CN212355263U - Three-dimensional warehousing system - Google Patents

Abstract

The application discloses three-dimensional warehouse system. The three-dimensional storage system comprises a goods shelf, a plurality of load trolleys and an in-out storage system. The goods shelf comprises a plurality of track layers which are arranged at intervals in the vertical direction, each track layer is provided with a plurality of running tracks side by side, and a stock area for placing a material box is arranged below each track layer. Each load trolley reciprocates on the running rail to carry out storage and taking operation on the bins in the stock area. The warehouse-in and warehouse-out system comprises a warehouse-in and warehouse-out operation platform, a multi-layer material box conveying line and a plurality of reciprocating type hoists. The warehouse-in and warehouse-out operation platform is used for picking operation of goods. The multiple layers of material box conveying lines are arranged at intervals in the vertical direction, each layer of material box conveying line corresponds to one of the rail layers, and each layer of material box conveying line is provided with a plurality of load trolley operation positions for the load trolleys to store and take materials on the load trolley operation positions. A reciprocating elevator is provided to transfer bins between the in-out garage operations platform and the multi-level bin conveyor line.

Description

Three-dimensional warehousing system

Technical Field

The utility model relates to a three-dimensional warehouse system.

Background

With the rapid development of electronic commerce, the automatic warehousing technology is also continuously advanced. In order to save space, the three-dimensional warehousing system is widely used in the industry. With the increasing scale of the warehousing system, the warehouse-out and warehouse-in methods and the design of the system in the warehousing system become more and more important, which is directly related to the warehouse-out and warehouse-in efficiency and reliability of goods.

SUMMERY OF THE UTILITY MODEL

In view of the above, a three-dimensional warehousing system with improved warehousing efficiency is provided.

The three-dimensional storage system comprises a goods shelf, a plurality of load-carrying trolleys and an in-out storage system, wherein the goods shelf comprises a plurality of track layers which are arranged at intervals in the vertical direction, each track layer is provided with a plurality of parallel running tracks, a storage area for accommodating material boxes is arranged below each track layer, and each material box is used for storing goods; each load-carrying trolley runs back and forth on the running track to carry out storage and taking operation on the material boxes in the three-dimensional storage system; the warehouse entry and exit system comprises a warehouse entry and exit operation platform, wherein the warehouse entry and exit operation platform is used for receiving the bin to carry out the picking operation of the goods and returning the bin to the goods shelf after the picking operation is finished. The warehousing system comprises a multi-layer bin conveying line and a plurality of reciprocating type hoists. The multi-layer material box conveying lines are arranged at intervals in the vertical direction, each layer of material box conveying line corresponds to one of the rail layers, and a plurality of load trolley operation positions are arranged on the path of each layer of material box conveying line and used for the load trolley to store and take material boxes on the load trolley operation positions. The reciprocating type elevator is arranged to transfer the work bin between the warehousing and ex-warehouse operation platform and the multilayer work bin conveying line.

In one embodiment, the stereoscopic warehousing system is provided with a rail changing device corresponding to each rail layer, and the rail changing device is configured to switch the load trolley from the current running rail where the load trolley is located to a target running rail. The rail replacing device comprises a transition rail and a rail replacing trolley. The transition track is arranged at the end part of each running track and is vertical to each running track. The rail changing trolley is located on the transition track and can move back and forth on the transition track, and the rail changing trolley is configured to receive the load trolley and convey the load trolley to the target running track along the transition track. And the plurality of load trolley operation positions of each layer of material box conveying line are respectively positioned right below the plurality of running tracks of the track layer corresponding to the layer of material box conveying line.

In one embodiment, the multi-level bin conveying line comprises a first level bin conveying line and a second level bin conveying line, the plurality of reciprocating hoists comprises a first reciprocating hoist and a second reciprocating hoist, each level bin conveying line is simultaneously connected with the first reciprocating hoist and the second reciprocating hoist, one of the first reciprocating hoist and the second reciprocating hoist outputs bins to any level bin conveying line, the other of the first reciprocating hoist and the second reciprocating hoist receives bins from any level bin conveying line, and the conveying directions of the first level bin conveying line and the second level bin conveying line are opposite.

In another embodiment, the multi-level bin conveying line comprises a first level bin conveying line and a second level bin conveying line, the plurality of reciprocating hoists comprises a first reciprocating hoist and a second reciprocating hoist, each level bin conveying line is simultaneously connected with the first reciprocating hoist and the second reciprocating hoist, one of the first reciprocating hoist and the second reciprocating hoist outputs bins to any level bin conveying line, the other of the first reciprocating hoist and the second reciprocating hoist receives bins from any level bin conveying line, and the conveying directions of the first level bin conveying line and the second level bin conveying line are the same.

In one embodiment, the travelling rail extends in a longitudinal direction, the at least one layer of magazine conveyor lines comprises a transverse conveyor line extending in a direction perpendicular to the direction of extension of the travelling rail, and the plurality of load trolley handling positions are arranged on the transverse conveyor line.

In an embodiment, a plurality of reciprocating type lifting machines include first reciprocating type lifting machine and second reciprocating type lifting machine, at least one deck workbin transfer chain includes first line and the second line of connecing, first line of connecing connect in first reciprocating type lifting machine with between the horizontal transfer chain for the workbin passes through first line of connecing is in first reciprocating type lifting machine with shift between the horizontal transfer chain, the second line of connecing connect in second reciprocating type lifting machine with between the horizontal transfer chain, make the workbin pass through the second line of connecing is in second reciprocating type lifting machine with shift between the horizontal transfer chain.

In an embodiment, the first connection line, the second connection line and the transverse transport line are all straight lines, and the first connection line and the second connection line are all perpendicular to the transverse transport line.

In one embodiment, the stereoscopic warehousing system is provided with a bin locking mechanism along the transverse conveying line for locking a bin on a selected load trolley operation position when the load trolley performs bin storing and taking operation on the selected load trolley operation position.

In one embodiment, the bin locking mechanism includes stops that are switchable between a blocking state in which any bin is prevented from passing through the selected load trolley operating position and a release state; in this released state, the magazine is allowed to pass through the selected load trolley operating position.

In one embodiment, the transverse conveying line is a roller line, rollers of the roller line together define a bin supporting surface, and a gap is formed between adjacent rollers of the roller line, wherein in the blocking state, the blocking piece protrudes above the bin supporting surface through the gap; in the release state, the barrier retracts below the bin support surface through the gap.

In one embodiment, the warehousing-out operation platform includes a plurality of operation platform cache lines capable of operating in parallel, a tunnel is formed between adjacent operation platform cache lines to provide a space for a sorting operation, each operation platform cache line is interfaced with a corresponding shuttle elevator, and each operation platform cache line includes: a pick cache line connected with the corresponding shuttle elevator to receive bins from the corresponding shuttle elevator for delivery of an item picking operation; and the warehousing cache line is connected with the corresponding reciprocating type hoister to transfer the material box to the corresponding reciprocating type hoister.

In an embodiment, the picking cache line and the warehousing cache line are arranged at an interval from top to bottom, where the picking cache line is an upper-layer picking cache line, and the warehousing cache line is a lower-layer warehousing cache line.

In one embodiment, each handling platform cache line further comprises an elevating transfer platform configured to transfer bins from the upper pick cache line to the lower warehousing cache line.

