CN207192065U - A kind of three-dimensional circular warehouse of polar coordinates layout - Google Patents

Abstract

In existing tiered warehouse facility, wrapped the warehouse stacked naturally with general shelf, this warehouse needs to reserve the passage of equivalent area, so as to haulage vehicle, carrying machines and tool and staff by and operation, in general storing stacks limited height, storing access is inconvenient, so the utilization rate in space is relatively low.Warehousing management level is difficult to improve, pure people's manual task, error rate is high, labor intensity is big, also can not thoroughly take on a new look even if common handling machinery instrument is increased, and the utility model is to provide a kind of space availability ratio height, and the fully automatic stereo warehouse with higher operational efficiency, the three-dimensional circular warehouse of polar coordinates layout includes storing bin, and the storing bin side is connected with least one access device, and the storing bin includes circle bin bracket, storage rotating disk, storage drawer and floppy drive；The access device includes lifting framework, push-pull device at fixed, grabbing device and pairing guide rail.

Description

A kind of three-dimensional circular warehouse of polar coordinates layout

Technical field

Storage and parking equipment technical field are the utility model is related to, more particularly to a kind of solid of polar coordinates layout is circular Warehouse

Background technology

In existing tiered warehouse facility, the warehouse stacked naturally with general shelf was wrapped, this warehouse needs to reserve quite The passage of area, so as to haulage vehicle, carrying machines and tool and staff by and operation, in general storing stack limited height, Storing access is inconvenient, so the utilization rate in space is relatively low.Warehousing management level is difficult to improve, pure people's manual task, mistake Rate is high, and labor intensity is big, also can not thoroughly take on a new look even if common handling machinery instrument is increased.

For it is such the problem of, some existing settling modes are that, such as stack type stereo warehouse, this is automated three-dimensional storehouse The basic model in storehouse, there is automation addressing function, tall and big tiered warehouse facility can be established, piler replaces the carrying labor of manpower It is dynamic, it is a much progress of storage technique.It is empty but piler needs to reserve the tunnel of operation, i.e. both sides are shelf, and centre is tunnel Between utilization rate it is still less high.Other piler takes into account the motion of three-dimensional operation simultaneously, there is the possibility being too busy to do it, if increase The quantity of piler, one carrys out cost of equipment costliness, and two, which come same tunnel, will cause the congestion of piler, can not realize mutually The operation for avoiding and passing through.

Such as shuttle type layer stereo warehouse, this is a kind of intensive Multi-layer matrix tiered warehouse facility, the profit of pure shelf portion It is 100% with rate.But the region that must enter shipment in one or two reserves the ground of equivalent area and run for high-rise fork truck, Comprehensive space availability ratio is nor too high.Per a line, (all storage spaces are also that storing operation is logical to each layer of matrix shelf Road) there is 1 automation lifting handling device, reserve fixed passage per the bottom of crudely-made articles frame arbitrarily transports by lifting carrier OK, lifting device is automation equipment.After its lifting storing, storing can be moved into automatically and taken out of, problem is that direction of advance can not There are other storings to block, therefore limit the tiered warehouse facility to use storing " first-in last-out " or the order of " first in first out " week Rotary-die type, being deposited in the storing among passage can not arbitrarily recall, and can not be adapted to logistic storage in general sense and week completely Turn.

Such as unmanned carrier (AGV), this is a kind of advanced automated handling system, but is failed directly and effectively Solve the problems, such as that storing stacks height, high-altitude access storing and space shared by operation passage itself.

Such as verticallifting stereo garage (tower), this is one of advanced garage mode of domestic contrast, takes up an area three parking stalls, Centre is the passage of vertical lift, and price is higher, and popularity rate is subject to certain restrictions.

Such as the multi-storied garage that multilayer planar moves, this is the mode derived from the structure of stack type, operational efficiency Higher than stack type.Piler is replaced by the automatic transportation equipment of each layer garage, can multiple computer desk simultaneously operation, the automatic transporting of each layer Equipment is each independent, does not interfere with each other, and operating efficiency greatly improves, and this mode must coordinate automobile lifting equipment just can be normal Work.This garage still needs the tunnel of equipment operation, and space availability ratio is not high.

The content of the invention

The utility model is to provide a kind of space availability ratio height, and the fully automatic stereo storehouse with higher operational efficiency Storehouse；

A kind of three-dimensional circular warehouse of polar coordinates layout described in technical scheme 1, including storing bin, the storing bin outside It is connected with least one access device, it is characterised in that：The storing bin include circle bin bracket, storage rotating disk, storage drawer and Floppy drive；

The round bin bracket includes gin pole, all edge columns, circuit orbit and lifting column, and the gin pole is located at It is vertical to be located at center centered on the axis of gin pole radially equidistantly for the center of the storing bin, multiple all edge columns Around post, multiple all edge columns connect the circuit orbit, multiple circles simultaneously close to the side of gin pole Track is vertically set on multiple all edge columns, and all edge columns close to access device side are stood to away from center The side of post connects up lifting column；

Gap between two all edge columns of access device side forms storing bin inlet and outlet；

Be arranged with the gin pole with circuit orbit quantity identical store in a warehouse rotating disk, it is multiple it is described storage rotating disks in Vertically set on the column of centre, the storage rotating disk is rotatablely connected with gin pole, and the storage rotating disk is vertical away from center The edge of post is rolled with circuit orbit and connected, and multiple storage drawers are arranged adjacent on storage rotating disk；

Rotating disk is provided between at least two weeks edge columns beyond all edge columns of the storing bin inlet and outlet both sides to drive Device, the floppy drive driving storage rotating disk rotate around gin pole.

Preferably, the storage rotating disk includes flange assembly, radial guidance and supporting wheeling assembly, and the flange assembly is arranged On gin pole, and the edge away from gin pole connects multiple radial guidances, and the radial guidance is away from gin pole One end be provided with outer side pole, the upper surface of the outer side pole is provided with positioning taper hole, and the outer side pole is provided with supporting wheeling assembly, institute State supporting wheeling assembly and roll connection with the circuit orbit；

Preferably, one end lower surface of the storage drawer away from gin pole is provided with the locating cone coordinated with positioning taper hole Pin, one end end face of the storage drawer away from gin pole are shaken hands provided with outer end, and the bottom of the storage drawer is vertical close to center The direction of post is provided with least one inner guide pulley and rolled with wheel, the inner guide pulley and the interior wheel that holds is held at least one pair of with radial guidance Connection；

The storage drawer is radially provided with multiple storing freight spaces along storage rotating disk.

