4a, a transmission shaft 4b, a sliding block 4c, a control unit 4d, a driven gear 4e, a driving gear 4f, a locking assembly 4g and an inserting assembly 4 h;

the mounting frame 4a is fixed at one side of the storage unit 2;

the transmission shaft 4b is rotatably arranged on the mounting frame 4a, the transmission shaft 4b is composed of a cylindrical section 4b1 and a prismatic section 4b2 which are coaxially arranged, and the cylindrical section 4b1 is coaxially connected with the overturning shaft 2 c;

the sliding block 4c is in sliding fit with the prism section 4b 2;

the control unit 4d is used for controlling the slide block 4c to switch between two states of approaching to or departing from the turning shaft 2 c;

the driven gear 4e is rotatably arranged on one side of the mounting rack 4a far away from the turning shaft 2c, and the driven gear 4e is collinear with the axis of the turning shaft 2 c;

the driving gear 4f is sleeved on the main shaft 3 and is meshed with the driven gear 4 e;

the locking component 4g is arranged on one side of the sliding block 4c close to the turning shaft 2c and used for locking the sliding block 4c with the mounting frame 4a when the sliding block 4c is close to the turning shaft 2c so as to eliminate the freedom degree of circumferential rotation of the sliding block 4 c;

the plug-in component 4h is arranged on one side of the sliding block 4c far away from the overturning shaft 2c, and is used for enabling the sliding block 4c to be in butt joint with the driven gear 4e when being far away from the overturning shaft 2c so as to synchronously rotate with the driven gear 4 e.

Based on above-mentioned embodiment, under this application stock state, sliding block 4c is located the position that is close to trip shaft 2c, sliding block 4c locks transmission shaft 4b on mounting bracket 4a through locking Assembly 4g this moment, make it can't carry out the rotation in a circumferential direction, and then will die with the trip shaft 2c lock of the coaxial fixed setting of transmission shaft 4b, prismatic section 4b 2's structure can make it and sliding block 4c reciprocal anchorage in a circumferential direction, and cylindrical section 4b1 then conveniently links together transmission shaft 4b and trip shaft 2c, can also improve the holistic stability of transmission shaft 4b through bearing arrangement. When the goods need to be delivered, the controller sends a signal to the control unit 4d, the control unit 4d receives the signal and then pushes the sliding block 4c to the driven gear 4e, then the sliding block 4c is in butt joint with the driven gear 4e through the plug-in component 4h, the sliding block 4c and the driven gear 4e move coaxially, and the locking component 4g is unlocked. When main shaft 3 drove the driving gear 4f rotatory, the driving gear 4f drove rather than the driven gear 4e rotation of meshing to it is rotatory to drive sliding block 4c, and sliding block 4c drives trip shaft 2c through transmission shaft 4b then and rotates, thereby realizes the shipment of storage unit 2. This solves the problem of docking or undocking the delivery control of the storage unit 2 to the spindle 3.

Further, in order to solve the problem of how to control the displacement of the slider 4c, as shown in fig. 8 and 13:

the control unit 4d comprises a first electromagnet 4d1, a second electromagnet 4d2 and a permanent magnet 4d 3;

the first electromagnet 4d1 and the second electromagnet 4d2 are fixed on the mounting frame 4a, and the magnetism of the first electromagnet 4d1 is opposite to that of the second electromagnet 4d 2;

the permanent magnet 4d3 is attached to the slider 4c, and the first electromagnet 4d1 and the second electromagnet 4d2 are provided so as to face the permanent magnet 4d 3.

Based on the above embodiments, in the present application, the first electromagnet 4d1 and the second electromagnet 4d2 respectively have two functions of repelling and attracting the permanent magnet 4d3 when being electrified. The controller switches two different modes of action for the sliding block 4c by controlling the first electromagnet 4d1 and the second electromagnet 4d2 to be individually powered on and off, so as to cause the sliding block 4c to slide on the transmission shaft 4b, thereby solving the problem of how to control the displacement of the sliding block 4 c. The control is convenient, and the structure is simple.