In one embodiment, the transition track is located between the running track and the reciprocating hoist in an extending direction of the running track.

In one embodiment, the warehouse entry and exit system comprises a plurality of modularized warehouse entry and exit subsystems, the warehouse entry and exit subsystems are combined in a direction perpendicular to the running track, each warehouse entry and exit subsystem comprises a warehouse entry and exit operation platform unit, a plurality of layers of material box conveying line units arranged at intervals in the vertical direction and at least one reciprocating type elevator, when the warehouse entry and exit operation platform units of the warehouse entry and exit subsystems are combined into a complete warehouse entry and exit operation platform, and the material box conveying line units of all the warehouse entry and exit subsystems are combined into a complete multilayer material box conveying line.

In one embodiment, each layer of bin conveyor line units of each out-of-storage subsystem comprises a transverse conveyor line unit, and when combined, the transverse conveyor line units of each layer of bin conveyor line units of the plurality of out-of-storage subsystems are combined into a complete transverse conveyor line, so that bins can be transferred between the transverse conveyor line units of different out-of-storage subsystems.

On the other hand, the embodiment of the utility model discloses three-dimensional warehouse system's warehouse entry system includes:

the warehouse entry and exit operation platform is used for receiving the material box to carry out the picking operation of the goods;

the conveying directions of the first layer of material box conveying lines and the second layer of material box conveying lines are opposite, and a plurality of load trolley operating positions are arranged on the path of each layer of material box conveying line so that load trolleys of the three-dimensional storage system can store and take materials in the plurality of load trolley operating positions; and

a plurality of reciprocating hoists arranged to transport bins between the warehousing operation platform and the multi-tier bin conveyor line.

In one embodiment, the plurality of reciprocating hoists includes a first reciprocating hoist and a second reciprocating hoist, each level of bin conveying line is simultaneously connected with the first reciprocating hoist and the second reciprocating hoist, wherein, for any level of bin conveying line, one of the first reciprocating hoist and the second reciprocating hoist outputs bins to the any level of bin conveying line, and the other of the first reciprocating hoist and the second reciprocating hoist receives bins from the same level of bin conveying line.

In an embodiment, each level of magazine conveyor lines comprises a transverse conveyor line, a first connection line and a second connection line, wherein the plurality of load trolley operating positions are arranged on the transverse conveyor line; to every layer of workbin transfer chain, first line of plugging into connect in first reciprocating type lifting machine with between the horizontal transfer chain for the workbin passes through first line of plugging into is in first reciprocating type lifting machine with shift between the horizontal transfer chain, second line of plugging into connect in second reciprocating type lifting machine with between the horizontal transfer chain, make the workbin pass through the second line of plugging into is in second reciprocating type lifting machine with shift between the horizontal transfer chain.

In an embodiment, the first connection line, the second connection line and the transverse transport line are all straight lines, and the first connection line and the second connection line are all perpendicular to the transverse transport line.

In one embodiment, the stereoscopic warehousing system is provided with a bin locking mechanism along the transverse conveying line for locking the selected load trolley operation position when the load trolley performs bin storing and taking operation on the selected load trolley operation position.

In one embodiment, the bin locking mechanism includes stops that are switchable between a blocking state in which any bin is prevented from passing through the selected load trolley operating position and a release state; in this released state, the magazine is allowed to pass through the selected load trolley operating position.

In one embodiment, the transverse conveyor line is a roller line, the rollers of the roller line together define a bin supporting surface, and a gap is provided between adjacent rollers of the roller line, wherein in the locked state, the blocking member protrudes above the bin supporting surface through the gap, and in the released state, the blocking member retracts below the bin supporting surface through the gap.

In one embodiment, the in-out stocker comprises a plurality of staging cache lines capable of operating in parallel, adjacent staging cache lines forming a tunnel therebetween to provide room for picking operations, each staging cache line interfacing with a corresponding shuttle, each staging cache line comprising:

an upper pick cache line connected with the corresponding shuttle elevator to receive bins from the corresponding shuttle elevator for delivery picking operations;

the lower layer warehousing cache line is connected with the corresponding reciprocating type elevator to transfer the material box to the corresponding reciprocating type elevator; and

and the lifting transfer platform is connected with the upper picking cache line and the lower warehousing cache line so as to transfer the bins on the upper picking cache line to the lower warehousing cache line.

In one embodiment, the warehousing-in and warehousing system is formed by combining a plurality of modularized warehousing-out subsystems, each warehousing-in and warehousing-out subsystem comprises a warehousing-in and warehousing-out operation platform unit, a first layer material box conveying line unit, a second layer material box conveying line unit and at least one reciprocating type elevator, when the warehousing-in and warehousing-out operation platform units of the warehousing-in and warehousing-out subsystems are combined into a complete warehousing-in and warehousing-out operation platform, and all the material box conveying line units of the warehousing-in and warehousing-out subsystems are combined into a complete first layer material box conveying line and a complete second layer material box conveying line.

In one embodiment, each layer of the bin conveying line units of each warehouse-in and warehouse-out subsystem comprises a transverse conveying line unit, when combined, the transverse conveying line units of each layer of the bin conveying line units of the plurality of warehouse-in and warehouse-out subsystems are combined into a complete transverse conveying line, so that the bins can be transferred between the transverse conveying line units of different warehouse-in and warehouse-out subsystems through transverse conveying.

In one embodiment, the access system includes adjacent first and second access system units,

wherein the first warehousing system unit comprises:

a first in-out operation platform unit;

a second in-out operation platform unit;

the first elevator is connected with the first warehouse-in and warehouse-out operation platform unit;

the second elevator is connected with the second warehouse-in and warehouse-out operation platform unit;

the first-layer conveying line first unit comprises a first-layer first transverse conveying line unit, a first-layer first connecting line and a first-layer second connecting line, wherein the first-layer first connecting line and the first-layer second connecting line respectively connect two ends of the first-layer first unit of the first-layer transverse conveying line to the first hoisting machine and the second hoisting machine; and

the first unit of the second-layer conveying line comprises a second-layer first transverse conveying line unit, a second-layer first connecting line and a second-layer second connecting line, wherein the second-layer first connecting line and the second-layer second connecting line respectively connect two ends of the second-layer first transverse conveying line unit to the first hoisting machine and the second hoisting machine;

wherein the second warehousing system unit comprises:

the second warehouse-in/warehouse-out operation platform unit;

a third warehouse-in and warehouse-out operation platform;

the second hoisting machine;

a third hoisting machine;

the first-layer conveying line second unit comprises a first-layer second transverse conveying line unit, a first-layer second connecting line and a first-layer third connecting line, wherein the first-layer second connecting line and the first-layer third connecting line respectively connect two ends of the first-layer second transverse conveying line unit to the second hoisting machine and the third hoisting machine, and the first-layer first transverse conveying line unit is communicated with the first-layer second transverse conveying line unit; and

and a second layer conveying line second unit, wherein the second layer conveying line second unit comprises a second layer second transverse conveying line unit, a second layer second connecting line and a second layer third connecting line, the second layer second connecting line and the second layer third connecting line respectively connect the two ends of the second layer second transverse conveying line unit to the second hoisting machine and the third hoisting machine, and the second layer first transverse conveying line unit is communicated with the second layer second transverse conveying line unit.