Preferably, floppy drive includes cabinet, A chain wheel sets, B chain wheel sets, C chain wheel sets, long pin shaft chain and ball wheel group Part, the A chain wheel sets, B chain wheel sets and C chain wheel sets are triangularly arranged in cabinet inside, and the long pin shaft chain for passing through closure Bar is connected；

Multiple ball wheel assemblies are connected on the long pin shaft chain at regular intervals, multiple ball wheel assemblies are in long pin shaft A chain wheel sets are surrounded under the drive of chain, B chain wheel sets and C chain wheel sets rotate, movement locus and the bogie wheel group of the ball wheel assembly Movement locus of the part on circuit orbit be tangent intersecting or slight phase is from making ball wheel assembly promote supporting wheeling assembly around center Column rotates.

Preferably, the access device includes lifting framework, push-pull device at fixed, grabbing device and pairing guide rail；

The lifting column is provided with vertically moving lifting framework, and the lifting framework is provided with along level side To the push-pull device at fixed of motion, the lifting framework connects grabbing device close to the side of storing bin, and the grabbing device is lifting Vertically moving on framework, the lifting framework below the grabbing device is provided with pairing guide rail, on the pairing guide rail Provided with translating rails, the translating rails move in the horizontal direction on lifting framework, the grabbing device, push-pull device at fixed and right Guide rail is closed to rise or fall with the vertical motion of lifting framework.

Preferably, the lifting framework includes lifting idler pulley frame, horizontal guide rail and horizontal rack, the lifting idler pulley frame and The lifting column rolls or is slidably connected, and vertically moving on lifting column, is set on the lifting idler pulley frame There are horizontal guide rail and horizontal rack.

Preferably, the push-pull device at fixed includes pushing-pulling-rack, fixed claw and movable claw, and the pushing-pulling-rack rolls with horizontal guide rail Or be slidably connected, and moved in the horizontal direction on horizontal guide rail, the pushing-pulling-rack is set close to the side that storing bin is imported and exported There is a fixed claw, the pushing-pulling-rack below the fixed claw is provided with movable claw, and the movable claw is rotatablely connected with the pushing-pulling-rack.

Preferably, the grabbing device includes guide-rail plate and takes thing pawl, and the guide-rail plate close to storing bin with importing and exporting one The lifting idler pulley frame of side is slidably connected, and is vertically slided on lifting idler pulley frame, and the guide-rail plate lower end is provided with and taken Thing pawl, it is described to take thing pawl to slide or be rotatablely connected with guide-rail plate.

Preferably, the pairing guide rail includes two translating rails, and two translating rails are located at close to storing bin one On the horizontal guide rail of side, two translating rails are moved in the horizontal direction on horizontal guide rail, and two translations are led Rail close to the direction of storing bin to when moving, and two translating rails move in parallel to direction adjacent to each other simultaneously, to away from storage When thing storehouse direction is moved, two translating rails move in parallel to direction away from each other simultaneously.

Beneficial effect

The space availability ratio of above-mentioned tiered warehouse facility storage storing is very high, and store interior need not specially leave storing and fortune The passage of load instrument disengaging or the tunnel of special equipment operation, need not also reserve storing or store the space that utensil is transferred to other use.

Above-mentioned tiered warehouse facility has certain number of plies, and one can improve the space availability ratio in warehouse or garage, and two can share The expense of basic facilities and control system, the final equipment cost for reducing unit storage storing or parking cars.

Simultaneously very big space availability ratio can be realized from radius, angle of revolution and the floor height of storage rotating disk, three dimensions.

And there is higher automatization level, on the one hand can realize higher operational efficiency, two aspects can be realized Accurately position accesses, while employs rational work pattern, improves operation and smoothly spends, reduces fault rate, improve Operating efficiency.

It is unattended inside storage area, personnel's walking about in warehouse or garage is avoided, realizes the safety fortune of equipment OK.The manufacturing cost of equipment is also reduced, the power and set-up of control system of above-mentioned tiered warehouse facility are in the periphery of storing bin, storing Storehouse inside is no or has seldom power source, detection component, pipeline and actuating mechanism etc., facilitates the maintenance and maintenance of equipment.

Brief description of the drawings

Fig. 1 is the profile for the three-dimensional circular warehouse front view for representing embodiment

Fig. 2 is the profile for the three-dimensional circular warehouse top view for representing embodiment

Fig. 3 is the profile for the circle bin bracket front view for representing embodiment

Fig. 4 is the top view for the circle bin bracket for representing embodiment

Fig. 5 is the profile for the radial guidance front view for representing embodiment

Fig. 6 is the profile in the B-B directions for representing embodiment

Fig. 7 is the enlarged drawing for the I for representing embodiment

Fig. 8 is the enlarged drawing for the II for representing embodiment

Fig. 9 is the enlarged drawing for the III for representing embodiment

Figure 10 is the front view for the radial guidance for representing embodiment

Figure 11 is the top view for the radial guidance for representing embodiment

Figure 12 is the front view for the storage drawer for representing embodiment

Figure 13 is the top view for the storage drawer for representing embodiment

Figure 14 is the C-C directional profile figures for representing embodiment

Figure 15 is the D-D directional profile figures for representing embodiment

Figure 16 is the profile for representing the front view that the storage drawer of embodiment is placed on radial guidance

Figure 17 is the profile for the floppy drive top view for representing embodiment

Figure 18 is the profile of the expanded view in the E-E directions for representing embodiment

Figure 19 is the front view for the lifting framework for representing embodiment

Figure 20 is the top view for the lifting framework for representing embodiment

Figure 21 is the profile for the push-pull device at fixed front view for representing embodiment

Figure 22 is the top view for the push-pull device at fixed for representing embodiment

Figure 23 is the step profile figure in the F-F directions for representing embodiment

Figure 24 is the profile for the grabbing device front view for representing embodiment

Figure 25 is the left view for the grabbing device for representing embodiment

Figure 26 is the right view for the grabbing device for representing embodiment

Figure 27 is to represent the pairing guide rail of embodiment to the top view of close gin pole direction movement

Figure 28 is to represent the pairing guide rail of embodiment to the top view of remote gin pole direction movement

Figure 29 is to represent the profile that the H-H directions of embodiment are rotated by 90 °

Figure 30 is the front view for the ball wheel assembly for representing embodiment

