WO2017071222A1 - 一种存取货物的系统和方法 - Google Patents

一种存取货物的系统和方法 Download PDF

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Publication number
WO2017071222A1
WO2017071222A1 PCT/CN2016/084792 CN2016084792W WO2017071222A1 WO 2017071222 A1 WO2017071222 A1 WO 2017071222A1 CN 2016084792 W CN2016084792 W CN 2016084792W WO 2017071222 A1 WO2017071222 A1 WO 2017071222A1
Authority
WO
WIPO (PCT)
Prior art keywords
cargo
transitional
lifting
transit
lifting platform
Prior art date
Application number
PCT/CN2016/084792
Other languages
English (en)
French (fr)
Inventor
余小刚
Original Assignee
余小刚
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201510718917.XA external-priority patent/CN105236063B/zh
Priority claimed from CN201520845617.3U external-priority patent/CN205063479U/zh
Priority claimed from CN201510713852.XA external-priority patent/CN105350804B/zh
Application filed by 余小刚 filed Critical 余小刚
Publication of WO2017071222A1 publication Critical patent/WO2017071222A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/045—Storage devices mechanical in a circular arrangement, e.g. towers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/28—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of turntables or rotary rings for horizontal transport

Definitions

  • the invention provides a system for accessing goods, belonging to the technical field of logistics storage and transportation.
  • the present invention also provides a method of accessing goods.
  • the existing public parking lots still have the following problems: since the parking lots are open-air ground storage yards, it is impossible to shelter from wind and rain; in addition, the number of access passages is small, and when a plurality of vehicles need to enter and exit, it is easy to cause blockage.
  • a first object of the present invention is to provide a system for accessing goods, and the system provided by the present invention enables efficient access to goods.
  • the technical solution adopted by the present invention is: a system for accessing goods, the system comprising a cargo rack, the cargo rack comprising at least a first layer and a second layer at different vertical heights, The first layer of the cargo rack has a plurality of transitional cargo spaces, and the second layer of the cargo rack has a plurality of storage locations for storing goods;
  • the system also includes access means for moving the cargo between the transitional location and the storage location;
  • the access device includes a lifting platform, a lifting device for lifting the lifting platform, and a drive station a rotating device for rotating a lifting platform, the lifting platform having a transit position, the lifting platform having at least a first lifting position for moving goods between a transit position and a transitional position, and for Storing a second lifting position for moving the cargo between the cargo spaces, the access device further comprising means for moving the cargo between the intermediate cargo space and the transitional cargo space and for moving the cargo between the transit cargo space and the storage cargo space Mobile devices.
  • the lifting device comprises a column, the lifting platform is raised and lowered along the column, and the column is directly or indirectly mounted on the rotating device.
  • the cargo is a vehicle.
  • At least a portion of the plurality of storage locations are arranged in an annular array.
  • At least a portion of the plurality of transitional locations are arranged in an annular array.
  • the lifting platform has a plurality of intermediate positions, and at least a portion of the plurality of intermediate positions are arranged in an annular array.
  • the number of storage locations arranged in an annular array is F
  • the number of transitional positions arranged in a circular array is G
  • the number of intermediate positions arranged in a circular array is Z, where F is an integer multiple of Z and G is an integer multiple of Z.
  • F is equal to G.
  • F is 2 to 6 times Z and G is 2 to 6 times Z.
  • the value of Z is 4-8.
  • the access device is configured to: when the lifting platform is located at the first lifting position, at least a portion of the plurality of transit positions and at least a portion of the plurality of transitional positions are on the first floor a plane corresponding to a one-to-one position; when the lifting platform is in the second lifting position, at least a portion of the plurality of intermediate positions and at least a portion of the plurality of storage positions are in a plane of the second layer It is in a one-to-one position.
  • the mobile device includes a movable traction frame on which the cargo is moved by being placed on the traction frame.
  • At least one of the storage locations has a storage location track for the movement of the traction frame
  • at least one of the transitional positions has a transitional cargo track for the movement of the traction frame
  • the transit space being at least One has a transit track for the movement of the tractor.
  • the access device is configured to: when the lifting platform is in the first lifting position, at least one intermediate cargo track is connected to at least one transitional cargo track; and when the lifting platform is located in the first In the second lifting position, at least one intermediate cargo track is connected to at least one storage cargo track.
  • the traction frame is provided with a roller, and the mobile device further comprises a tractor for moving the traction frame.
  • the transitional location and the storage location have a gap;
  • the transitive location has a first movement position, a second movement position, and a third movement position with respect to the transitional position and the storage position, wherein the first movement position Displaced in the vertical direction from the transitional location and the storage location;
  • the second mobile location is located vertically below the transitional or storage location, and the third mobile location is located in the transitional or storage location Vertically above; when the intermediate cargo space moves through the transitional cargo space or the gap of the storage cargo space from the second moving position to the third moving position, the cargo space moves from the transitional cargo space or the storage cargo space To the transit cargo space; when the transit cargo space moves through the transitional cargo space or the gap of the storage cargo space from the third moving position to the second moving position, the cargo space moves from the transit cargo space to the State the transitional location or store the location.
  • the intermediate cargo location comprises a comb, the transitional cargo and the shape of the void of the storage location matching the comb.
  • the mobile device comprises a telescopic device and a lifting device, the telescopic device being mounted on the lifting platform, the lifting device being directly or indirectly mounted on the distal end of the telescopic device, the transit position Mounted directly or indirectly on the lifting device.
  • the mobile device further comprises a rotating device mounted directly or indirectly to the distal end of the telescopic device, the lifting device being mounted directly or indirectly on the rotating device.
  • the system further comprises an automatic control device, wherein the automatic control device comprises a central control module, an instruction input module, a lifting device motor driving module, a rotating device motor driving module, a telescopic device motor driving module, a lifting device motor driving module, a rotating device motor driving module; the central control module is respectively connected to the command input module, the lifting device motor driving module, the rotating device motor driving module, the telescopic device motor driving module, the lifting device motor driving module, and the rotating device motor driving module.
  • the automatic control device comprises a central control module, an instruction input module, a lifting device motor driving module, a rotating device motor driving module, a telescopic device motor driving module, a lifting device motor driving module, a rotating device motor driving module;
  • the central control module further includes a data module for recording a situation in which the storage location stores the goods, and the central control module generates the stored goods according to the instruction received by the instruction input module and the data in the data module. The procedure for taking out the goods.