In summary, the present application provides a three-dimensional warehousing system, an in-out warehousing system thereof and a bin transferring method. This warehouse entry system can be with the unified one-tenth of the multilayer workbin of goods shelves, warehouse entry operation platform operates promptly, reduces operating personnel's working strength, has solved the order confluence problem of multilayer workbin simultaneously. In some embodiments, a single elevator can realize simultaneous warehouse-out and warehouse-in operations, and the efficiency of the elevator is improved. In one embodiment, the warehouse-in and warehouse-out system can adopt a modular design and is arranged as required, so that the transportation and the installation are convenient; meanwhile, a plurality of modular units run in parallel, and the warehouse-in and warehouse-out efficiency of the warehouse is greatly improved. And the transverse conveying lines of all the modular units are communicated, so that under the condition that a certain lifting machine is in failure, the bins can be transferred to other units through the transverse conveying lines to carry out warehousing and ex-warehousing operation, and the fault tolerance rate of the whole system is improved. In some embodiments, one elevator is shared between adjacent warehouse-in and warehouse-out subsystems, so that the occupied space is saved, and the cost is reduced.

Drawings

Fig. 1 is a perspective assembly view of one embodiment of a stereoscopic warehousing system.

Fig. 2 is a side view of the stereoscopic warehousing system of fig. 1.

Fig. 3 is a perspective view of a shelf of the stereoscopic warehousing system of fig. 1.

Fig. 4 is a perspective view of an in-out system of the stereoscopic warehousing system of fig. 1.

Fig. 5 is a perspective view of the bin conveyor line of the in-out system of fig. 4 with the stop in the release position.

Fig. 6 is a plan view schematic of the bin feed line of fig. 5.

Fig. 7 is a perspective view of the bin conveyor line of the in-out system of fig. 4 with the stop in a locked position.

FIG. 8 is a plan schematic view of the bin feed line of FIG. 7.

FIG. 9 is a flow chart of a bin transfer method.

FIG. 10 is a flow diagram of an embodiment of a bin transfer method.

FIG. 11 is a flow of another embodiment of a bin transfer method.

FIG. 12 is a flow diagram of another embodiment of a bin transfer method, which is an warehousing process.

FIG. 13 is a flow chart of another embodiment of a bin transfer method, which is an ex-warehouse process.

Fig. 14 is a perspective view of an access system formed by combining a plurality of modular units.

Fig. 15 is a simplified schematic diagram of another embodiment of an access system.

Detailed Description

Before the embodiments are described in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangements of components set forth in the following description or illustrated in the drawings. The invention is capable of embodiments in other forms of implementation. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," "having," and the like, herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. In particular, when "a certain element" is described, the present invention is not limited to the number of the element being one, and may include a plurality of the elements.

The application discloses three-dimensional warehouse system, including goods shelves, a plurality of load dolly and warehouse entry system. The goods shelf comprises a plurality of track layers which are arranged at intervals in the vertical direction, each track layer is provided with a plurality of parallel running tracks, a stock area for placing a bin is arranged below each track layer, and each bin is used for storing goods; and each load-carrying trolley runs back and forth on the running track so as to carry out storage and taking operation on the material boxes in the three-dimensional storage system. The warehousing-in and warehousing-out system comprises a warehousing-in and warehousing-out operation platform, a multi-layer material box conveying line and a plurality of reciprocating type hoists. The warehouse-in and warehouse-out operation platform is used for receiving the bins to carry out the picking operation of the goods. The multi-layer material box conveying lines are arranged at intervals in the vertical direction, each layer of material box conveying line corresponds to one of the rail layers, and a plurality of load trolley operation positions are arranged on the path of each layer of material box conveying line and used for the load trolley to store and take material boxes on the load trolley operation positions. The reciprocating type elevator is arranged to transfer the work bin between the warehousing and ex-warehouse operation platform and the multilayer work bin conveying line.

The three-dimensional warehousing system is described in detail with reference to specific embodiments.

Fig. 1 and 2 are a perspective view and a side view, respectively, of one embodiment of a stereo warehousing system. Fig. 3 is a perspective view of a shelf of the stereoscopic warehousing system of fig. 1. Fig. 4 is a perspective view of an in-out system of the stereoscopic warehousing system of fig. 1.

As shown in fig. 1-3, according to one embodiment, the stereo warehousing system includes shelves 100, trucks 200 and an in-out warehousing system 300.

The pallet 100 comprises a plurality of track layers 102 arranged at intervals in the vertical direction, each track layer is provided with a plurality of running rails 104 arranged side by side, and each running rail 104 extends along a longitudinal direction and is arranged together side by side along the transverse direction. Below each track level 102 is an inventory zone 108 in which bins 106 are located, each bin 106 being for storing goods. In the illustrated embodiment, the bins 106 are stacked directly below the running rails 104. For clarity of illustration, fig. 3 shows only a portion of the pallet 100 with the uprights on one side removed.

The load trolley 200 is suspended on the running rails 104 and located above the bin 106. Each carriage 200 travels back and forth on the travel track 104 to access the bins 106 of the inventory zone 108.

The Chinese patent application with the application number of 201810822376.9 and the name of 'three-dimensional storage system' in the application of the applicant discloses a goods shelf and a load-carrying trolley. The entire contents of the chinese patent application are incorporated herein by reference. The pallet 100 and load trolley 200 of the present application may employ the pallet and load trolley structure disclosed in the chinese patent application.

If it is desired to change the track of the load-carrying trolley 200 on different running tracks 104, the stereoscopic warehousing system can also be provided with a track-changing device 150 corresponding to each track layer 102. The rail changing device 150 is configured to switch the load-carrying trolley 200 from the current running track to a target running track.

In the illustrated embodiment, the rail changing device 150 includes a transition rail 152 and a rail changing trolley 154. The transition track 152 is disposed at an end of each running track 104 and perpendicular to each running track 104. The rail changing trolley 154 is located on the transition rail 152 and can move back and forth on the transition rail. The rail change cart 154 is configured to receive the load cart 200 and transport the load cart 200 along the transition track 152 to the target travel track.

The chinese patent application No. 201810822376.9 also discloses a rail replacing device and an operation method thereof, and the rail replacing device 150 of the present application can also adopt the rail replacing device disclosed in the chinese patent application.

As shown in fig. 4, the warehousing system 300 is used in conjunction with the racks 100 for warehousing and warehousing the bins of the inventory area. In this embodiment, the in-out system 300 includes a multi-level bin conveyor line 302, an in-out handling platform 304, and a plurality of reciprocating lifts 306. The load cart transports bins between the bin conveyor line 302 and the rack 100, and the reciprocating elevator 306 transports bins between the in-out platform 304 and the bin conveyor line 302 so that bins can be transferred between the rack 100 and the in-out operation platform 304 for in-out operation of the bins.