Figure 31 is the profile in the G-G directions for representing embodiment

Figure 32 is the left view for the storing carrier for representing embodiment

Description of reference numerals

1 circle bin bracket

2 storage rotating disks

3 storage drawers

4 floppy drives

5 lifting frameworks

6 push-pull device at fixed

7 grabbing devices

8 pairing guide rails

9 storing carriers

11 gin poles

12 weeks edge columns

13 circuit orbits

14 radial direction pull bars

15 circle storehouse coaming plates

16 lifting columns

17 column connecting rods

21 flange assemblies

22 radial guidances

23 connection rings

24 storing bins are imported and exported

25 supporting wheeling assemblies

26 pull bars

31 storing freight spaces

Shake hands 32 outer ends

Wheel is held in 33

34 inner guide pulleys

35 locating taper pins

41 cabinets

42 first electric reducers

43 shaft couplings

44 A chain wheel sets

45 B chain wheel sets

46 C chain wheel sets

47 long pin shaft chains

48 ball wheel assemblies

51 lifting idler pulley framves

52 horizontal guide rails

53 horizontal racks

54 rod assemblies

55 second electric reducers

56 lifter wheels

61 pushing-pulling-racks

62 the 3rd electric reducers

63 horizontal gears

64 fixed claws

65 movable claws

66 push-and-pull cylinders

67 push-and-pull guide wheels

71 guide-rail plates

72 lifting sliders

73 lift cylinders

74 folding guide rails

75 crawl cylinders

76 take thing pawl

77 guide-rail plates erect rail

81 translating rails

82 swing arms

83 swing arm seats

84 pairing cylinders

85 pairing cylinder blocks

91 horizontal rails

92 lifting platforms

93 carriers

111 grooves

161 vertical tooth racks

211 overcoat flanges

211a lower flanges

211b upper flanges

212 radial bearings

213 thrust bearings

214 divided rings

215 ring sets

221 guide rail poles

222 guide rail interior bars

223 rod end inclined-planes

224 outer side poles

225 connecting plates

226 positioning taper holes

251 gyroscope wheels

252 revolution wheel shafts

253 side connecting plates

441 A wheel shafts

A sprocket wheels on 442

443 times A sprocket wheels

451 B wheel shafts

B sprocket wheels on 452

453 times B sprocket wheels

461 C wheel shafts

C wheel shafts on 462

463 times C wheel shafts

Long pin shaft chain on 471

472 times long pin shaft chains

Long pin shaft chain link on 473

474 times long pin shaft chain links

481 ball wheel carriers

The upper pin-and-holes of 481a

Pin-and-hole under 481b

482 ball wheels

483 ball wheel shafts

484 bearings

511 side arms

512 after-frames

515 side arm lifting idler pulleys

516 after-frame lifting idler pulleys

Stator ring on 517

518 times stator rings

541 drag links

542 longitudinal ties

543 braces

611 push-and-pull guide wheels

641 fixing grooves

651 fixing axles

652 loose slots

811 plurality of ramps

812 spaces

Embodiment

Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings：

In the present embodiment, horizontal direction is direction parallel to the ground, and vertical direction is perpendicular to the direction on ground；

Top, upper top or upper surface are the direction away from ground, and lower section, lower end or bottom or lower surface are close The direction on ground.

In the present embodiment storing for storage or take out object or utensil, such as goods, vehicle.

The quantity for being described as at least more than one of " multiple " in the present embodiment, and such description has no effect on implementation The implementation of example technical scheme.

A kind of three-dimensional circular warehouse of polar coordinates layout shown in Fig. 1 to 2, including storing bin, the storing bin side connect An access device is connected to, the storing bin includes circle bin bracket 1, storage rotating disk 2, storage drawer 3 and floppy drive 4；Institute Stating access device includes lifting framework 5, push-pull device at fixed 6, grabbing device 7 and pairing guide rail 8；

As shown in Figs. 3-4, circle bin bracket 1 includes gin pole 11, all edge columns 12, circuit orbit 13 and lifting column 16, the gin pole 11 is located at the center of the storing bin, multiple all edge columns 12 using the axis of gin pole 11 as Center, it is located at radially equidistantly around gin pole 11, multiple all edge columns 12 are same close to the side of gin pole 11 When connect the circuit orbit 13, multiple circuit orbits 13 are vertically distributed on multiple all edge columns 12；

The gin pole 11 is cylinder perpendicular to the ground, the vertical distance phase between multiple circuit orbits 13 Deng；

Close to access device side two all edge columns 12 to away from gin pole 11 direction on connect two respectively Lifting column 16；

Gap between two all edge columns 12 of access device side forms storing bin inlet and outlet 24；

Two lifting columns 16 are erected on the ground that storing bin imports and exports 24 sides, and two liftings are vertical The phase dorsal part of post 16 is provided with column connecting rod 17, the one end of the column connecting rod 17 away from lifting column 16 and storing bin inlet and outlet 24 All edge columns 12 of both sides connect；

It is such to connect the stability for effectively improving lifting column 16.

All edge columns 12 of the top of circuit orbit 13 are provided with radial direction pull bar 14, and the radial direction pull bar 14 is away from periphery The other end connection gin pole 11 of column 12, the quantity of the radial direction pull bar 14 are identical with all edge columns 12；

Gin pole 11 is connected by radial direction pull bar 14 with all edge columns 12, and it is stronger further to form more stable and globality Mechanics construction, i.e. storing bin based on columnar structure, establish with bottom surface, top surface or intermediate surface form it is complete Mechanical structure, such mechanical structure are all excellent to engineering practice of construction in Strength Calculation, structural stability check Good form.

It is arranged with the gin pole 11 and turns with the quantity identical of circuit orbit 13 storage rotating disk 2, multiple storages Disk 2 is vertically set on gin pole 11, and the storage rotating disk 2 is rotatablely connected with gin pole 11, and the storage turns Outer rim of the disk 2 away from gin pole 11 is rolled with circuit orbit 13 and connected, and multiple storage drawers 3 are arranged adjacent in storage and turned On disk 2；

Storage rotating disk 2, storage drawer 3 have certain weight, make accurate revolution of the gin pole 11 as storage rotating disk 2 Axle, therefore circuit orbit 13 needs to carry the weight from the storage vertical direction of rotating disk 2, it is not necessary to the work(of revolution centering is provided Can, greatly reduce the accuracy of manufacture requirement to circuit orbit 13.

Floppy drive 4 is provided between two all edge columns 12 beyond the storing bin inlet and outlet 24, the rotating disk drives The dynamic driving of device 4 storage rotating disk 2 rotates around gin pole 11；

The quantity of the floppy drive 4 with storage rotating disk 2 it is identical, and with each layer of height and position pair of storage rotating disk 2 Should, and each layer of storage rotating disk 2 can be rotated individually；

The lifting column 16 is provided with vertically moving lifting framework 5, and the lifting framework 5 is provided with along water Square to motion push-pull device at fixed 6, it is described lifting framework 5 close to storing bin side connect grabbing device 7, the grabbing device 7 is vertically moving on lifting framework 5, and the lifting framework 5 of the lower section of grabbing device 7 is provided with pairing guide rail 8, described Pairing guide rail 8 is provided with translating rails 81, and the translating rails 81 move in the horizontal direction on lifting framework 5, the push-and-pull Device 6, grabbing device 7 and pairing guide rail 8 rise or fall with the vertical motion of lifting framework 5；

The side of all edge columns 12 away from gin pole 11 is provided with circle storehouse coaming plate 15, and the round storehouse coaming plate 15 will be except All edge columns 12 beyond the storing bin inlet and outlet 24 and floppy drive 4 enclose.

All edge columns 12 coordinate the structure of circuit orbit 13, in the structure of the vertical and horizontal framework of storing bin periphery formation, while and Circle storehouse coaming plate 15 combines, and produces more perfect cylindrical shape mechanical structure.