Further, in order to solve the problem of how to lock the transmission shaft 4b on the mounting frame 4a by the locking assembly 4g, so that the transmission shaft cannot rotate circumferentially, as shown in fig. 8:

the locking assembly 4g comprises a locking hole 4g1 and an eccentric bolt 4g 2;

the lock hole 4g1 is arranged on the mounting rack 4a, and the axis of the lock hole 4g1 is parallel to the axis of the turnover shaft 2c but not collinear;

the eccentric bolt 4g2 is fixed on one side of the sliding block 4c close to the turning shaft 2c, and the eccentric bolt 4g2 is in clearance fit with the lock hole 4g1 in a locking state.

Based on the above embodiments, when the eccentric plug pin 4g2 rotates around the axis of the sliding block 4c to be collinear with the axis of the locking hole 4g1, the control unit 4d acts on the sliding block 4c to move it toward the flip shaft 2c, and then the eccentric plug pin 4g2 is inserted into the locking hole 4g1, thereby completing the locking. When the slide block 4c and the driven gear 4e need to be rotated synchronously, the control unit 4d controls the stroke end of the slide block 4c moving towards the driven gear 4e, and the eccentric latch 4g2 is completely withdrawn from the lock hole 4g 1.

Further, in order to solve the problem of how to rotate the slide block 4c coaxially and synchronously with the driven gear 4e, as shown in fig. 8, 11, and 13:

the plug assembly 4h comprises a prism jack 4h1 and a prism plug pin 4h 2;

the prism insertion hole 4h1 is opened at the center of the driven gear 4e and the axis is collinear with the axis of the driven gear 4 e;

the prism plug pin 4h2 is installed at the center of one side of the sliding block 4c facing the driven gear 4e, the shape of the prism plug pin 4h2 is matched with that of the prism jack 4h1, and the prism plug pin 4h2 is matched with the prism jack 4h1 in an inserting mode.

Based on the above embodiment, the present application solves the above-mentioned problem of how to make the sliding block 4c rotate coaxially and synchronously with the driven gear 4e by the control unit 4d pushing the sliding block 4c to the driven gear 4e and then making the prismatic pin 4h2 inserted into the prismatic insertion hole 4h1, the prismatic insertion hole 4h1 and the prismatic pin 4h2 being configured such that the sliding block 4c can rotate together with the driven gear 4e, thereby transmitting the torque of the spindle 3 downwards. When the eccentric latch 4g2 is withdrawn from the locking hole 4g1, the locking effect of the locking assembly 4g is achieved.

Further, in order to solve the problem of how to improve the convenience of maintenance and replacement of parts related to the clutch device 4:

the mounting rack 4a is fastened and connected with the side wall of the outer box 2a through bolts.

Based on above-mentioned embodiment, this application is installed mounting bracket 4a on outer box 2a lateral wall through the cooperation of the screw on bolt and mounting bracket 4a, the outer box 2a, easy dismounting to solve the above-mentioned problem that how to improve the relevant spare part maintenance of clutch 4 and change the convenience, saved the human cost.

Further, in order to solve the problem of how to butt the cylindrical section 4b1 with the inner box 2b, as shown in fig. 8:

the cylindrical section 4b1 interfaces with the tumble shaft 2c via a coupling 4b 3.

Based on the above embodiment, the coaxial synchronous rotation of the cylindrical section 4b1 and the turnover shaft 2c can be conveniently realized through the coupler 4b3, the structure is simple, the maintenance is convenient, and therefore the problem of how to butt joint the cylindrical section 4b1 and the inner box body 2b is solved.

Further, in order to solve the problem of how to further improve the convenience of picking up goods, as shown in fig. 1 and fig. 2:

also comprises a belt conveyor 6; the belt conveyor 6 passes through the bottom of the delivery end of the storage unit 2 and is used for conveying goods dropped from the delivery end of the storage unit 2.

Based on above-mentioned embodiment, this application is through setting up belt conveyor 6, will follow the goods that storage unit 2 bottoms dropped and concentrate to belt conveyor 6's output transmission, and the staff waits for at belt conveyor 6's output, perhaps directly ships required goods through instruments such as freight cars directly, has improved the convenient degree of getting goods greatly.