As shown in fig. 4-5, the multiple layers of bin conveying lines 302 are arranged at intervals in the vertical direction, each layer of bin conveying line 302 corresponds to one of the rail layers, and a plurality of load trolley operating positions 308 are arranged on the path of each layer of bin conveying line 302, so that the load trolley 200 can access the bins on the load trolley operating positions 208. The plurality of load trolley handling stations 308 of each layer of the magazine conveyor line 302 are respectively located directly below the plurality of running rails of the rail layer corresponding to the layer of the magazine conveyor line. In the illustrated embodiment, the number of load carriage stations 308 is 6, corresponding to six side-by-side travel tracks of the pallet 100. For convenience of description, the present embodiment is described by taking as an example that the multi-layer bin conveying line includes a first layer bin conveying line 302A and a second layer bin conveying line 302B, wherein the first layer bin conveying line 302A is located below the second layer bin conveying line 302B. It should be understood that the multi-level bin conveyor line may have two or more levels of bin conveyor lines, which may be based on the number of track levels of the rack.

For ease of description, the plurality of reciprocating hoists 306 includes a first reciprocating hoist 306A and a second reciprocating hoist 306B. It should be understood that the plurality of reciprocating hoists 306 may have two or more reciprocating hoists. In the illustrated embodiment, the transition rail 152 is located between the running rail 104 and the reciprocating hoists 306A, 306B in the direction of longitudinal extension of the running rail (see fig. 2). Each level of the bin delivery lines 302A, 302B is simultaneously connected to the first reciprocating lift 306A and the second reciprocating lift 306B such that for any level of the bin delivery lines, one of the first reciprocating lift 306A and the second reciprocating lift 306B delivers bins to the level of the bin delivery lines and the other of the first reciprocating lift 306A and the second reciprocating lift 306B receives bins from the level of the bin delivery lines.

For example, for a first level bin transfer line 302A, bins are output from a first reciprocating elevator 306A to a first level bin transfer line 302A, and the first level bin transfer line 302A outputs bins to a second reciprocating elevator 306B; for the second tier bin transfer line 302B, bins are output from the second shuttle 306B to the second tier bin transfer line 302B, and the second tier bin transfer line 302B outputs bins to the first shuttle 306B. As can be seen in the above configuration, the first tier bin transfer line 302A and the second tier bin transfer line 302B are transported in opposite directions. Depending on which tier of bin conveyor line is engaged, each shuttle 306A may output bins to the bin conveyor line, and thus may transfer bins to the bin conveyor line in and out of the warehouse operations platform 304; at the same time, the shuttle 306A is able to receive bins from the bin conveyor line so that the bins of the bin conveyor line can be transferred to the in-out garage operation platform 304. That is to say, the single reciprocating type elevator can realize warehouse-out and warehouse-in operation simultaneously, improves the operating efficiency of elevator.

Although the conveying directions of the adjacent bin conveying lines are described as being opposite, it should be understood that the stereoscopic warehousing system disclosed in the present application may also operate in the same manner as the conveying directions of the adjacent bin conveying lines.

In the illustrated embodiment, each reciprocating hoist 306A, 306B has a vertical lifting rail 309 and a lifting platform 310 that travels back and forth along the lifting rail 309. The elevator table 310 carries the bins to and from between the bin conveyor line 302 and the in and out garage operation platform 304. The upper surface of the lifting table 310 is provided with an elevator conveyor line 311. After elevator line 311 is raised and lowered to a predetermined position, the bin in elevator 306A or 306B is transferred to bin line 302 or to in-out work platform 304 by operation of elevator line 311. In the illustrated embodiment, the elevator delivery line 311 is a roller line. In other embodiments, the elevator wire 311 may be implemented as other types of wires, such as a belt. A sensor for sensing the presence or absence of the bin or the presence of the bin is also provided corresponding to the elevator conveyor line. Such sensors may also be photoelectric sensors or other sensors capable of performing the same function.

As shown in fig. 5-8, each level of the magazine transfer lines 302A, 302B (the figures illustrate the first level of the magazine transfer line 302A) includes a transverse transfer line 312, a first connection line 313 and a second connection line 314, wherein the plurality of load trolley handling positions 308 are provided on the transverse transfer line 312. Sensors are provided for each load trolley station 308 to detect the presence or absence of a bin in place. An example of such a sensor is a photoelectric sensor, although other sensors capable of sensing the presence or absence of a bin or the presence of a bin may be used. For each layer of bin conveyor line 302A, 302B, the first connecting line 313 is connected between the first reciprocating lifter 306A and the transverse conveyor line 312, so that the bins are transferred between the first reciprocating lifter 306A and the transverse conveyor line 312 through the first connecting line 313, and the second connecting line 314 is connected between the second reciprocating lifter 306B and the transverse conveyor line 312, so that the bins are transferred between the second reciprocating lifter 306B and the transverse conveyor line 312 through the second connecting line 314. Sensors are provided for each load trolley station 308 to detect the presence or absence of a bin in place. Sensors are also provided on the first 313 and second 314 connection lines for sensing the presence of a bin and the successful transfer of a bin from the connection line to the elevator or vice versa. An example of such a sensor is a photoelectric sensor, although other sensors capable of sensing the presence, presence and/or success of the bin may be used.

In the embodiment shown, the first and second connection lines 313, 314 and the transverse transport line 312 are all straight lines, and the first and second connection lines 313, 314 are all perpendicular to the transverse transport line 312. In other embodiments, the bin feed line may have other shapes. In addition, in the illustrated embodiment, the first connecting line 313, the second connecting line 314, and the cross conveyor line 312 are all roller lines. In other embodiments, however, the first connecting line 313, the second connecting line 314 and the transverse conveying line 312 may be implemented in whole or in part as other conveying mechanisms, such as belts or the like.

A bin lock mechanism is also provided along the cross conveyor line 312 for locking a bin on a selected load trolley operator station 308 during a bin access operation of the load trolley 200 to said selected load trolley operator station 308. The bin locking mechanism comprises a number of stops 316, which stops 316 can be switched between a blocking state and a release state. Wherein, as shown in fig. 7-8, in the blocking state, the blocking member 316 blocks any bins from being transported through the selected load cart bay, thereby locking the selected load cart bay for bin access operations by the load cart 200 to the locked load cart bay, such as grasping a bin from or placing a bin in the locked load cart bay; in the released state, as shown in fig. 5-6, the bin is allowed to pass through the selected load trolley operating station 308. Thus, after the bin access operation of the load cart 200 to the locked load cart station 308 is completed, the corresponding stop 316 is activated to a release position to allow the cross conveyor line 312 to continue transporting bins. In the illustrated embodiment, the cross conveyor line 312 is a roller line whose rollers together define a bin support surface, with a gap 318 between adjacent rollers of the roller line. Wherein in the blocking state the blocking member 316 protrudes above the magazine supporting surface through the gap 318, thereby blocking the magazine; in the released state, the stop 316 retracts below the bin support surface through the gap 318, allowing for continued transport of the bin. In particular, the stop 316 may be a flap that can be raised and retracted.

Referring again to fig. 4, the in-out garage operation platform 304 is used to receive bins for picking operations of the goods. In the illustrated embodiment, the in-out garage operation platform 304 is disposed below the multi-level bin conveyor line 302, such as on the ground. So, can make three-dimensional warehouse system's multilayer workbin can shift to the one deck and select the operation, reduce operating personnel's working strength, solve the order confluence problem of multilayer workbin simultaneously.