As shown in FIG. 5 and 6, storage rotating disk 2 includes flange assembly 21, radial guidance 22 and supporting wheeling assembly 25, the method Blue component 21 is set on gin pole 11, and the outer rim away from gin pole 11 connects multiple radial guidances 22, the footpath The one end of direction guiding rail 22 away from gin pole 11 is provided with outer side pole 224, and the upper surface of the outer side pole 224 is provided with positioning taper hole 226, the outer side pole 224 is provided with supporting wheeling assembly 15, and the supporting wheeling assembly 15 rolls with the circuit orbit 13 to be connected Connect；

As shown in fig. 7, flange assembly 21 includes overcoat flange 211, lower flange 211a and upper flange 211b, the overcoat method Blue 211 lower ends are provided with lower flange 211a, the lower flange 211a and connect up thrust bearing to the side close to gin pole 11 213, the gin pole 11 of the lower section of thrust bearing 213 is provided with divided ring 214, and the divided ring 214 is away from gin pole 11 outer rim is arranged with ring set 215；

The upper end of overcoat flange 211 is provided with upper flange 211b, the upper flange 211b to close to the side of gin pole 11 Connect up radial bearing 212, the flange assembly 21 by connecting the thrust bearing 213 and radial bearing 212, so as to Gin pole 11 is rotatablely connected；

Divided ring 214 is made up of two semicircular rings, is respectively put into the radial groove corresponding with divided ring of gin pole 11 In 111, complete circle is formed, the stable knot that can bear vertical downward load is formed after ring set 215 is arranged on divided ring 214 Structure, such structure can allow the body outer diameter of gin pole 11 consistent, form the load-carrying members of multilayer in vertical direction, simultaneously The component parts of flange assembly 21 on each layer can all realize standardization.

As shown in Figure 10 to 11, radial guidance 22 includes two guide rail poles 221 parallel to each other, two guide rail poles 221 connect guide rail interior bar 222 close to one end of gin pole 11, and one end away from gin pole 11 is provided with rod end inclined-plane 223, Two guide rail poles 221 connect outer side pole 224 close to the side on rod end inclined-plane 223, and the guide rail interior bar 222 is vertical close to center One end of post 11 is connected with lower flange 211a；

The radial guidance 22 also includes connecting plate 225, and the connecting plate 225 connects two guide rail poles 221 simultaneously, Connecting plate 225 on multiple radial guidances 22 is connected with connection ring 23 simultaneously；

The arranged adjacent of radial guidance 22 forms discoid storage rotating disk 2, and the outer rim close to storage rotating disk 2 can produce Larger space, in order to improve the space availability ratio in warehouse, the radial guidance of different length is arranged with these larger spaces 22, the one end of radial guidance 22 connection supporting wheeling assembly 25 of these different lengths, the other end is connected with connection ring 23, and passes through drawing Bar 26 connects upper flange 211b, and these pull bars 26 constitute the closure force structure of umbrella, saves substantial amounts of on storage rotating disk 2 Structural material and storage space；

As shown in Figure 8-9, supporting wheeling assembly 25 includes the side connecting plate 253 for connecting the outer side pole 224, and the side connects Fishplate bar 253 is provided with revolution wheel shaft 252, one end connection gyroscope wheel 251 of the revolution wheel shaft 252 away from gin pole 11, institute State gyroscope wheel 251 and rolled with circuit orbit 13 and coordinated；

The movement locus of the central point of gyroscope wheel 251 is fixed circular arc between every two all edge columns 12, and is phase To the circular arc of smaller curvature.

Supporting wheeling assembly 25 is consistent with the quantity of radial guidance 22, i.e., a bogie wheel is provided between two radial guidances 22 Component 25, the weight stored in a warehouse on rotating disk 2 are delivered on each all edge column 12 by supporting wheeling assembly 25, are effectively carried out Weight is shared.

Multiple radial guidances 22 form discoid storage and turned under the connection of connection ring 23 and side connecting plate 253 Disk 2.

As shown in Figure 12 to 16, one end lower surface of the storage drawer 3 away from gin pole 11 is provided with positioning taper hole 226 locating taper pins 35 coordinated, one end end face of the storage drawer 3 away from gin pole 11 are provided with outer end handle 32, the storage The bottom of thing drawer 3 is provided with least one inner guide pulley 33 close to the direction of gin pole 11 and holds wheel 34, institute at least one pair of State inner guide pulley 33 and the interior wheel 34 that holds rolls connection with radial guidance 22；

The locating taper pin 35 is corresponding with the positioning taper hole 226, prevents storage rotating disk 2 from starting, turn round and braking Cheng Zhong, cause the radial displacement of the circumferentially displaced or whole storage drawer 3 of storage drawer 3.

A pair it is described in hold the both sides that wheel 34 is located at inner guide pulley 33, the axis vertical of inner guide pulley 33 is set, it is described in hold Take turns the setting of 34 axis horizontals；

The inner guide pulley 33 and the surface scrolls of two opposite sides of guide rail pole 221 coordinate, a pair it is described in hold wheel 34 Roll and coordinate with two upper surfaces of guide rail pole 221；

Inner guide pulley 33 has position-limiting action simultaneously, makes circumferentially displaced also effectively being limited of the inner of storage drawer 3.Institute So that during in normal storage state, each storage drawer 3 is effectively limited on defined position.

The storage drawer 3 also includes multiple storing freight spaces 31, side of the storing freight space 31 along remote gin pole 11 To being sequentially arranged on storage drawer 3.

The quantity of storage drawer 3 is identical with the quantity of radial guidance 22 on each layer of storage rotating disk 2, and is turned according to storage The length of the geometrical feature of disk 2, radial guidance 22 and storage drawer 3 will have different degrees of change, be improved with the limit of maximum Space availability ratio；

Storage drawer 3 can bear itself and carry the weight of storing, have certain structural strength and rigidity, storing The top of drawer 3 is opened wide, and other directions are enclosed by structural slab, while with some dividing plates is gone out the radial separations of storage drawer 3 multiple Storing freight space 31, to meet the needs of storing access.According further to the geometric features of storage rotating disk 2, storage drawer 3 leans on The narrower width of storing freight space 31 of nearly gin pole, the wider width of storing freight space 31 away from gin pole 11, to improve storage The utilization rate and satisfaction in space deposit larger-size storing needs.

As shown in Figure 17 to 18, floppy drive 4 include cabinet 41, A chain wheel sets 44, B chain wheel sets 45, C chain wheel sets 46, Long pin shaft chain 47 and ball wheel assembly 48, the cabinet 41 are fixedly connected on all edge columns 12, the A chain wheel sets 44, B chains Wheel group 45 and C chain wheel sets 46 are triangularly arranged inside cabinet 41, and are driven company by the long pin shaft chain 47 of closure Connect；

The casing is provided with the first electric reducer 42 and shaft coupling 43, the output end of first electric reducer 42 Connect shaft coupling 43, one end driving link A chain wheel set 44 of the shaft coupling 43 away from the first electric reducer 42, A chain wheel sets 44 are used as power input shaft, and B chain wheel sets 45 are used as function steering spindle, and C chain wheel sets 46 are used as chain tension axle.