The above examples, which are intended to represent only one or more embodiments of the present invention, are described in greater detail and with greater particularity, and are not to be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A stereoscopic warehouse system capable of realizing automatic goods storage and taking comprises a rack (1); the automatic material moving device is characterized by further comprising a storage unit (2), a main shaft (3), a clutch device (4), a rotary driver (5) and a material moving robot;

the warehousing units (2) are arranged in a plurality and are sequentially and horizontally arranged on the rack (1), the goods inlet end of the warehousing unit (2) is positioned at the front end of the warehousing unit, and the goods outlet end of the warehousing unit (2) is positioned at the bottom of the warehousing unit;

the main shaft (3) is rotatably arranged on the rack (1), and the axis of the main shaft (3) is consistent with the arrangement direction of the warehousing units (2);

the number of the clutch devices (4) corresponds to that of the storage units (2) one by one, the clutch devices (4) are installed on the storage units (2), and the clutch devices (4) are used for independently disconnecting or connecting the main shaft (3) to control the shipment of the storage units (2);

the rotary driver (5) is arranged on the rack (1), the rotary driver (5) has a self-locking function, and the rotary driver (5) is used for controlling the main shaft (3) to rotate around the axis of the main shaft;

the material moving robot is used for automatically sending goods into the storage unit (2) through the goods inlet end of the storage unit (2) for storage.

2. The stereoscopic warehouse system capable of realizing the automatic storage and retrieval of goods according to claim 1, characterized in that the warehousing unit (2) comprises an outer box body (2 a), an inner box body (2 b), a turning shaft (2 c) and an opening and closing component (2 d);

the outer box body (2 a) is arranged on the rack (1), the front end and the bottom end of the outer box body (2 a) are respectively provided with a first opening and a second opening, and the back of the upper end of the outer box body (2 a) is of an arc structure;

the inner box body (2 b) is of an L-shaped structure consisting of a first flat plate (2 b 1) and a second flat plate (2 b 2) which are perpendicular to each other, the inner box body (2 b) is rotatably arranged inside the outer box body (2 a) through turnover shafts (2 c) on two sides of the inner box body, and a third opening is formed in the first flat plate (2 b 1) of the inner box body (2 b);

the overturning shaft (2 c) is butted with the output end of the clutch device (4), and the overturning shaft (2 c) is positioned at the joint of the first flat plate (2 b 1) and the second flat plate (2 b 2);

the opening and closing assembly (2 d) is arranged on the third opening and used for controlling the opening and closing of the third opening;

in a stock state, the first flat plate (2 b 1) is attached to the first opening so that the first opening is communicated with the third opening, and the second flat plate (2 b 2) horizontally closes the third opening of the outer box body (2 a);

the track of the rotation of one ends of the first flat plate (2 b 1) and the second flat plate (2 b 2) far away from the turnover shaft (2 c) around the turnover shaft (2 c) is matched with the inner shape of the arc-shaped structure of the outer box (2 a).

3. The stereoscopic warehouse system capable of automatically storing and taking goods as claimed in claim 2, wherein the opening and closing assembly (2 d) comprises a door leaf (2 d 1), a limiting plate (2 d 2), a hinge shaft (2 d 3) and a torsion spring (2 d 4);

the door leaves (2 d 1) are provided with a pair of doors and are symmetrically arranged at the third opening, and the door leaves (2 d 1) can rotate towards the inner side of the third opening through a hinged shaft (2 d 3);

the limit plate (2 d 2) is arranged at the side of the door (2 d 1), and the limit plate (2 d 2) is abutted against the inner side of the third opening when the door (2 d 1) is in a closed state;

a torsion spring (2 d 4) is provided on the hinge shaft (2 d 3) for providing a torsion force for closing the door leaf (2 d 1).