The warehousing-out operation platform 304 includes a plurality of operation platform cache lines capable of operating in parallel, with a roadway formed between adjacent operation platform cache lines to provide space for picking operations and/or passage of forklifts. In the illustrated embodiment, two shuttle elevators 306A, 306B are provided, and thus the warehousing operation platform 304 includes a first operation platform cache line 320A and a second operation platform cache line 320B with a lane 319 formed therebetween. The first and second operating platform cache lines 320A, 320B interface with the first and second shuttle 306A, 306B, respectively. The first work platform cache line 320A coupled to the first shuttle 306A includes an upper pick cache line 322A, a lower in-garage cache line 324A, and a lift transfer platform 326A. The upper pick cache line 322A is coupled to the first shuttle 306A to receive bins from the first shuttle 306A for delivery picking operations. The lower inbound cache line 324A is also coupled to the first shuttle 306A to transfer bins to the first shuttle 306A. An elevating transfer platform 326A connects the upper pick cache line 322A and the lower warehousing cache line 324A to transfer bins from the upper pick cache line 322A onto the lower warehousing cache line 324A. In operation, the first shuttle 306A transfers bins from the second level bin transfer line 302B to the upper pick cache line 322A for delivery of the item picking operation. At this point, the upper pick cache line 322A serves as the pick stage. When the picking operation is completed, the lift transfer platform 326A transfers the bins on the upper pick cache line 322A to the lower warehousing cache line 324A, and then the lower warehousing cache line 324A transports the bins to the same shuttle elevator, i.e., the first shuttle elevator 306A, and the first shuttle elevator 306A lifts the bins to a target layer bin transport line (e.g., the first bin transport line 302A) for the load cart 200 to grab and transport the bins to the target warehouse location.

Similarly, a second work platform cache line 320B coupled to the second shuttle 306B includes an upper pick cache line 322B, a lower in-garage cache line 324B, and a lift transfer platform 326B that are similar in construction and operation to the upper pick cache line 322A, the lower in-garage cache line 324A, and the lift transfer platform 326A of the first work platform cache line 320A. That is, the second shuttle 306B transfers bins from the first bin transfer line 302A to the upper pick cache line 322B for delivery of the item picking operation. After the picking operation is completed, the lifting/lowering platform 326B transfers the bin on the upper picking cache line 322B to the lower warehousing cache line 324B, and then the lower warehousing cache line 324B transports the bin to the same shuttle, i.e., the second shuttle 306B, and the second shuttle 306B lifts the bin to a target layer bin transport line (e.g., the second bin transport line 302B) for the load cart 200 to grasp and transport the bin to a target warehouse location.

In the above embodiment, each of the platform cache lines 320A/320B includes an upper pick cache line 322A/322B, a lower warehouse cache line 324A/324B, and a lift transfer platform 326A/326B. However, in other embodiments not shown, the pick cache line and the put cache line may be arranged in other than an upper-lower relationship, for example, in a left-right spaced arrangement. In other embodiments, not shown, there may be no lifting transfer platform between the picking cache line and the warehousing cache line, and the bin transfer between the picking cache line and the warehousing cache line may be performed manually.

In the illustrated embodiment, the lower warehousing cache line 324A, 324B of each operating platform cache line is provided with a code-scanning sensor near its corresponding elevator 306A, 306B for performing a checksum to determine the bin to be warehoused. The upper pick cache lines 322A, 322B and lower warehousing cache lines 324A, 324B each have multiple sets of sensors to count the number of bins and provide an indication of the bin load status on the cache lines. For example, an alarm function is provided when a full bin load condition is sensed.

In the illustrated embodiment, the upper pick cache lines 322A/322B, the lower entry cache lines 324A/324B, and the lift transfer platforms 326A/326B are roller lines. In other embodiments, it may also be conveyed by other means, such as belt.

Because the conveying directions of the first level bin conveying line 302A and the second level bin conveying line 302B are opposite, the first shuttle 306A transfers bins on the second level bin conveying line 302B to the first work platform cache line 320A for cargo picking operation, and the second shuttle 306B transfers bins on the first level bin conveying line 302A to the second work platform cache line 320B for cargo picking operation. Thus, the first operating platform cache line 320A and the second operating platform cache line 320B can run in parallel without affecting each other. According to the requirement, the in-out operation platform 304 may include more than two operation platform cache lines, which run in parallel, thereby improving the in-out operation efficiency.

The method of transferring bins in the above-described stereo warehousing system is described below in conjunction with the configuration of the stereo warehousing system. As mentioned above, the stereoscopic warehousing system comprises a shelf 100, a plurality of load-carrying trolleys 200 and an warehousing and warehousing system 300, wherein the shelf 100 comprises a plurality of track layers 102 arranged at intervals in the vertical direction, each track layer 102 is provided with a plurality of running tracks 104 side by side, an inventory area 108 for accommodating bins 106 is arranged below each track layer 102, and each bin 106 is used for storing goods; each load car 200 travels back and forth on the travel track 104 to access bins 106 in the inventory zone 108. From the aspect of the control system, the stereoscopic warehousing system includes a warehouse management system for managing the racks 100, a load robot management system for managing the load robots, and an in-out scheduling system. The warehouse management system is responsible for managing physical positions and information of a material box in the system and goods in the material box, and when the system has order demands, the warehouse management system is responsible for informing the load-carrying robot management system and the warehouse-in and warehouse-out scheduling system, and the load-carrying robot management system and the warehouse-in and warehouse-out scheduling system are responsible for managing busy and idle states of equipment, commanding the execution equipment to execute tasks and feeding back a completion signal.

As shown in fig. 9, the method includes:

step S910: the load trolley is used to transfer the bins between a target load trolley operating position in the in-out warehouse system and a target warehouse storage position in the warehouse area. The warehouse in and out system comprises a plurality of layers of material box conveying lines which are arranged at intervals in the vertical direction, each layer of material box conveying line corresponds to one of the rail layers, a plurality of load-carrying trolley operation positions are arranged on the path of each layer of material box conveying line, the plurality of load-carrying trolley operation positions of each layer of material box conveying line correspond to the plurality of running rails of the corresponding rail layer respectively, and the target load-carrying trolley operation position is one of the plurality of load-carrying trolley operation positions on one target layer of material box conveying line.

Step S920: and transferring the bins between the target layer bin conveying line and an in-out warehouse operation platform by using at least one reciprocating type elevator, wherein the in-out warehouse operation platform is used for carrying out goods sorting operation on the bins.

The actions of step S910 and step S920 are performed in different orders according to whether the bin transferring method is an in-warehouse or out-warehouse operation.

The target load-carrying trolley operation position 308 is located right below the corresponding running track 104, the target storage position is located right below the corresponding running track, and the transfer of the bin comprises the steps that the load-carrying trolley is hung below the corresponding running track and grabs the bin to move between the target load-carrying trolley operation position and the target storage position.

In some cases, it is desirable to transport the bins with the bin conveyor line to the target load cart operating position in a lateral direction, the lateral direction being perpendicular to the longitudinal direction. For example, after the second shuttle 306B transports the bin to the second transfer line 314, the second transfer line 314 transports the bin in the longitudinal direction to the transverse transport line 312, and the transverse transport line 312 transports the bin in the transverse direction to the target load cart bay. The target load trolley operating position is the load trolley operating position which corresponds to the target inventory position in the longitudinal direction.