The A chain wheel sets 44 and B chain wheel sets 45 are located at close to the side of all edge columns 12, and the C chain wheel sets 46 are in A chains Between wheel group 44 and B chain wheel sets 45, the side away from all edge columns 12 is located at；

Multiple ball wheel assemblies 48 are connected on the long pin shaft chain 47 at regular intervals, multiple ball wheel assemblies 48 exist A chain wheel sets 44 are surrounded under the drive of long pin shaft chain 47, B chain wheel sets 45 and C chain wheel sets 46 rotate, the ball wheel assembly 48 Movement locus of the movement locus with supporting wheeling assembly 25 on circuit orbit 13 is tangent or intersects or slight phase is from making ball wheel assembly 48 promotion supporting wheeling assemblies 25 rotate around gin pole 11.

The A chain wheel sets 44 include A wheel shafts 441, and the upper A sprocket wheels 442 of the both ends of A wheel shafts 441 connection and lower A Sprocket wheel 443, the B chain wheel sets 45 include B wheel shafts 451, and the upper B sprocket wheels 452 of the both ends of B wheel shafts 451 connection and lower B Sprocket wheel 453, the C chain wheel sets 46 include C wheel shafts 461, and the upper C sprocket wheels 462 of the both ends of C wheel shafts 461 connection and lower C Sprocket wheel 463；

The long pin shaft chain 47 includes upper long pin shaft chain 471 and lower long pin shaft chain 472, the upper A sprocket wheels 442, Upper B sprocket wheels 452 and upper C sprocket wheels 462 are connected by upper long pin shaft chain 471, the lower A sprocket wheels 443, the lower He of B sprocket wheels 453 Lower C sprocket wheels 463 are connected by lower long pin shaft chain 472, are provided with regular intervals on the upper long pin shaft chain 471 more Individual upper long pin shaft chain link 473, the lower long pin shaft chain 472 are provided with lower long pin shaft chain corresponding with upper long pin shaft chain link 473 Section 474, remaining chain link is the driving-chain of common standard；

As shown in Figure 30 to 31, ball wheel assembly 48 includes ball wheel carrier 481, and the ball wheel carrier 481 is close to upper long pin shaft chain 471 one end is provided with upper pin-and-hole 481a corresponding with upper long pin shaft chain link 473, and the ball wheel carrier is close to lower long pin shaft chain 472 One end be provided with lower pin-and-hole 481b corresponding with lower long pin shaft chain link 474；

Side on the ball wheel carrier 481 close to the upper pin-and-hole 481a is provided with ball wheel shaft 483, and the ball wheel shaft 483 is remote One end from ball wheel carrier 481 is rotatablely connected ball wheel 482, movement locus and the gyroscope wheel 251 of the ball wheel 482 by bearing 484 The circular movement trajectory tangential of central point it is intersecting or it is slight mutually from；

A chain wheel sets 44 and the effect of B chain wheel sets 45 are to allow long pin shaft chain 471 and lower long pin shaft chain 472 at the two Linear state is strained between chain wheel set and exports power.A chain wheel sets 44 and the distance of B chain wheel sets 45 are sufficiently large, with Ensure that long pin shaft chain 47 is tightened up the requirement that straight length reaches normal work.

The center of circle of ball wheel 482 must fall in the plane where upper pin-and-hole 481a and lower pin-and-hole 481b axis.Ball wheel 482 is held The load stress received will be fully fallen on center line between upper long pin shaft chain 471 and lower long pin shaft chain 472, and structure is more Rationally, the clearance between ball wheel 482 should be slightly bigger than the diameter of gyroscope wheel 251, make ball wheel 482 promote gyroscope wheel 251 to move Continue and uninterrupted, the friction for switching to pure rolling certainly, reducing with gyroscope wheel 251 of ball wheel 482 in operation, make promotion more suitable Freely.

As shown in Figure 19 to 20, lifting framework 5 includes lifting idler pulley frame 51, horizontal guide rail 52 and horizontal rack 53, described Lifting idler pulley frame 51 is rolled with the lifting column 16 and connected, and vertically moving on lifting column 16, the liter Drop wheel frame 51 is provided with two horizontal guide rails 52 and horizontal rack 53；

The horizontal guide rail 52 and the vertical connection of lifting idler pulley frame 51；

The lifting idler pulley frame 51 includes side arm 511 and after-frame 512, and the side arm 511 is with lifting column 16 close to storing The side roll connection of storehouse inlet and outlet, the after-frame 512 are connected with lifting column 16 away from the side roll that storing bin is imported and exported, The side arm 511 is parallel with the after-frame 512；

The both sides of the side arm 511 are provided with side arm lifting idler pulley 515, and the both sides of the after-frame 512 are provided with after-frame lifting and led Wheel 516, is provided between the side arm lifting idler pulley 515 of the upper end of side arm 511 and the after-frame lifting idler pulley 516 of the upper end of after-frame 512 Upper stator ring 517, the side arm lifting idler pulley 515 of the lower end of side arm 511 and the after-frame lifting idler pulley 516 of the lower end of after-frame 512 Between be provided with lower stator ring 518；

The lifting column 16 is provided with vertical tooth rack 161 close to the side of storing bin inlet and outlet 24, is set on the side arm 511 There is the second electric reducer 55, lifter wheel 56, the lifter wheel 56 are connected on the output shaft of the second electric reducer 55 Engaged with the vertical tooth rack 161；Under the driving of the second electric reducer 55, the edge on vertical tooth rack 161 of lifter wheel 56 Vertical direction moves, so as to drive lifting idler pulley frame 51 to be moved along lifting column 16 as vertical direction；

Two horizontal guide rails 52 of vertical connection on the side arm 511 and after-frame 512, two horizontal guide rails 52 it is parallel and It is horizontal.

The lifting framework 5 also includes rod assembly 54, and the rod assembly 54 connects horizontal guide rail 52 and lifting simultaneously Wheel frame 51；

The rod assembly 54 includes drag link 541, longitudinal tie 542 and brace 543, and the longitudinal tie 542 vertically connects Two horizontal guide rails 52 are connect, described one end of drag link 541 connects after-frame 512, other end vertical connection longitudinal tie 542, institute State the one end of brace 543 to be connected with the upper end of after-frame 512, the other end is connected with longitudinal tie 542 close to the side of horizontal guide rail 52；Institute State brace 543 positioned at two horizontal guide rails 52 to away from side；

Lifting idler pulley frame 51 and horizontal guide rail 52 Stability Analysis of Structures under the connection of rod assembly 54.