  • the present invention also provides a method of accessing goods using the above system, the method comprising the steps of:
  • step 2) During the operation of step 2), or wait for step 2 After the operation is completed, controlling the lifting platform and controlling the movement of the transit position, so that as many items as possible to be taken out of the storage position are moved to the transit position;
  • the beneficial technical effects of the above technical solutions are as follows: The access of multiple goods can be completed in a single time, the efficiency is high, and the automatic control of accessing goods can be realized.
  • Another object of the present invention is to provide a The method for automated access to goods based on the turret-type three-dimensional inventory rack solves the deficiencies in the background art, and the method can realize automatic inventory pick-up, without requiring the driver to perform any operation in the process, and the inventory pick-up efficiency is high.
  • the storage of goods is large.
  • the invention is also applicable to the public parking area of the city, and can provide as many parking spaces as possible in a limited space, and the parking and picking up the vehicle is convenient and fast, and the automatic operation can be realized.
  • An automated method for accessing goods based on a turret-type three-dimensional inventory rack, which can store and take Z quantity of goods at one time including the following steps:
  • the lifting platform moves up and down and stops at the entrance and exit layer.
  • the tractor pushes the traction frame on the transit position to the transitional cargo position, and at most simultaneously pushes the Z traction frames on the transit position to the transitional cargo position;
  • the goods to be stored are placed on the transitional cargo space where the traction frame is placed. After the cargo is stabilized, the lifting platform aligns the transit cargo space with the transitional cargo space where the cargo is parked. At this time, the tractor will transfer the traction frame from the transitional cargo space. Drag onto the transit position; the number of goods to be stored in a single order is C, the number of transitional positions is G, C ⁇ G, the number of transit positions is Z, C ⁇ Z, when C ⁇ Z At the time, the remaining empty traction frame remains on the transitional position to continue to be used by the customer to park the cargo;
  • the lifting platform moves up and down and stops at the storage layer corresponding to the idle inventory bin where the traction frame is not placed, and the intermediate cargo space is aligned with the empty inventory bin where the traction frame is not placed, and then the tractor pushes the traction frame together with the cargo to the cargo
  • the single inventory operation is completed.
  • the corresponding inventory warehouses in the storage layer are idle, they can be used once. Z number of goods to be stored with the traction frame pushed into the inventory at the same time;
  • the lifting platform moves up and down and stops at the entrance and exit layer.
  • the tractor pushes all the traction frames on the transit position to the transitional cargo position, and then removes the goods from the transitional cargo position, that is, completes a single picking operation;
  • step (2) the lifting platform is first docked at the storage layer closest to the access layer.
  • step (4) when the number of vehicles to be stored is less than the quantity to be picked up, that is, when C ⁇ Q At the same time, the empty traction frame on the excessive cargo space will gradually increase. When the quantity is close to the number G of the transitional cargo space, the lifting platform will drag the empty traction frame in the transitional cargo space to the empty transit cargo position, and then follow the steps. (5) Push the empty traction frame onto the inventory bin.
  • step (5) during the lifting process, the rotating base at the bottom of the transfer position is rotated 180 degrees, The direction of the goods is exchanged.
  • Steps (5) and (6) In the case that the inventory warehouse to be in stock and the goods to be picked up are located in different storage layers, if the entry and exit layer is at the lowest level, the lifting platform moves from the bottom to the top to move the inventory first, then moves from top to bottom, and then picks up the goods in turn. If the access layer is at the top floor, the lifting platform moves from top to bottom to move inventory first, then moves from bottom to top, and picks up the goods in turn.
  • the invention also provides a turret type three-dimensional inventory rack used in the above method, which comprises at least a plurality of layers
  • the storage compartments are evenly distributed with the inventory bins in the circumferential direction, and the direction of the inventory bins are oriented. Center, the inventory is provided with tracks; evenly distributed in the circumferential direction in the access layer
  • the outer end of the transitional cargo space is open, and the cargo enters or leaves the inventory frame from its outer end;
  • the lifting tower is vertically fixed at the center of the cargo rack, and the lifting platform is annular and is placed on the lifting tower, lifting The platform moves up and down along the lifting tower and rests on any one of the shelves, the lifting platform can also rotate around the lifting tower, the outer circumference of the lifting platform is adjacent to the inner circumference of the cargo rack; a transfer position is evenly arranged on the table surface of the lifting platform in the circumferential direction, and the transfer position is provided with a track and a tractor ;
  • Each of the inventory bins is provided with a traction frame, and the bottom of the traction frame is provided with a pulley, and the pulley slides along the track set on the inventory bin, the transitional cargo space and the transit cargo position, and the cargo is parked above the traction frame.
  • the tractor It can be connected to the traction frame and drive the traction frame to move in the inventory bin and the transfer position.
  • the automated access method has the following advantages: 1
  • the invention has wide application range and can be applied to container access of port terminals, and is suitable for accessing military readiness materials and weapons and ammunition in the military, building it in the mature area of the city, and also being able to be used as a three-dimensional parking lot. 2. Since there are multiple transit positions on the lifting platform, multiple cargo accesses can be completed in a single operation with high efficiency. 3
  • a rotating seat is arranged below the transit position, and the rotating seat is rotated to change the direction of the cargo parked on the transit position. Therefore, for some special goods such as vehicles that are directional, when the driver saves the vehicle, only the vehicle is needed.
  • the purpose is to provide a turret-type three-dimensional parking lot, which solves the deficiencies in the background art.
  • the parking lot adopts a three-dimensional structure, has a small occupied area, provides a lot of parking spaces, and is convenient and efficient for parking.
  • a turret-type three-dimensional parking lot includes at least a multi-layered annular parking rack, an elevating tower located at a center of the parking rack, and a lifting platform mounted on the lifting tower and moving up and down along the lifting tower, wherein the parking rack is
  • the frame structure has at least two layers, and any one of the parking spaces is level with the ground, and the layer is an entry and exit layer, and the remaining layers are storage layers, and the parking layer is uniformly distributed in the circumferential direction.
  • the parking spaces are oriented toward the center of the circle, and the parking spaces are provided with rails.
  • the transitional parking spaces are evenly distributed in the circumferential direction in the entrance and exit layers, and the transitional parking spaces are provided with rails, and the outer ends of the transitional parking spaces are open.
  • the vehicle enters or leaves the parking lot from its outer end;
  • the lifting tower is vertically fixed at the center of the parking rack, the lifting platform is annular and is placed on the lifting tower, and the lifting platform moves up and down along the lifting tower.