As previously described, in one embodiment of the warehousing system 300, the multi-level bin transfer line 302 includes a first level bin transfer line 302A and a second level bin transfer line 302B, and the at least one reciprocating lift includes a first reciprocating lift 306A and a second reciprocating lift 306B. As shown in fig. 10, in one embodiment, the bin transfer performed by the warehousing-out system comprises the following steps in order:

s1010: the first level bin conveyor line 302A conveys the bins to one of the at least one reciprocating hoist (e.g., a second reciprocating hoist 306B);

s1020: the one of the reciprocating hoists 306B delivers the bin to the in-out garage platform 304;

s1030: the warehousing-out operation platform 304 conveys the bin to one of the reciprocating lifts 306B; and

s1040: the one of the reciprocating lifts 306B delivers the bins to the second tier bin transfer line 302B, wherein the second tier bin transfer line 302B is the target tier bin transfer line.

In this embodiment, the bins on the first level bin conveying line 302A are transferred to the warehousing-in/out operation platform 304 by the second reciprocating elevator 306B, and after the sorting operation, are lifted to another level bin conveying line, i.e., the second level bin conveying line 302B, as the target bin conveying line by the same reciprocating elevator 306B. Similarly, if the bins on the second level bin conveying line 302B are transferred to the in-out/in-storage operation platform 304 by the first reciprocating elevator 306A, after the picking operation, the bins are lifted to another level bin conveying line as the target bin conveying line, i.e. the first level bin conveying line 302A, by the same reciprocating elevator 306A.

In another embodiment, two reciprocating lifts are required to lift the bins to their target tier bin delivery line. As shown in fig. 11, the bin transfer of this embodiment comprises the following steps in order:

s1110: the first layer bin delivery line 302A delivers bins to a second reciprocating lift 306B;

s1120: the second reciprocating lift 306B delivers the bins to the in-out dock platform 304;

s1130: after the picking operation, the warehousing-out operation platform 304 conveys the bins to the same reciprocating lifter 306, i.e. the second reciprocating lifter 306B;

s1140: the second reciprocating lift 306B delivers the bins to the second tier bin delivery line 302B;

s1150: a second layer of bin conveying lines 302B conveys the bins to the first reciprocating hoist; and

s1160: the first reciprocating elevator conveys the bins to the target tier bin conveyor line, which is not the second tier bin conveyor line.

In an embodiment of the above-described bin transfer method, the conveying direction of the first layer bin conveying line 302A is opposite to the conveying direction of the second layer bin conveying line 302B.

The bin transfer method may be implemented as a warehousing method. As shown in fig. 12, in an embodiment of the binning method, the method includes the following steps:

s1210: the at least one reciprocating hoist transporting the bins to a target level bin conveyor line, wherein the bins have been assigned to the target inventory location, the target level bin conveyor line and the target inventory location corresponding to a same track level;

s1220: the target layer material box conveying line conveys the material box to the target load-carrying trolley operation position; and if the target load-carrying trolley operation position is at the position of the butt joint line on the transverse conveying line, the butt joint line directly conveys the bin to the target load-carrying trolley operation position. If the target trolley operation position is not at the position of the butt joint line on the transverse conveying line, the work bin needs to be conveyed to the target load trolley operation position by using the transverse conveying line;

s1230: upon detecting that the bin has reached the target load trolley operating position, locking said target load trolley operating position such that any bin is prevented from being transported through said target load trolley operating position;

s1240: after the operation position of the target load-carrying trolley is locked, the load-carrying trolley moves to the position above the operation position of the target load-carrying trolley to grab the material box;

s1250: releasing the target load trolley operation position to allow other work bins to be transmitted through the target load trolley operation position after the work bins on the target load trolley operation position are taken away by the load trolley; and

s1260: and the loading trolley carries the work bin to move to the position above the target warehouse storage position and places the work bin below the target warehouse storage position.

The bin transfer method may also be implemented as an ex-warehouse method. As shown in fig. 13, in an embodiment of the method for exporting a library, the method comprises the following steps:

s1300: the load trolley carries the material box to travel to the position above the target load trolley operation position along one of the operation tracks;

s1310: locking the target load-carrying trolley operating position to prevent any bin from being conveyed through the target load-carrying trolley operating position, and ensuring that the target load-carrying trolley operating position is in an empty state;

s1320: the loading trolley lowers the material box to the target loading trolley operation position;

s1330: releasing the target load-carrying trolley operation position to enable the material box on the target load-carrying trolley operation position to be conveyed along the layer material box conveying line where the target load-carrying trolley is located;

s1340: the layer material box conveying line where the target load-carrying trolley operation position is located conveys the material box to one reciprocating type elevator of the at least one reciprocating type elevator; and

s1350: and the bin is conveyed to the warehousing-in and warehousing-out operation platform by one of the reciprocating hoists so as to carry out goods picking operation.

The embodiments of the stereoscopic warehousing system and the bin transferring method thereof are introduced. As shown in fig. 14, in an implementation, one warehousing system 500 may include a plurality of modular warehousing subsystems 502, and a plurality of the warehousing subsystems 502 are combined in a transverse direction (a direction perpendicular to the orbit). Each in-out subsystem 502 includes an in-out-of-out. When the material box conveying lines are combined, the warehouse-in and warehouse-out operation platform units of the warehouse-in and warehouse-out subsystems are combined into a complete warehouse-in and warehouse-out operation platform, and the material box conveying lines of all the warehouse-in and warehouse-out subsystems are combined into complete first-layer and second-layer material box conveying lines. In other embodiments, each in-out subsystem may have more levels of bin conveyor line units.

The in-out system 300 in the embodiment of fig. 1 to 8 can be used as the in-out subsystem 502 in the embodiment, the in-out operation platform 304 in the embodiment can be used as the in-out operation platform unit 504 in the embodiment, the first layer and second layer material box conveying lines 302A and 302B in the embodiment can be used as the first layer and second layer material box conveying line units 506 and 508 in the embodiment, and the reciprocating elevator 306A or 306B in the embodiment can be used as the reciprocating elevator 510 in the embodiment. Therefore, please refer to the structure described in the embodiment of fig. 1-8 for the structure of the warehouse entry subsystem in this embodiment. It should be understood that the access subsystem herein can refer to either the access system 300 of the previous embodiment or the access system 500 of the present embodiment, depending on the environment.

In such a modular combination embodiment, the rack 100 may also be assembled laterally from a plurality of rack units, each corresponding to one of the in-out warehouse subsystems 502.

As previously described, each level of the magazine conveyor line units 506, 508 of each in-out subsystem includes a cross conveyor line unit 512 (i.e., corresponding to the cross conveyor line 312 of the previous embodiment). When combined, the transverse conveyor line units 512 of each layer of the bin conveyor line units of the warehousing-in and warehousing subsystems are communicated to form a complete transverse conveyor line, so that the bins can be transferred among the transverse conveyor line units 512 of different warehousing-in and warehousing subsystems 502 through transverse conveying. In this way, even if the reciprocating elevator of a certain warehousing-in/out subsystem 502 is damaged, the bins can be transferred to other warehousing-in/out subsystems 502 through the transverse conveying line for warehousing-in/out operation, so that warehousing-in/out of the bins in the shelf units corresponding to the damaged warehousing-in/out subsystem 502 is not affected, and the fault tolerance of the whole system is improved. It should be understood that, depending on the environment, the term "transverse conveyor line" herein may refer to both the transverse conveyor line 312 in the foregoing embodiment and the transverse conveyor line formed by combining a plurality of transverse conveyor line units 512 in this embodiment.