As shown in Figure 21 to 23, push-pull device at fixed 6 includes pushing-pulling-rack 61, fixed claw 64 and movable claw 65, the pushing-pulling-rack 61 Roll and connect with horizontal guide rail 52, and moved in the horizontal direction on horizontal guide rail 52, the pushing-pulling-rack 61 is close to storing bin The side of inlet and outlet 24 is provided with fixed claw 64, and the pushing-pulling-rack 61 of the lower section of fixed claw 64 is provided with movable claw 65, the activity Pawl 64 is rotatablely connected with the pushing-pulling-rack 61.

The pushing-pulling-rack 61 is provided with six push-and-pull guide wheels 611 close to the side of horizontal guide rail 52, the push-and-pull guide wheel 611 with Horizontal guide rail 52, which rolls, to be coordinated, and the side on the pushing-pulling-rack 61 close to horizontal rack 53 is provided with the 3rd electric reducer 62, institute The output end for stating the 3rd electric reducer 62 is provided with horizontal gear 63, and the horizontal gear 63 engages with horizontal rack 53, Under the driving of three electric reducers 62, under the engagement with horizontal rack 53 of horizontal gear 63, pushing-pulling-rack 61 is driven in horizontal guide rail Moved in the horizontal direction on 52；

The pushing-pulling-rack 61 is provided with fixing axle 651 close to the side of movable claw 65,65 turns of the fixing axle 651 and movable claw Dynamic connection, the side of the pushing-pulling-rack 61 away from fixing axle 651 are provided with push-and-pull cylinder 66, the output end of push-and-pull cylinder 66 connection Movable claw 65, the movable claw 65 rotate in the presence of push-and-pull cylinder 66 around fixing axle 651；

The lower section of fixed claw 64 is provided with to be provided with outer end 32 corresponding fixing grooves 641 of handle, the top of movable claw 65 Loose slot 652 corresponding with fixing groove 641；

Fixed claw 64 plays a part of spacing and improves operational reliability, and movable claw 65 can make the upper bottom around fixing axle 651 It is dynamic, realize lifting and putting down to outer end handle 32.

As shown in Figure 24 to 26, the grabbing device 7 includes guide-rail plate 71, the guide-rail plate 71 with being passed in and out close to storing bin The lifting idler pulley frame 51 of 24 sides of mouth is slidably connected, and is vertically moved on lifting idler pulley frame 51, the guide-rail plate 71 lower ends are provided with and take thing pawl 76, described to take thing pawl 76 to be slidably connected with guide-rail plate 71；

Side of the guide-rail plate 71 away from storing bin inlet and outlet 24 is vertically provided with guide-rail plate and erects rail 77, described to lead Rail plate erects rail 77 and is slidably connected lifting slider 72, and the lifting slider 72 erects the side of rail 77 away from guide-rail plate, and close to storing The side arm 511 that 24 sides are imported and exported in storehouse connects, and the side arm 511 for connecting the lifting slider 72 is provided with lift cylinder 73, described The output end of lift cylinder 73 is connected with guide-rail plate 71, and guide-rail plate 71 is under the driving of the lift cylinder 73, with lifting slider 72 are slidably matched, and are vertically slided on the side arm 511 for importing and exporting 24 sides close to storing bin；

The guide-rail plate 71 imports and exports folding guide rail 74 of the lower section provided with horizontal direction of 24 sides close to storing bin, described It is slidably connected on folding guide rail 74 two and takes thing pawl 76, it is described to take thing pawl 76 to be provided with crawl cylinder 75, thing pawl is taken described in two 76 under the driving of crawl cylinder 75, slide on folding guide rail 74, realize the state opened or closed up.

The effect of lift cylinder 73 is that driving guide-rail plate 71 is raised above making storage drawer 3 and push-pull device at fixed 6 from guide-rail plate 71 lower sections are by the way that lift cylinder 73 drives guide-rail plate 71 to decline, and enables to take thing pawl 76 to capture or put down storing.

As shown in Figure 27 to 29, the pairing guide rail 8 includes two translating rails 81, and two translating rails 81 are distinguished It is located on the horizontal guide rail 52 for importing and exporting 24 sides close to storing bin, two translating rails 81 are in the horizontal guide rail 52 On move in the horizontal direction, and two translating rails 81 to close to storing bin inlet and outlet 24 direction move when, two Translating rails 81 move in parallel to direction adjacent to each other simultaneously, and when the direction away from storing bin inlet and outlet 24 is moved, two flat Guide rail 81 is moved to move in parallel to direction away from each other simultaneously.

The phase dorsal part rotation connection swing arm 82 of two translating rails 81, the swing arm 82 away from translating rails 81 one Side is rotatablely connected swing arm seat 83, and the swing arm seat 83 is fixedly connected with horizontal guide rail 52, and two translating rails 81 are away from storage One end of thing storehouse inlet and outlet 24 connects two pairing cylinders 84 respectively, and two pairing cylinders 84 are imported and exported away from storing bin 24 one end is fastened on the pairing cylinder block 85 on the drag link 541；

The translating rails 81 move in the horizontal direction under the driving of pairing cylinder 84 on horizontal guide rail 52, wherein, put down Guide rail 81 is moved to realize under the traction of swing arm 82：During to close to the movement of storing bin direction, two translating rails 81 are to adjacent to each other Direction move in parallel, to away from storing bin direction movement when, two translating rails 81 move in parallel to direction away from each other；

Two translating rails 81 are provided with corresponding with the rod end inclined-plane 223 close to one end of storing bin inlet and outlet 24 Plurality of ramps 811, when two translating rails 81 are contacted by storing bin inlet and outlet 24 with radial guidance 22, the plurality of ramps 811 contact and abut with rod end inclined-plane 223, are simultaneously effective docked and are positioned with radial guidance 22.

After two translating rails 81 move in parallel to direction away from each other, formd between translating rails certain Space 812, allow storing from the space 812 by and being crawled device 7 and capturing, translating rails 81 will not hamper Grabbing device 7 is hindered to decline crawl storing.

Also include control system in above-described embodiment, described control system respectively with the floppy drive 4, lifting structure Frame 5, push-pull device at fixed 6, grabbing device 7 and pairing guide rail 8 connect, and control floppy drive 4, lifting framework 5, push-pull device at fixed 6th, grabbing device 7 and pairing guide rail 8 work.

The action that the control system can be implemented to each cylinder or oil cylinder automatically sends control instruction and motion state is entered Row detection；The rotation direction and rotational angle of every electric reducer are controlled and recorded；Control system can be implemented automatically The state of storage storing is whether there is to the storing freight space 31 of each storage drawer 3 in whole storing bin and has deposited the coding of storing Recorded；Control system can implement that the storing freight space 31 of each storage drawer 3 in whole storing bin is needed to access automatically The state recording of selection, control and operation involved by storing；

In order to preferably explain the present embodiment, also include storing carrier 9, described storing carrier 9 in the present embodiment On the ground on the outside of all edge columns, storing can be carried and be conveyed in the job area of grabbing device 7, will can also be stored up Thing lifts in certain height.