  • the lifting platform can also rotate around the lifting tower, the outer circumference of the lifting platform is adjacent to the inner circumference of the parking rack;
  • the lifting platform A transfer parking space is evenly arranged on the table surface in the circumferential direction, and the transfer parking space is provided with a track and a tractor;
  • the parking space is provided with a traction frame, and the bottom of the traction frame is provided with a pulley, and the pulley is parked along the parking space.
  • the track, the transitional parking space and the track provided on the transit parking space, the vehicle is parked above the traction frame, the tractor is connected with the traction frame, and the traction frame is driven to move on the parking space and the transit parking space;
  • the traction frame is provided with wheel fixing device for restricting the sliding of the vehicle parked thereon;
  • the rotating seat is provided below the rotating parking space, and the rotating seat is rotated to change the direction of the vehicle parked in the transit parking space;
  • a traction pull ring is arranged on both ends of the traction frame.
  • the lifting platform is provided with six intermediate parking spaces, and each of the parking racks is provided with 24 Parking spaces or transition spaces.
  • the parking rack is provided with 5-15 layers in total, and the bottom layer is the entry and exit layer.
  • the turret type stereo parking lot provided above has the following advantages: 1 Because the parking rack adopts a multi-layered annular frame structure, it can expand to a high altitude or underground and provide more parking spaces in a small footprint. 2 In this application, the parking and pick-up are automatically completed by the lifting platform, so the access to the car is extremely efficient and does not require the driver to drive. 3 A rotating seat is arranged under the transfer parking space, and the rotating seat is rotated to change the direction of the vehicle parked in the transit parking space.
  • Embodiment 1 is a turret-type three-dimensional inventory rack according to Embodiment 1 of the present invention or a turret-type three-dimensional parking lot in Embodiment 2 of the present invention; Schematic diagram of the overall structure.
  • Fig. 2 is a structural schematic view of the lifting tower and the lifting platform of the turret type three-dimensional inventory rack or the turret type three-dimensional parking lot shown in Fig. 1.
  • Fig. 3 is a structural schematic view of the traction frame of the turret type three-dimensional inventory rack or the turret type three-dimensional parking lot shown in Fig. 1.
  • Figure 4 is provided by the present invention A partial structural view of a preferred embodiment of a system for accessing cargo, wherein the intermediate cargo location is in a first moving position.
  • Figure 5 is provided by the present invention
  • a preferred embodiment of a system for accessing cargo is provided with a structural view in which the intermediate cargo location is in a second moving position.
  • Figure 6 is provided by the present invention
  • a preferred embodiment of a system for accessing cargo has a structural view in which the intermediate cargo location is in a third mobile position.
  • the system for accessing cargo includes a cargo rack that includes at least first and second layers at different vertical heights.
  • the term "goods" as used herein refers to all items that are suitable for storage, such as containers, vehicles or other large items; when storing a vehicle, the position frame may also be referred to as a parking space frame.
  • the 'first layer' and 'second layer' referred to herein are not limited in order.
  • the rack is a total of two layers, it can be understood that the lower layer is the 'first layer' and the higher layer is the 'second layer'; it can also be understood as the lower layer.
  • the higher layer is the 'first layer'.
  • any one of the racks can be understood as a 'first layer', and any other layer can be understood as a 'second layer'.
  • the first floor of the cargo rack has a plurality of transitional cargo spaces
  • the second floor of the cargo bay has a plurality of storage locations for storing goods.
  • the role of the transitional position is to temporarily place the goods, which are ultimately placed in the storage location.
  • the storage location can be Inventory bin; if storing a vehicle, Transitional and storage locations can be transitional parking spaces and parking spaces.
  • the first layer of the pallet can be designed as an access layer for the cargo, for example, the first floor of the pallet is at the same level as the ground.
  • the second layer may be higher than the first layer (eg, on the ground) or lower than the first layer (eg, underground). It will be apparent to those skilled in the art that different levels of the racks can be designed in accordance with the principles and actual conditions provided by the present invention. For example, if used as a parking lot, the cargo rack can be designed to 5-15 layers.
  • At least a portion of the plurality of storage locations are arranged in an annular array, and at least a portion of the plurality of transitional locations are arranged in an annular array. More preferably, all of the storage locations are arranged in an annular array, with all transitional locations being arranged in an annular array.
  • the advantage of arranging storage locations and transitional locations in a circular array is the ease of moving the goods between the transitional and storage locations.
  • Set the number of storage locations arranged in a circular array as F, the number of transitional positions arranged in a circular array is G, and as a preferred embodiment, the number of F and G is equal. If used as a parking lot, the number of F and G can be designed 24, that is to say, each floor of the cargo rack has 24 parking spaces.
  • the system for accessing cargo further includes an access device; the access device includes a lifting platform, a lifting device for lifting the lifting platform, and a rotating device for driving the lifting platform to rotate, the lifting platform having a relay The cargo platform, the lifting platform having at least a first lifting position for moving the cargo between the intermediate cargo space and the transitional cargo space, and a second lifting position for moving the cargo between the intermediate cargo space and the storage cargo space.
  • the function of the lifting platform is to move the goods between the transitional position and the storage position.
  • the lifting platform has a transit position and has the freedom of lifting and rotation. In this way, through the lifting of the lifting platform, the lifting platform can be docked at different heights of the cargo rack; by the rotation of the lifting platform, the transit cargo space on the lifting platform can correspond to the transitional cargo space or storage of each floor of the cargo rack.
  • the cargo space is used to move the cargo between the transit position and the transitional or storage position, thereby finally moving the cargo between the transitional position and the storage position.
  • the transit location can be a transit space.
  • the lifting platform has a plurality of intermediate positions, and at least a portion of the plurality of intermediate positions are arranged in an annular array. More preferably, all of the intermediate cargo positions are arranged in an annular array.
  • Set the number of transfer positions arranged in a circular array as Z as a preferred embodiment, F is an integer multiple of Z, and G is an integer multiple of Z. More selective, F is 2 ⁇ 6 times of Z, and G is 2 ⁇ 6 times of Z; Z The value is 4-8.
  • the number of F and G can be designed in 24, and the number of Z can be designed as 6 One.
  • the transitional cargo space, storage location, and transit cargo space are evenly arranged in a circular array.
  • 6 intermediate cargo spaces can be combined with 6 of the 24 storage locations of the floor.