Fig. 15 is a simplified schematic diagram of another embodiment of an access system. In this embodiment, the warehousing system includes a plurality of warehousing system units, and at least two adjacent warehousing system units share one elevator. Fig. 15 illustrates two warehousing system units as an example. The two warehousing system units include a first warehousing system unit 602 and a second warehousing system unit 604, which share a reciprocating elevator therebetween. Similar to the previously described embodiment of fig. 1-8, the in-out system includes an in-out handling platform, a multi-level bin conveyor line, and a plurality of reciprocating lifts.

Specifically, the in-out system includes a first in-out operation platform unit 606, a second in-out operation platform unit 608, a third in-out operation platform unit 610, a first lift 612, a second lift 614, and a third lift 616. These in-out dock station units may be of the same construction and function as the dock cache lines described above in the embodiment of fig. 1-8, and these lifts may also be of the same construction and function as the lifts described above in the embodiment of fig. 1-8.

The in-out warehouse system also includes a multi-level bin conveyor line, here exemplified by two levels. The first layer conveyor line comprises a first unit of the first layer conveyor line and a second unit of the first layer conveyor line. The first unit of the first-tier conveyor lines includes a first-tier first transverse conveyor line unit 618, a first-tier first connecting line 620, and a first-tier second connecting line 622, wherein the first-tier first connecting line 620 and the first-tier second connecting line 622 connect both ends of the first-tier first transverse conveyor line unit 618 to the first lift 612 and the second lift 614, respectively. The first-tier first connecting line 620 and the first-tier second connecting line 622 are perpendicular to the first-tier first transverse conveyor line unit. The second unit of the first-floor transfer wire comprises a first-floor second transverse transfer wire unit 624, the first-floor second connecting wire 622, and a first-floor third connecting wire 626, wherein the first-floor second connecting wire 620 and the first-floor third connecting wire 626 connect both ends of the first-floor second transverse transfer wire unit 624 to the second hoisting machine 614 and the third hoisting machine 616, respectively. The first-level second connecting line 622 and the first-level third connecting line 626 are perpendicular to the first-level second transverse conveyor line unit 624. The first layer first transverse conveyor line unit 618 and the first layer second transverse conveyor line unit 624 are communicated to form a first layer transverse conveyor line.

The second layer of conveying lines comprises a first unit of the second layer of conveying lines and a second unit of the second layer of conveying lines. The first unit of the second-level conveyor line includes a second-level first transverse conveyor line unit 628, a second-level first connection line 630, and a second-level second connection line 632, wherein the second-level first connection line 630 and the second-level second connection line 632 connect both ends of the second-level first transverse conveyor line unit 628 to the first lift 612 and the second lift 614, respectively. The second-tier first connecting line 630 and the second-tier second connecting line 632 are perpendicular to the second-tier first transverse conveyor line unit 628. The second unit of the second-level conveyor line includes a second-level second transverse conveyor line unit 634, a second-level second connection line 632, and a second-level third connection line 636, wherein the second-level second connection line 630 and the second-level third connection line 636 respectively connect both ends of the second-level second transverse conveyor line unit 634 to the second hoisting machine 614 and the third hoisting machine 616. The second-level second connection line 630 and the second-level third connection line 636 are perpendicular to the second-level second transverse conveyor line unit 634. The second-tier first transverse conveyor line unit 628 and the second-tier second transverse conveyor line unit 634 are communicated to form a second-tier transverse conveyor line. In some embodiments, the conveying direction of the first layer of transverse conveying lines is the same as that of the second layer of transverse conveying lines. In other embodiments, the conveying direction of the first layer of transverse conveying lines is opposite to that of the second layer of transverse conveying lines.

As can be seen, the first in-out system unit 602 includes a first in-out operation platform unit 606, a second in-out operation platform 608, a first lift 612, a second lift 614, a first unit of the first-level conveyor line, and a first unit of the second-level conveyor line. The second in-out system unit 604 includes a second in-out handling platform unit 608, a third in-out handling platform 610, a second lift 614, a third lift 616, a first level transfer line second unit, and a second level transfer line second unit. The first and second in-out system units 602 and 604 share the second in-out access platform unit 608, the second lift 614, the first floor second connection line 622, and the second floor second connection line 632. The structures and operation principles of the warehousing operation platform unit, the conveyor line and the elevator are the same as those of the foregoing embodiments, and are not described herein again. In one embodiment, any one of the first-floor first transverse conveyor line unit, the first-floor second transverse conveyor line unit, the second-floor first transverse conveyor line unit and the second-floor second transverse conveyor line unit is provided with a plurality of load trolley operating positions and a bin blocking mechanism, so that the load trolley of the three-dimensional warehousing system stores bins in the plurality of load trolley operating positions. These load trolley operating station and bin blocking mechanisms are identical in construction and function to the load trolley operating station and bin blocking mechanisms described above in the embodiment of figures 1-8.

For any one of the first-floor first transverse conveyor line unit, the first-floor second transverse conveyor line unit, the second-floor first transverse conveyor line unit, and the second-floor second transverse conveyor line unit, one of the first reciprocating lifter, the second reciprocating lifter, and the third reciprocating lifter outputs a bin to the any one of the transverse conveyor line units, and the other of the first reciprocating lifter, the second reciprocating lifter, and the third reciprocating lifter receives a bin from the same transverse conveyor line unit. In the illustrated embodiment, as one of possible warehousing designs, the first warehousing-in-and-out system unit 602 warehouses at the first floor (arrow a) by the first hoist 612, warehouses at the second floor (arrow B), and warehouses at the first floor (arrow C) by the second hoist 614 at the second floor (arrow D); the second warehousing-in/out system unit 604 warehouses in the first floor (arrow E) by the second hoist 614, warehouses in the second floor (arrow F), warehouses in the first floor (arrow G) by the third hoist 616, and warehouses in the second floor (arrow H).

Therefore, each elevator has both warehousing and ex-warehouse functions, similar to the previous embodiment of fig. 1-8. The second elevator 614 is shared by the two warehousing-in/out system units 602 and 604, and reduces the size and cost of products on the premise of satisfying the warehousing-in/out function. In general, the conveying direction of the transverse conveying lines of the same level is the same, and in order to enable the same lift 614 to be shared by two adjacent in-out system units 602, 604, the conveying direction of each of the first level second connecting line 622 and the second level second connecting line 632 is changeable under the control of the in-out scheduling system. For example, the first-level second connecting line 622 has a first conveying direction for conveying the bins of the first in-out system unit 602, and a second conveying direction opposite to the first conveying direction for conveying the bins of the second in-out system unit 604. It should be understood that when more than two warehousing system units are combined, any two adjacent warehousing system units can share one elevator. For example, in the example shown in fig. 15, if there is another in-out system unit to the left of the first in-out system unit 602, the first lift 612 may be shared by both in-out system units, which is identical in construction and operation to the second lift 614; if there is another in-out system unit to the right of the second in-out system unit 604, the third lift 616 may be shared by both in-out system units, in the same construction and operation as the second lift 614.