As shown in figure 32, storing carrier 9 includes lifting platform 92, and the lifting platform 92 is provided with carrier 93, described to hold Load plate 93 is vertically movable on lifting platform 92, and the lower end of lifting platform 92 is provided with horizontal rail 91, the lifting platform 92 are slidably matched with horizontal rail 91, and the track of the horizontal rail 91 passes through the lower section of grabbing device 7.

Preferably, push-and-pull cylinder 66 can also use oil cylinder or motor to substitute as power source；

Lift cylinder 73 and crawl cylinder 75 can also use oil cylinder or motor to substitute as power source；

Pairing cylinder 84 can also use oil cylinder or motor to substitute as power source.

With reference to embodiment, storing access method is illustrated

(1) what storing was stored in concretely comprises the following steps：

Two translating rails 81 are under the driving of pairing cylinder 84, to away from storing bin inlet and outlet 24 on horizontal guide rail 52 Direction movement, lifting framework 5 under the driving of the second electric reducer 55, vertically risen on lifting column 16 Height enough；

Storing is moved to below grabbing device 7 on storing carrier 9 by horizontal rail 91；Now two translating rails 81 are moved in parallel in the direction away from each other under the traction of swing arm 82, and certain space is formd between two translating rails 812, storing is risen by lifting platform 92 and by the space 812 between translating rails；

Framework 5 is lifted under the driving of the second electric reducer 55, is vertically dropped to above the storing, guide rail Plate 71 is under the driving of lift cylinder 73, and 51 vertically drop to the position that can capture storing on lifting idler pulley frame, Under the driving of crawl cylinder 75, two take thing pawl 76 to close up to capture storing, and guide-rail plate 71 captures storing taking thing pawl 76 After rise to peak, then lifting platform 92 declines, and is moved to lifting framework 5 outside by horizontal rail 91, then lifts Wheel frame 51 rises or falls the height and position where the rotating disk 2 of storing in a warehouse for needing to place to storing；

The storing needs the floppy drive 4 for the storage rotating disk 2 placed to make under the driving of the first electric reducer 42 A chain wheel sets 44 rotate, and being driven with the long pin shaft chain 47 that A chain wheel sets 44 are connected makes ball wheel assembly 48 surround A chain wheel sets 44th, B chain wheel sets 45, C chain wheel sets 46 are moved, and when ball wheel 482 passes through the curve movement of gyroscope wheel 251, promote gyroscope wheel 251, Under the drive of gyroscope wheel 251, radial guidance 22 rotates around gin pole, until the target storage drawer 3 that storing needs are placed Stop during face storing bin inlet and outlet 24；

Translating rails 81 are under the driving of pairing cylinder 84, to close to the side of storing bin inlet and outlet 24 on horizontal guide rail 52 To movement, now two translating rails 81 move in parallel under the traction of swing arm 82 to direction close to each other, until translation is led Plurality of ramps 811 on rail 81 is docked with the rod end inclined-plane 223 on radial guidance 22；

Pushing-pulling-rack 61 is under the driving of the 3rd electric reducer 62, to close to the side of gin pole 11 on horizontal guide rail 52 To movement, after being contacted with storage drawer 3, movable claw 65 is rotated up under the driving of push-and-pull cylinder 66 around fixing axle 651, Loose slot 652 and outer end handle 32 engages, and movable claw 65 continues up rotation, and storage drawer 3 is lifted, make locating taper pin 35 from Depart from positioning taper hole 226, until movable claw 65 contacts with fixed claw 64, fixing groove 641 and loose slot 652 and outer end handle 32 It is connected together；

Now, pushing-pulling-rack 61 moves under the driving of the 3rd electric reducer 62 to the direction away from gin pole 11, band Dynamic storage drawer 3 radially moves storage rotating disk 2 to the direction away from gin pole 11, is stored up until storing freight space 31 reaches Pushing-pulling-rack 61 stops movement when below thing；

Guide-rail plate 71 declines, and two take thing pawl 76 to be opened under the driving of crawl cylinder 75, and storing is placed on into storing bin In position 31, guide-rail plate 71 rises to peak afterwards；

Pushing-pulling-rack 61 moves to close to the direction of gin pole 11, until storage drawer 3 is moved on radial guidance 22 Stop during extreme position, movable claw 65 rotates down, and outer end handle 32 is put down, locating taper pin 35 falls into dowel hole 226 In, make the horizontal of storage drawer 3 and fixation；

Pushing-pulling-rack 61 is moved to storing bin periphery to the direction away from gin pole 11；

(2) what storing took out concretely comprises the following steps：

Driving part is with consistent in step 1 in this step, therefore repeats no more；

Lifting idler pulley frame 51 rises or falls the height of storage rotating disk 2 where to storing, and storage rotating disk 2 turns where storing Disk drive 4 drives A chain wheel sets 44 to rotate, and drives ball wheel assembly 48 to enclose with the long pin shaft chain 47 that A chain wheel sets 44 are connected Moved around A chain wheel sets 44, B chain wheel sets 45, C chain wheel sets 46, ball wheel 482 promotes gyroscope wheel 251, and gyroscope wheel 251 drives radial guiding Rail 22 rotates around gin pole, stops when the face storing bin of storage drawer 3 where storing imports and exports 24；

Translating rails 81 move to close to the direction of gin pole 11, and make plurality of ramps 811 and rod end inclined-plane 223 right Connect, guide-rail plate 71 rises to peak, and pushing-pulling-rack 61 moves to close to the direction of gin pole 11, and movable claw 65 is rotated up making Loose slot 652 engages with outer end handle 32, continues up rotation and lifts storage drawer 3, makes locating taper pin 35 from positioning taper hole Depart from 226, until movable claw 65 contacts with fixed claw 64, loose slot 652 and fixing groove 641 are with the card of outer end handle 32 and even Connect；

Pushing-pulling-rack 61 is moved to the direction away from gin pole 11 afterwards, and storage drawer 3 is driven to outside storing bin, until Storing freight space 31 where storing reaches to be stopped when taking thing 76 lower section of pawl；

Guide-rail plate 71 is dropped to above storing, and two take thing pawl 76 to close to capture storing, and guide-rail plate 71 rises to afterwards Peak；

Pushing-pulling-rack 61 moves to close to the direction of gin pole 11, until storage drawer 3 is moved on radial guidance 22 Stop during extreme position, movable claw 65, which rotates down, puts down outer end handle 32, locating taper pin 35 is fallen into positioning taper hole 226 In, make the horizontal of storage drawer 3 and fixation, pushing-pulling-rack 61 is moved to storing bin periphery to the direction away from gin pole 11；

Now, translating rails 81 move to the direction away from gin pole 11, and are being put between two translating rails 81 Moved in parallel in the direction away from each other under the traction of arm 82, space 812 is formed between two translating rails 81；

Now storing carrier 9 is moved to takes the lower section of thing pawl 76, and lifting idler pulley frame 51 is risen or fallen to properly capturing Highly, lifting platform 92 rises and by the space 812 between two translating rails 81, the edge on lifting idler pulley frame 51 of guide-rail plate 71 Vertical direction drops to the position that storing can be placed, two take thing pawl 76 open storing is placed on carrier 93 after rising To peak；

Lifting platform 92 declines, and storing is moved to the periphery of lifting framework 5 with storing carrier 9.