  • 6 goods can be moved from the transfer position to the storage position at the same time, or 6 goods can be moved from the storage position to the transfer position at the same time, or at the same time 3
  • the goods are moved from the transit position to the storage location and 3
  • the goods are moved from the storage position to the transit position.
  • the access device is configured to: when the lifting platform is in the first lifting position, at least a part of the plurality of transit points and the plurality of transitional positions At least a portion of the plurality of intermediate positions are at a one-to-one position on a plane of the first layer; and at least a portion of the plurality of intermediate positions and at least the plurality of storage spaces when the lifting platform is at the second elevated position A portion is in a one-to-one correspondence on the plane of the second layer. If you want to The 6 transfer positions correspond to the other 18 storage positions, and only need to rotate the lifting platform 3 times, each time 15 degrees.
  • the lifting device can include a column along which the lifting platform is raised and lowered, the column being mounted directly or indirectly on the rotating device.
  • the lifting device can be a chain lifting device, and the lifting device can also be a scissor lifting device.
  • the lifting device and rotation can be driven by a motor or hydraulically. The arrangement of the lifting device and the rotating device is well known in the art and will not be described in detail herein.
  • the access device also includes a mobile device for moving the cargo between the transit location and the transitional location and for moving the cargo between the transit location and the storage location.
  • the mobile device includes a movable traction frame and a tractor for moving the traction frame, the cargo being moved by being placed on the traction frame.
  • a roller can be mounted on the traction frame to effect movement of the traction frame.
  • a track may be provided to optimize the movement of the traction frame, at least one of the storage positions having a storage position track for the movement of the traction frame, at least one of the transitional positions having A transitional cargo track in which the traction frame moves, at least one of the intermediate cargo spaces having a transit cargo track for the movement of the traction frame.
  • all of the storage locations have storage rails for the movement of the tractor frame
  • all of the transitional cargo spaces have transitional cargo rails for the movement of the traction frames, all of which have a movement for the traction carriages.
  • the access device is configured to: when the lifting platform is in the first lifting position, at least one intermediate cargo track is connected to at least one transitional cargo track; and when the lifting platform is in the second lifting position At least one transit cargo track is coupled to at least one storage location track.
  • the access device is configured to: when the lifting platform is in the first lifting position, all of the intermediate cargo rails are connected with a portion of the transitional cargo rail; and when the lifting platform is located in the second When the position is raised, all the intermediate cargo rails are connected to some of the storage rails.
  • Tracks can also be designed in a variety of styles.
  • the track may be a groove located in a transitional location, a storage location, a transit location, and the rollers of the traction frame are constrained to move in the recess.
  • the track can also be designed in the form of a rail, and the rollers of the traction frame are limited to move on the rail track.
  • the tractor can be designed as a rope type, including a rotating shaft, a rope wound around the rotating shaft, and a hook at the distal end of the rope.
  • a traction puller is mounted on the traction frame, and the rope hook of the tractor hangs the traction pull ring, and the rotation of the rotating shaft is directly or indirectly controlled by the motor, thereby controlling the traction frame to move along the track.
  • Mobile devices can also be other structures.
  • Figure 4 - Figure 6 A specific embodiment of a mobile device is shown.
  • the intermediate cargo position is designed as a comb structure.
  • the transit location has a first moving position relative to the transitional location and the storage location (figure 4)), the second moving position (shown in Figure 5), and the third moving position (Figure 6
  • the first movement position is offset from the transitional position and the storage position in a vertical direction; the second movement position is located vertically below the transitional or storage location, and the third movement position Located vertically above the transitional location or storage location.
  • the lifting platform can drive the transfer position to move up and down to move the transfer position to a height corresponding to a certain layer in the position frame; when the transfer position passes through the When the gap of the transitional or storage location moves from the second moving position to the third moving position, the cargo space moves from the transitional or storage location to the transited position; when the transited position passes through When the transitional space or the gap of the storage location moves from the third movement position to the second movement position, the cargo space moves from the transit position to the transitional position or the storage position.
  • the system performs the following operations: 1) The transfer position moves to the first moving position; 2) the lifting platform is lifted and lowered, and the final lifting platform is stopped at the transitional position where the moving position needs to be moved or the layer where the storage position is stored; If the location of the transit position does not correspond to the transitional position or the storage location that requires moving the cargo space, the lifting platform needs to be rotated so that the position of the transit cargo space corresponds to the transitional cargo space or the storage location where the mobile cargo space needs to be moved; Transferring the transfer position from the first moving position to the second moving position, and then moving from the second moving position to the third moving position, at which time the goods are moved from the transitional position or the stored position to the intermediate position; The transfer position moves to the first moving position; 6) the lifting platform moves up and down.
  • the system performs the following operations: 1 The transfer position moves to the first moving position; 2) the lifting platform is lifted and lowered, and the final lifting platform is stopped at the transitional position where the moving position is required or the layer where the storage position is stored; If the location of the transit position does not correspond to the transitional position or the storage location that requires moving the cargo space, the lifting platform needs to be rotated so that the position of the transit cargo space corresponds to the transitional cargo space or the storage location where the mobile cargo space needs to be moved; The transfer position moves from the first moving position to the third moving position, and then moves from the third moving position to the second moving position, at which time the goods move from the intermediate position to the transitional position or the storage position; ) the transfer position moves to the first moving position; 6 The lifting platform is lifted and lowered.
  • the shape of the void is a comb shape that matches the shape of the intermediate cargo space, the gap being of a size sufficient to move the intermediate cargo position between the second moving position and the third moving position.
  • the intermediate position has two sides of the comb so that the tires on both sides of the vehicle can be stopped on the comb teeth on both sides.
  • the mobile device may include a telescopic device and a lifting device, the telescopic device being mounted on the lifting platform, the lifting device being directly or indirectly mounted to the distal end of the telescopic device,
  • the intermediate cargo space is mounted directly or indirectly on the lifting device.
  • the function of the lifting device is to drive the intermediate transfer position to move between the second moving position and the third moving position
  • the function of the telescopic device is to drive the transfer position to move from the first moving position to the second moving position or the third moving position, or The drive intermediate position moves from the second moving position or the third moving position to the first moving position.
  • the 'first moving position' referred to herein may include two cases, namely a higher first moving position and a lower first moving position; wherein the transfer position is at a higher first movement In the position, the intermediate position is flush with the third moving position in the horizontal direction; when the intermediate position is in the lower first moving position, the intermediate position is flush with the second moving position in the horizontal direction.