In summary, the present application provides a three-dimensional warehousing system, an in-out warehousing system thereof and a bin transferring method. This warehouse entry system can be with the unified one-tenth of the multilayer workbin of goods shelves, warehouse entry operation platform operates promptly, reduces operating personnel's working strength, has solved the order confluence problem of multilayer workbin simultaneously. In some embodiments, a single elevator can realize simultaneous warehouse-out and warehouse-in operations, and the efficiency of the elevator is improved. In one embodiment, the warehouse-in and warehouse-out system can adopt a modular design and is arranged as required, so that the transportation and the installation are convenient; meanwhile, a plurality of modular units run in parallel, and the warehouse-in and warehouse-out efficiency of the warehouse is greatly improved. And the transverse conveying lines of all the modular units are communicated, so that under the condition that a certain lifting machine is in failure, the bins can be transferred to other units through the transverse conveying lines to carry out warehousing and ex-warehousing operation, and the fault tolerance rate of the whole system is improved. In some embodiments, one elevator is shared between adjacent warehouse-in and warehouse-out subsystems, so that the occupied space is saved, and the cost is reduced.

The concepts described herein may be embodied in other forms without departing from the spirit or characteristics thereof. The particular embodiments disclosed should be considered illustrative rather than limiting. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description. Any changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (10)

1. A three-dimensional storage system comprises a goods shelf, a plurality of load-carrying trolleys and an in-out storage system, wherein the goods shelf comprises a plurality of track layers which are arranged at intervals in the vertical direction, each track layer is provided with a plurality of running tracks side by side, a storage area for accommodating a bin is arranged below each track layer, and each bin is used for storing goods; each load-carrying trolley runs back and forth on the running track to carry out storage and taking operation on the material boxes in the three-dimensional storage system; the warehouse entry and exit system comprises a warehouse entry and exit operation platform, and the warehouse entry and exit operation platform is used for receiving a bin to carry out the picking operation of goods; the warehouse entry and exit system is characterized by comprising:

the multi-layer material box conveying lines are arranged at intervals in the vertical direction, each layer of material box conveying line corresponds to one of the rail layers, and a plurality of load trolley operation positions are arranged on the path of each layer of material box conveying line and used for the load trolley to access the material boxes on the load trolley operation positions; and

a plurality of reciprocating hoists arranged to transport bins between the warehousing operation platform and the multi-tier bin conveyor line.

2. The stereoscopic warehousing system of claim 1, wherein the stereoscopic warehousing system is provided with a rail-changing device corresponding to each track layer, the rail-changing device being configured to switch the load-carrying trolley from a current operation track where the load-carrying trolley is located to a target operation track, the rail-changing device comprising:

the transition tracks are arranged at the end parts of the running tracks and are perpendicular to the running tracks; and

a rail change trolley located on the transition track and capable of reciprocating on the transition track, the rail change trolley configured to receive the load trolley and transport the load trolley along the transition track to the target travel track;

the multiple loading trolley operation positions of each layer of material box conveying line are respectively positioned right below the multiple running tracks of the track layer corresponding to the layer of material box conveying line; the transition rail is located between the running rail and the reciprocating lifter in an extending direction of the running rail.

3. The stocker system according to claim 1 or 2, wherein the multi-level bin conveying line comprises a first level bin conveying line and a second level bin conveying line, the plurality of reciprocating lifts comprises a first reciprocating lift and a second reciprocating lift, each level bin conveying line is connected to both the first reciprocating lift and the second reciprocating lift, wherein for any level bin conveying line, one of the first reciprocating lift and the second reciprocating lift outputs bins to the any level bin conveying line, and the other of the first reciprocating lift and the second reciprocating lift receives bins from the any level bin conveying line, and the conveying directions of the first level bin conveying line and the second level bin conveying line are the same or opposite.

4. The stereoscopic warehousing system of claim 1 or 2, wherein the operation rails extend in a longitudinal direction, the at least one layer of bin conveyor line comprises a transverse conveyor line extending in a direction perpendicular to the extension direction of the operation rails, and the plurality of load trolley operation sites are disposed on the transverse conveyor line.

5. The stereo warehousing system of claim 4, wherein the plurality of reciprocating hoists includes a first reciprocating hoist and a second reciprocating hoist, the at least one layer of material box conveying line comprises a first connection line and a second connection line, the first connection line is connected between the first reciprocating type elevator and the transverse conveying line, so that a bin is transferred between the first reciprocating lifter and the transverse conveyor line through the first connecting line, the second connecting line is connected between the second reciprocating type hoister and the transverse conveying line, so that the bin is transferred between the second reciprocating lifter and the transverse conveyor line through the second connecting line, the first connecting line, the second connecting line and the transverse conveying line are straight lines, and the first connecting line and the second connecting line are perpendicular to the transverse conveying line.

6. The stocker system according to claim 4, wherein said stocker system is provided with a bin locking mechanism along said lateral conveyor line for locking a bin on a selected load cart bay when said load cart performs a bin access operation on said selected load cart bay.

7. The stereo warehousing system of claim 6, wherein the bin locking mechanism includes stops, the stops being switchable between a blocking state and a release state, wherein in the blocking state any bin is prevented from passing through the selected load cart bay; in this released state, the magazine is allowed to pass through the selected load trolley operating position.

8. The stereoscopic warehousing system of claim 7, wherein the transverse conveyor line is a roller line, rollers of the roller line together define a bin support surface, and a gap is provided between adjacent rollers of the roller line, wherein in the blocking state, the blocking member protrudes above the bin support surface through the gap; in the release state, the barrier retracts below the bin support surface through the gap.

9. The stereoscopic warehousing system of claim 1 or 2, wherein the warehousing-out operation platform comprises a plurality of operation platform cache lines capable of operating in parallel, a tunnel is formed between adjacent operation platform cache lines to provide space for picking operation, each operation platform cache line is interfaced with a corresponding shuttle elevator, and each operation platform cache line comprises:

a pick cache line connected with the corresponding shuttle elevator to receive bins from the corresponding shuttle elevator for delivery of an item picking operation; and

the warehousing cache line is connected with the corresponding reciprocating type hoister to transfer the material box to the corresponding reciprocating type hoister;

the picking cache line and the warehousing cache line are arranged at an interval from top to bottom, wherein the picking cache line is an upper-layer picking cache line, and the warehousing cache line is a lower-layer warehousing cache line;

each operating platform cache line further comprises a lifting transfer platform configured to transfer bins on the upper picking cache line to the lower warehousing cache line.

10. The stereoscopic warehousing system as claimed in claim 1 or 2, wherein the warehousing system comprises a plurality of modular warehousing subsystems, the warehousing subsystems are combined in a direction perpendicular to the running track, each warehousing subsystem comprises a warehousing operation platform unit, a plurality of layers of bin conveying lines arranged at intervals in a vertical direction and at least one reciprocating type elevator, when combined, the warehousing operation platform units of the warehousing subsystems are combined into a complete warehousing operation platform, and the bin conveying lines of all the warehousing subsystems are combined into a complete multi-layer bin conveying line; each layer of material box conveying line unit of each warehousing-in and warehousing subsystem comprises a transverse conveying line unit, and when the transverse conveying line units are combined, the transverse conveying line units of each layer of material box conveying line unit of the warehousing-out and warehousing subsystems are combined into a complete transverse conveying line, so that the material boxes can be transferred among the transverse conveying line units of different warehousing-in and warehousing subsystems.

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