4. The stereoscopic warehouse system capable of realizing the automatic goods storing and taking of the claim 2 is characterized in that the clutch device (4) comprises a mounting frame (4 a), a transmission shaft (4 b), a sliding block (4 c), a control unit (4 d), a driven gear (4 e), a driving gear (4 f), a locking assembly (4 g) and a plug-in assembly (4 h);

the mounting rack (4 a) is fixed on one side of the storage unit (2);

the transmission shaft (4 b) is rotatably arranged on the mounting frame (4 a), the transmission shaft (4 b) consists of a cylindrical section (4 b 1) and a prismatic section (4 b 2) which are coaxially arranged, and the cylindrical section (4 b 1) is coaxially connected with the overturning shaft (2 c);

the sliding block (4 c) is in sliding fit with the prism section (4 b 2);

the control unit (4 d) is used for controlling the sliding block (4 c) to be switched between two states of being close to or far away from the overturning shaft (2 c);

the driven gear (4 e) is rotatably arranged on one side, far away from the overturning shaft (2 c), of the mounting rack (4 a), and the driven gear (4 e) is collinear with the axis of the overturning shaft (2 c);

the driving gear (4 f) is sleeved on the main shaft (3) and is meshed with the driven gear (4 e);

the locking assembly (4 g) is arranged on one side, close to the turning shaft (2 c), of the sliding block (4 c) and used for enabling the sliding block (4 c) to be locked with the mounting frame (4 a) when approaching to the turning shaft (2 c) so as to eliminate the degree of freedom of circumferential rotation of the sliding block (4 c);

the plug-in component (4 h) is arranged on one side, away from the overturning shaft (2 c), of the sliding block (4 c) and used for enabling the sliding block (4 c) to be in butt joint with the driven gear (4 e) when being away from the overturning shaft (2 c) so as to synchronously rotate with the driven gear (4 e).

5. The stereoscopic warehouse system capable of automatically storing and taking the goods as claimed in claim 4, wherein the control unit (4 d) comprises a first electromagnet (4 d 1), a second electromagnet (4 d 2) and a permanent magnet (4 d 3);

the first electromagnet (4 d 1) and the second electromagnet (4 d 2) are fixed on the mounting frame (4 a), and the magnetism of the first electromagnet (4 d 1) is opposite to that of the second electromagnet (4 d 2);

a permanent magnet (4 d 3) is attached to the slider (4 c), and the first electromagnet (4 d 1) and the second electromagnet (4 d 2) are disposed so as to face the permanent magnet (4 d 3).

6. The stereoscopic warehouse system capable of automatically storing and taking the goods as claimed in claim 4, wherein the locking assembly (4 g) comprises a locking hole (4 g 1) and an eccentric latch (4 g 2);

the lock hole (4 g 1) is arranged on the mounting rack (4 a), and the axis of the lock hole (4 g 1) is parallel to the axis of the turnover shaft (2 c) but not collinear;

the eccentric bolt (4 g 2) is fixed on one side of the sliding block (4 c) close to the turnover shaft (2 c), and the eccentric bolt (4 g 2) is in clearance fit with the lock hole (4 g 1) in a locking state.

7. The stereoscopic warehouse system capable of automatically storing and taking the goods as claimed in claim 4, wherein the plug-in module (4 h) comprises a prism socket (4 h 1) and a prism plug pin (4 h 2);

the prism insertion hole (4 h 1) is arranged at the center of the driven gear (4 e) and the axis is collinear with the axis of the driven gear (4 e);

the prism plug pin (4 h 2) is installed at the center of one side, facing the driven gear (4 e), of the sliding block (4 c), the shape of the prism plug pin (4 h 2) is matched with that of the prism jack (4 h 1), and the prism plug pin (4 h 2) is matched with the prism jack (4 h 1) in a plugging mode.

8. The stereoscopic warehouse system capable of automatically storing and taking goods as claimed in claim 4, wherein the mounting bracket (4 a) is fastened to the side wall of the outer case (2 a) by bolts.

9. The stereoscopic warehouse system capable of automatically storing and taking the goods as claimed in claim 4, wherein the cylindrical section (4 b 1) is connected with the turning shaft (2 c) through a coupling (4 b 3).

10. The stereoscopic warehouse system capable of automatically storing and taking the goods according to any one of claims 1 to 9, further comprising a belt conveyor (6); the belt conveyor (6) passes through the bottom of the delivery end of the storage unit (2) and is used for conveying goods dropped from the delivery end of the storage unit (2).