  • the movement of the intermediate cargo position between the higher first moving position and the lower first moving position can be accomplished by the lifting device drive.
  • the transit position needs to be moved from the first moving position to the second moving position
  • the transit position prefers to move to the lower first moving position; and the intermediate position needs to move from the first moving position to the third moving position
  • the transit location prefers to move to a higher first mobile location.
  • the intermediate cargo position may be located at a higher first moving position or at a lower first moving position. More preferably, when the lifting platform is moving up and down, the intermediate position is located at a lower first moving position.
  • the mobile device may further include a rotating device directly or indirectly mounted on a distal end of the telescopic device, the lifting device being directly or indirectly mounted on the On the rotating device.
  • the intermediate position can be rotated about the axis of the vertical direction. This arrangement is more advantageous for the system provided by the present invention to be used as a parking lot.
  • the vehicle in the transit position can be operated to rotate once during the storage and removal process, so that the vehicle finally stops at the transitional position with the front of the vehicle head facing the outside of the cargo rack, which is beneficial to the final exit of the vehicle.
  • the system including the lifting device, the rotating device, the telescopic device, the lifting device, and the rotating device described above may further include an automatic control device, and the function of the automatic control device is to control the lifting device, the rotating device, the telescopic device, the lifting device, and the rotating device.
  • the movement thus controls the movement of the lifting platform and the transit position.
  • the control device includes a central control module, an instruction input module, a lifting device motor driving module, a rotating device motor driving module, a telescopic device motor driving module, a lifting device motor driving module, a rotating device motor driving module; and the central control module respectively
  • the command input module, the lifting device motor driving module, the rotating device motor driving module, the telescopic device motor driving module, the lifting device motor driving module, and the rotating device motor driving module are connected.
  • the central control module may further include a data module for recording a situation in which the storage location stores goods, and the central control module inputs an instruction according to the instruction input module and the data module.
  • the data generates a program for storing or removing the goods.
  • the method of accessing goods using the system includes the following steps:
  • step 2) During the operation of step 2), or wait for step 2 After the operation is completed, controlling the lifting platform and controlling the movement of the transit position, so that as many items as possible to be taken out of the storage position are moved to the transit position;
  • the above-mentioned 'controlling the lifting platform and controlling the movement of the transit position' includes one or more of the following movements: a Controlling the lifting and lowering of the lifting platform by means of lifting equipment, so that the lifting platform corresponds to the layer of the cargo space that needs to move the goods; b Controlling the rotation of the lifting platform by means of a rotating device, so that the transit position corresponds to a transitional position or a storage position where the goods need to be moved; c Controlling the intermediate cargo position between the first moving position and the second moving position and between the first moving position and the third moving position by the telescopic device; d Controlling the intermediate cargo position to move between the second moving position and the third moving position by the lifting device; e) controlling the rotation of the intermediate cargo position by the rotating device.
  • the above-mentioned details of 'moving the goods to be stored on as many transitional positions as possible to the transit position' may include: a ) There is no need to store the goods, only the goods need to be taken out, then the goods to be stored need not be moved to the transit position; b The number of goods to be stored on the transitional position is less than or equal to the number of transit positions, and all the positions to be stored are moved to the transit position at one time, and the lifting platform may or may not be needed during the movement. Select a lifting platform; c The number of goods to be stored on the transitional cargo space is greater than the number of transit cargo spaces. The number of transit cargo spaces to be stored is transferred to the transit cargo space at one time. The lifting platform may or may not be required during the movement. Need to choose a lifting platform.
  • the above-mentioned details of 'storing the goods to be stored on the transit space one or more times to the storage location' may include: a If the number of vacant storage spaces on a certain layer is greater than or equal to the number of goods to be stored in the transit position, all the goods to be stored in the transit position can be moved to the vacant storage position on this floor at one time.
  • the lifting platform it may be necessary to rotate the lifting platform, or it may not be necessary to select the lifting platform; b ) If the number of vacant storage spaces on each floor is less than the quantity of goods to be stored in the transit position, the goods to be stored in the transfer position need to be moved to the storage location of multiple layers, which requires lifting platform to lift Operation, it may be necessary to rotate the lifting platform, or it may not be necessary to select the lifting platform.
  • step 3) may include: a ) No need to take out the goods, only need to store the goods, then you do not need to move the goods to be removed to the transit position; b Move the goods to be stored in the transit position to the vacant storage position, and move the goods to be taken out to the vacant transit position. At this time, some of the transferred goods are placed in the unsold place. Store goods; c Move the goods to be stored in the transit position to the vacant storage position, and move the goods to be taken out to the vacant transit position. At this time, all the transferred goods have no unsold goods to be stored. .
  • the method for accessing goods provided by the present invention can store and take out a plurality of goods at the same time.
  • the system is used for accessing static goods (such as containers). Therefore, it is called a turret-type three-dimensional inventory.
  • the column is specifically an elevator tower.
  • the storage location is specifically an inventory bin, and the rotating device is specifically a rotating seat.
  • the system is used to access vehicles, so it is called a turret-type three-dimensional parking lot.
  • the column is specifically a lifting tower.
  • the storage location is specifically a parking space.
  • the transitional cargo space is specifically a transitional parking space.
  • the transit cargo space is specifically a transit parking space.
  • the rotating device is specifically a rotating seat.
  • Embodiment 1 Turret type three-dimensional inventory
  • the overall structure of the turret type three-dimensional inventory frame provided by this embodiment is as shown in FIG. 1 , and at least includes a multi-layered ring-shaped position frame 1 , the lifting tower 2 located at the center of the cargo rack, and the lifting platform 3 mounted on the lifting tower and moving up and down along the lifting tower, the cargo rack 1 It has a frame structure and is provided with at least two layers. Any one of the storage racks is level with the ground, and the layer is an entry and exit layer, and the remaining layers are storage layers, and the storage layer is uniformly distributed in the circumferential direction.
  • the direction of the inventory bins is all toward the center of the circle, and the rails are provided with rails 5, and the transitional cargo spaces are evenly distributed along the circumferential direction in the inlet and outlet layers. 6
  • the rails are arranged on the upper side, and the outer end of the transitional cargo space is open, and the cargo enters or leaves the stock rack from its outer end.
  • the shelf is generally set 5-15
  • the layer is preferred, wherein the bottom layer is the entry and exit layer.
  • the shelves have a total of 12 layers.