The announcement and teaching of book according to the above description, the utility model those skilled in the art can also be to above-mentioned realities The mode of applying is changed and changed.Therefore, the utility model is not limited to embodiment disclosed and described above, right Some modifications and changes of utility model should also be as falling into scope of the claims.In addition, although make in this specification With some specific terms, but these terms are merely for convenience of description, do not form any restrictions to the utility model.

Claims (9)

1. a kind of three-dimensional circular warehouse of polar coordinates layout, including storing bin, the storing bin outside are connected with least one deposit Take device, it is characterised in that：The storing bin includes circle bin bracket, storage rotating disk, storage drawer and floppy drive；

The round bin bracket includes gin pole, all edge columns, circuit orbit and lifting column, and the gin pole is located at described The center of storing bin, multiple all edge columns are located at gin pole radially equidistantly centered on the axis of gin pole Around, multiple all edge columns connect the circuit orbit, multiple circuit orbits simultaneously close to the side of gin pole Vertically set on multiple all edge columns, all edge columns close to access device side are to away from gin pole Side connects up lifting column；

Gap between two all edge columns of access device side forms storing bin inlet and outlet；

It is arranged with the gin pole vertical in center with circuit orbit quantity identical storage rotating disk, multiple storage rotating disks Vertically set on post, the storage rotating disk is rotatablely connected with gin pole, and the storage rotating disk is away from gin pole Edge is rolled with circuit orbit and connected, and multiple storage drawers are arranged adjacent on storage rotating disk；

Floppy drive, institute are provided between at least two weeks edge columns beyond all edge columns of the storing bin inlet and outlet both sides Floppy drive driving storage rotating disk is stated to rotate around gin pole.

A kind of 2. three-dimensional circular warehouse of polar coordinates layout according to claim 1, it is characterised in that：The storage rotating disk Including flange assembly, radial guidance and supporting wheeling assembly, the flange assembly is set on gin pole, and vertical away from center The edge of post connects multiple radial guidances, and the one end of the radial guidance away from gin pole is provided with outer side pole, the outer side pole Upper surface be provided with positioning taper hole, the outer side pole is provided with supporting wheeling assembly, the supporting wheeling assembly and the circuit orbit Roll connection.

A kind of 3. three-dimensional circular warehouse of polar coordinates layout according to claim 2, it is characterised in that：The storage drawer Away from gin pole one end lower surface be provided with positioning taper hole coordinate locating taper pin, storage drawer away from gin pole one End face is held to be shaken hands provided with outer end, the bottom of the storage drawer is provided with least one inner guide pulley close to the direction of gin pole With hold wheel at least one pair of, the inner guide pulley and it is interior hold wheel and rolled with radial guidance connect；

The storage drawer is radially provided with multiple storing freight spaces along storage rotating disk.

A kind of 4. three-dimensional circular warehouse of polar coordinates layout according to claim 2, it is characterised in that：Floppy drive bag Include cabinet, A chain wheel sets, B chain wheel sets, C chain wheel sets, long pin shaft chain and ball wheel assembly, the A chain wheel sets, B chain wheel sets and C chains Wheel group is triangularly arranged in cabinet inside, and is connected by the long pin shaft chain drive of closure；

Multiple ball wheel assemblies are connected on the long pin shaft chain at regular intervals, multiple ball wheel assemblies are in long pin shaft chain Drive under surround A chain wheel sets, B chain wheel sets and C chain wheel sets rotate, and movement locus and the supporting wheeling assembly of the ball wheel assembly exist Movement locus on circuit orbit is tangent intersecting or slight phase is from making ball wheel assembly promote supporting wheeling assembly to surround gin pole Rotation.

A kind of 5. three-dimensional circular warehouse of polar coordinates layout according to claim 1, it is characterised in that：The access device Including lifting framework, push-pull device at fixed, grabbing device and pairing guide rail；

The lifting column is provided with vertically moving lifting framework, and the lifting framework is provided with to be transported in the horizontal direction Dynamic push-pull device at fixed, the lifting framework connect grabbing device close to the side of storing bin, and the grabbing device is in lifting framework Upper vertically moving, the lifting framework below the grabbing device is provided with pairing guide rail, and the pairing guide rail is provided with Translating rails, the translating rails are moved in the horizontal direction on lifting framework, and the grabbing device, push-pull device at fixed and pairing are led Rail rises or falls with the vertical motion of lifting framework.

A kind of 6. three-dimensional circular warehouse of polar coordinates layout according to claim 5, it is characterised in that：The lifting framework Including lifting idler pulley frame, horizontal guide rail and horizontal rack, the lifting idler pulley frame is rolled or is slidably connected with the lifting column, And vertically moving on lifting column, the lifting idler pulley frame is provided with horizontal guide rail and horizontal rack.

A kind of 7. three-dimensional circular warehouse of polar coordinates layout according to claim 6, it is characterised in that：The push-pull device at fixed Including pushing-pulling-rack, fixed claw and movable claw, the pushing-pulling-rack is rolled or is slidably connected with horizontal guide rail, and on horizontal guide rail Move in the horizontal direction, the pushing-pulling-rack is provided with fixed claw close to the side that storing bin is imported and exported, pushing away below the fixed claw Try to stop people from fighting each other and be provided with movable claw, the movable claw is rotatablely connected with the pushing-pulling-rack.

A kind of 8. three-dimensional circular warehouse of polar coordinates layout according to claim 6, it is characterised in that：The grabbing device Including guide-rail plate and thing pawl is taken, the guide-rail plate is slidably connected with the lifting idler pulley frame close to storing bin inlet and outlet side, and Vertically slided on lifting idler pulley frame, the guide-rail plate lower end, which is provided with, takes thing pawl, described to take thing pawl to be slided with guide-rail plate Or rotation connection.

A kind of 9. three-dimensional circular warehouse of polar coordinates layout according to claim 6, it is characterised in that：The pairing guide rail Including two translating rails, two translating rails are located on the horizontal guide rail of storing bin side, two translations Guide rail moves in the horizontal direction on horizontal guide rail, and during direction movement of two translating rails to close storing bin, Two translating rails move in parallel to direction adjacent to each other simultaneously, when being moved to remote storing bin direction, two translating rails Moved in parallel simultaneously to direction away from each other.