  • the lifting tower 2 is vertically fixed at the center of the cargo rack 1, and its structure is as shown in Fig. 2, and the lifting platform 3 is annular and is placed on the lifting tower 2
  • the lifting platform 3 moves up and down along the lifting tower 2 and rests on any one of the shelves.
  • the lifting platform can also rotate around the lifting tower 2, and the outer circumference of the lifting platform 3 is adjacent to the cargo space.
  • frame The inner circumference of the lifting platform 3 is uniformly disposed with a transfer position 7 in the circumferential direction, and the transfer position 7 is provided with a track 5 and a tractor 8.
  • the transfer location 7 A rotating base 11 is disposed below the rotating base 11, and the rotating base 11 is rotated to change the direction of the cargo parked on the intermediate position.
  • a traction frame 9 is disposed in the inventory bin, and the structure of the traction frame 9 is as shown in FIG. 3, and the bottom of the traction frame 9 is provided with a pulley 10
  • a traction pull ring 12 is disposed on both ends of the traction frame.
  • the pulley 10 slides along the track provided on the inventory bin, the transitional cargo space and the intermediate cargo position, and the cargo is parked above the traction frame 9, the tractor 8 Can be connected to the traction frame and drive the traction frame to move in the inventory bin and the transfer position.
  • the traction frame is provided with fixing means for restricting the sliding of the cargo parked thereon.
  • the lifting platform is provided with six intermediate storage positions, and each of the shelves is provided with 24 Inventory bins or transitional positions. Since 24 is a multiple of 6, the rotating platform only needs 3 rotations, 15 per revolution. Degree, can be docked with all the inventory of the single layer, saving time and effort.
  • the method for automatically accessing goods based on the turret type three-dimensional inventory frame provided by the invention is as follows: 1 Initialization is performed on the first use: confirm that all the inventory bins in the storage layer of the shelf are placed with the traction frame, and the transitional cargo space on the access layer and the transit cargo space on the lifting platform have no traction frame, that is, the initialization is completed.
  • the lifting platform moves and stops at any storage layer.
  • the lifting platform generally stops at the storage layer closest to the access layer, and then the lifting platform rotates to transfer the first transit position and inventory.
  • the bin is aligned, then the tractor is started, the tractor drags the traction frame on the inventory bin to the transfer position, and then proceeds to drag the traction frame on the other inventory bin to the second transfer position. , until all the transfer positions are placed on the traction frame.
  • the lifting platform moves up and down and stops at the entrance and exit layer, and the tractor pushes all the traction frames on the transit position to the transitional cargo position.
  • the goods to be stored are placed on the transitional cargo space where the traction frame is placed. After the cargo is stabilized, the lifting platform aligns the transit cargo position with the transitional cargo space where the cargo is parked. At this time, the tractor will convert the traction frame from the transition cargo. Towed to the transit position; if the number of goods to be stored in a single order is less than For 6 vehicles, the remaining empty traction frames remain in the transitional position.
  • the empty traction frame on the excessive cargo space will gradually increase, when the quantity is close to the number of transitional positions.
  • the lifting platform drags the empty traction frame in the transitional space to the empty intermediate position in this step, and then pushes the empty traction frame to the inventory bin according to the next step.
  • the lifting platform moves up and down, the rotating seat at the bottom of the transfer position rotates 180 degrees, and the direction of the goods is exchanged ( This step is only for goods that need to be reversed, such as vehicles) .
  • the lifting platform is docked at the storage layer corresponding to the empty inventory bin where the traction frame is not placed, the intermediate cargo space is aligned with the empty inventory bin where the traction frame is not placed, and then the tractor pushes the traction frame together with the cargo to the inventory bin.
  • all the traction frames on the lifting platform are placed on the inventory bin, ie Complete a single inventory job.
  • the lifting platform moves to the corresponding storage layer according to the specific position of the goods in the pickup information, and then the lifting platform rotates, the transit position is aligned with the inventory bin with the goods, and then the tractor pulls the traction frame, and The traction frame and the cargo are dragged together to the intermediate cargo position.
  • the lifting platform moves from top to bottom, and the goods are picked up in turn. If the quantity of goods to be picked up in the pick-up information is less than the quantity of the transferred goods, according to the quantity of goods to be stored next time C1, judge the number of excess transfer positions to pull up the empty traction frame.
  • the lifting platform moves up and down and stops at the entrance and exit layer.
  • the tractor pushes all the traction frames on the transit position to the transitional cargo position.
  • the cargo owner removes the goods from the transitional cargo position, that is, completes the single picking operation.
  • the present application can also be used in a bustling urban area for automated access to vehicles.
  • the inventory bin is set as a parking space, and the transit position and transitional cargo position are set to The transfer parking space and the transition parking space can be used, and the remaining steps are the same.
  • Embodiment 2 Turret-type three-dimensional parking lot
  • the overall structure of the turret type parking lot provided by this embodiment is as shown in FIG. 1 , and at least includes a parking rack 1 in a multi-layered ring shape 1 , a lifting tower 2 located at the center of the parking rack, and a lifting platform 3 mounted on the lifting tower and moving up and down along the lifting tower, the parking rack 1 It has a frame structure and is provided with at least two layers. Any one of the parking spaces is level with the ground, and the layer is an entry and exit layer, and the remaining layers are storage layers, and the storage layer is uniformly distributed in the circumferential direction.
  • Parking space 4 The parking spaces are all oriented toward the center of the circle, and the parking spaces are provided with rails 5, and the transitional parking spaces 6 are evenly distributed along the circumferential direction in the access layer, and the transitional parking spaces 6 There are rails on the upper side, and the outer end of the transitional parking space is open, and the vehicle enters or leaves the parking lot from its outer end.
  • the parking rack is generally set 5-15
  • the layer is preferred, wherein the bottom layer is the entry and exit layer. In this embodiment, the parking rack has 12 floors.
  • the lifting tower 2 is vertically fixed at the center of the parking rack 1, and its structure is as shown in Fig. 2.
  • the lifting platform 3 is annular and is placed on the lifting tower. 2, the lifting platform 3 moves up and down along the lifting tower 2, and stops on any one of the parking racks, and the lifting platform can also rotate around the lifting tower 2, the lifting platform 3
  • the outer circumference is adjacent to the inner circumference of the parking rack 1; the platform of the lifting platform 3 is evenly disposed with a relay parking space 7 in the circumferential direction, and the intermediate parking space 7 is provided with a track 5 and a tractor 8 .
  • a rotating seat 11 is disposed below the intermediate parking space 7, and the rotating base 11 is rotated to change the direction of the vehicle parked in the intermediate parking space.
  • the parking space is provided with a traction frame 9 and a traction frame 9
  • the structure of the traction frame 9 is provided with a pulley 10 at the bottom of the traction frame 9, and a traction pull ring 12 is disposed on both ends of the traction frame.
  • the pulley 10 Sliding along the parking space provided in the parking space, the transitional parking space and the transit parking space, the vehicle is parked above the traction frame 9, the tractor 8 It can be connected to the traction frame and drive the traction frame to move in the parking space and the intermediate parking space.
  • the traction frame is provided with wheel fixing means for restricting the sliding of the vehicle parked thereon.
  • the lifting platform is provided with six intermediate parking spaces, and each of the parking racks is provided with 24 Parking spaces or transition spaces. Since 24 is a multiple of 6, the rotating platform only needs 3 rotations, 15 per revolution. It can be docked with all parking spaces on a single floor, saving time and effort.
  • the automatic parking and picking method based on the turret type three-dimensional parking lot provided by the invention is as follows: 1 Initialization is performed on the first use: confirm that there is a traction frame on all parking spaces in the storage layer of the parking rack, and there is no traction frame on the transitional parking space on the access floor and the transit parking space on the lifting platform, that is, the initialization is completed.
  • the lifting platform moves and stops at any storage layer.
  • the lifting platform generally stops at the storage layer closest to the access layer, and then the lifting platform rotates, and the first transit parking space and parking space Aligned, then the tractor is started, the tractor drags the traction frame on the parking space to the intermediate parking space, and then presses the process to continue to drag the traction frame on the other parking space to the second intermediate parking space until all A traction frame is placed on the transfer parking space.
  • the lifting platform moves up and down and stops at the entrance and exit layer, and the tractor pushes all the traction frames on the transit parking space to the transitional parking space.
  • the driver drives the vehicle to be stored to the transitional parking space where the traction frame is placed. After the vehicle stops and turns off the fire, the driver gets off the vehicle.
  • the lifting platform aligns the transit parking space with the transitional parking space where the vehicle is parked. At this time, the tractor will tow.
  • the frame is towed to the transit space by the transitional parking space; if the number of vehicles to be stored in a single time is less than For 6 vehicles, the remaining empty traction frame remains in the transitional parking space.
  • the lifting platform drags the empty traction frame in the transitional parking space to the empty intermediate parking space in this step, and then pushes the empty traction frame to the parking space according to the next step.
  • the lifting platform moves up and down, and the rotating seat at the bottom of the transfer parking space rotates 180 Degree, the direction of the vehicle is changed. Then the lifting platform is docked at the storage layer corresponding to the empty parking space where the traction frame is not placed, the intermediate parking space is aligned with the empty parking space where the traction frame is not placed, and then the tractor pushes the traction frame together with the vehicle to the parking space. When all the traction frames on the lifting platform are placed in the parking space, a single parking operation is completed.
  • the lifting platform moves to the corresponding storage layer according to the specific position of the vehicle in the pickup information, and then the lifting platform rotates, the transit parking space is aligned with the parking space where the vehicle is parked, and then the tractor pulls the traction frame to be towed.
  • the rack and the vehicle are towed to the intermediate parking space.
  • the lifting platform moves from top to bottom, and the vehicle is taken in turn. If the number of vehicles to be picked up in the pick-up information is less than the number of transit parking spaces, according to the number of vehicles to be stored next time C1, to determine the number of excess transfer positions for the excess transfer position.
  • the lifting platform moves up and down and stops at the entrance and exit layer.
  • the tractor pushes all the traction frames on the transit parking space to the transitional parking space.
  • the driver waiting for the vehicle removes the vehicle from the transitional parking space, that is, completes a single vehicle picking operation.

Abstract

一种存取货物的系统及采用该系统存取货物的方法，所述系统包括货位架（1），所述货位架（1）至少包括位于不同垂直高度的第一层和第二层，所述货位架（1）的第一层具有多个过渡货位（6），所述货位架（1）的第二层具有多个用于存放货物的存放货位；所述系统还包括用于将货物在过渡货位（6）与存放货位之间移动的存取装置；所述存取装置包括升降平台（3）、用于升降所述升降平台（3）的升降设备、以及用于驱动所述升降平台（3）旋转的旋转设备。该系统能实现高效率地存取货物。

Description

一种存取货物的系统和方法
技术领域
本发明提供了一种存取货物的系统，属于物流储运技术领域。本发明还提供了一种存取货物的方法。
背景技术
大多数的货物到达港口后由于种种的原因，不可能立即转运走，需要在港口的仓库中进行存放，存放时间有长有短。由于各个港口的仓库占地面积有限，因此货位数量也是有限的，随着如今货物贸易的繁荣发展，这就导致上述货位基本上处于一种饱和的状态，从而导致很多货物不能及时的存放。此外，目前的港口仓库还普遍存在的问题是存取麻烦，大多需要依赖于人工，无法实现自动化、智能化存取。
截至2011年8月底，全国机动车保有量达到2.19 亿辆。其中，汽车保有量首次突破1亿辆大关，占机动车总量的45.88％。车辆猛增，既为市民出行带来很大的方便，也给城市的道路基础建设与交通管理带来极大压力。尽管公安、交通、城市管理等部门不断加强管理力度，但商业聚集程度较高，车流量、人流量较大的区域与繁华路段存货难、车辆占道乱停乱放现象依然存在。目前大型的商圈或公共设施 (如公园、游乐园、体育馆)都配套建筑有公共地面停车场，但是这些公共停车场由于车位有限，并不能完全满足消费者的停车需求。此外，现有的公共停车场还存在有以下问题：由于停车场均为露天地面存货场，无法遮风挡雨；此外，进出通道的数量较少，当多辆汽车需要进出时，易导致堵塞。
因此，目前上述两个领域中急需一种存取方便、容量大、自动化、智能化的存取货物技术。
发明内容
本发明的第一个目的是提供一种存取货物的系统 ，本发明所提供的系统能实现高效率地存取货物。
为解决上述问题，本发明采取的技术方案是：一种存取货物的系统，所述系统包括货位架，所述货位架至少包括位于不同垂直高度的第一层和第二层，其特征在于，所述货位架的第一层具有多个过渡货位，所述货位架的第二层具有多个用于存放货物的存放货位；
所述系统还包括用于将货物在过渡货位与存放货位之间移动的存取装置；所述存取装置包括升降平台、用于升降所述升降平台的升降设备、以及用于驱动所述升降平台旋转的旋转设备，所述升降平台具有中转货位，所述升降平台至少具有用于在中转货位和过渡货位之间移动货物的第一升降位置以及用于在中转货位和存放货位之间移动货物的第二升降位置，所述存取装置还包括用于在中转货位和过渡货位之间移动货物以及用于在中转货位和存放货位之间移动货物的移动设备。
优选地，所述升降设备包括立柱，所述升降平台沿所述立柱升降，所述立柱直接或间接地安装于所述旋转设备上。
优选地，所述货物为车辆。
优选地，所述多个存放货位的至少一部分以环形阵列的方式进行排布。
优选地，所述多个过渡货位的至少一部分以环形阵列的方式进行排布。
优选地，所述升降平台具有多个中转货位，多个中转货位的至少一部分以环形阵列的方式进行排布。
优选地，以环形阵列的方式进行排布的存放货位的数量为 F ，以环形阵列的方式进行排布的过渡货位的数量为 G ，以环形阵列的方式进行排布的中转货位的数量为 Z ，其中， F 为 Z 的整数倍， G 为 Z 的整数倍。
优选地， F 与 G 相等。
优选地， F 为 Z 的 2~6 倍， G 为 Z 的 2~6 倍。
优选地， Z 的数值为 4-8 。
优选地，所述存取装置被配置成：当所述升降平台位于第一升降位置时，所述多个中转货位中的至少一部分与所述多个过渡货位的至少一部分在第一层的平面上处于一一对应的位置；当所述升降平台位于第二升降位置时，所述多个中转货位中的至少一部分与所述多个存放货位的至少一部分在第二层的平面上处于一一对应的位置。
优选地，所述移动设备包括可移动的牵引架，货物通过放置于所述牵引架上被移动。
优选地，所述存放货位的至少一个具有用于牵引架移动的存放货位轨道，所述过渡货位的至少一个具有用于牵引架移动的过渡货位轨道，所述中转货位的至少一个具有用于牵引架移动的中转货位轨道。
优选地，所述存取装置被配置成：当所述升降平台位于所述第一升降位置时，至少一个中转货位轨道与至少一个过渡货位轨道连接；当所述升降平台位于所述第二升降位置时，至少一个中转货位轨道与至少一个存放货位轨道连接。
优选地，所述牵引架装有滚轮，所述移动设备还包括用于移动所述牵引架的牵引器。
优选地，所述过渡货位和存放货位具有空隙；所述中转货位相对于过渡货位和存放货位具有第一移动位置、第二移动位置、第三移动位置，其中，第一移动位置在竖直方向上与所述过渡货位和存放货位错开；第二移动位置位于所述过渡货位或存放货位的竖直下方，第三移动位置位于所述过渡货位或存放货位的竖直上方；当所述中转货位穿过所述过渡货位或存放货位的空隙从第二移动位置移动到第三移动位置时，货位从所述过渡货位或存放货位移动到所述中转货位；当所述中转货位穿过所述过渡货位或存放货位的空隙从第三移动位置移动到第二移动位置时，货位从所述中转货位移动到所述过渡货位或存放货位。
优选地，所述中转货位包括梳状部，所述过渡货位和存放货位的空隙的形状与所述梳状部相匹配。
优选地，所述移动设备包括伸缩装置和升降装置，所述伸缩装置安装于所述升降平台上，所述升降装置直接地或间接地安装于所述伸缩装置的远端，所述中转货位直接地或间接地安装于所述升降装置上。
优选地，所述移动设备还包括旋转装置，所述旋转装置直接地或间接地安装于所述伸缩装置的远端，所述升降装置直接地或间接地安装于所述旋转装置上。
优选地，所述系统还包括自动控制设备，所述自动控制设备包括中央控制模块、指令输入模块、升降设备电机驱动模块、旋转设备电机驱动模块、伸缩装置电机驱动模块、升降装置电机驱动模块、旋转装置电机驱动模块；所述中央控制模块分别与所述指令输入模块、升降设备电机驱动模块、旋转设备电机驱动模块、伸缩装置电机驱动模块、升降装置电机驱动模块、旋转装置电机驱动模块相连。
优选地，所述中央控制模块还包括用于记载存放货位存放货物情况的数据模块，所述中央控制模块根据所述指令输入模块接收到的指令及所述数据模块中的数据生成存放货物或取出货物的程序。
本发明还提供了一种应用上述系统存取货物的方法，所述方法包括如下步骤：
1 ）控制所述升降平台及控制中转货位的移动，使尽可能多的过渡货位上的待存放货物移动到中转货位；
2 ）控制所述升降平台及控制中转货位的移动，将中转货位上的待存放货物一次或多次存放到存放货位；
3 ）在步骤 2 ）操作的过程中，或者待步骤 2 ）操作完成后，控制所述升降平台及控制中转货位的移动，使尽可能多的存放货位上的待取出货物移动到中转货位；
4 ）控制所述升降平台及控制中转货位的移动，使得中转货位上的待取出货物移动到过渡货位。
以上技术方案的有益技术效果为： 单次可完成多辆货物的存取，效率高，可实现存取货物的自动控制。
本发明的另一个目的是 提供了一种 基于转塔式立体存货架的自动化存取货物方法，解决了背景技术中的不足，该方法能够实现自动化存货取货，在此过程中不需要驾驶员进行任何操作，并且存货取货的效率高，货物存储量大。本发明还适用于城市的公共停车领域，能够在有限的场地内提供尽可能多的停车位，且停车取车便捷、快速，能够实现自动化作业。
实现本发明上述目的所采用的技术方案为 ：
一种基于转塔式立体存货架的自动化存取货物方法，可一次性存、取 Z 数量的货物，包括以下步骤：
(1) 、初始化：确认货架的存放层中所有存货仓上均放置有牵引架，对各牵引架编号定位完毕，且进出层上的过渡货位以及升降平台上的中转货位上没有牵引架，即初始化完毕；
(2) 、升降平台移动并停靠在任一存放层处，升降平台旋转，将第一个中转货位与 存货仓相对准，然后牵引器启动，牵引器将位于存货仓上的牵引架拖到中转货位上，然后再按此过程继续将另一个存货仓上的牵引架拖到第二个中转货位上，直至全部中转货位上均放置有牵引架，最多同时将同一层的 Z 数量的牵引架拉入中转货位；
(3) 、升降平台上下移动并停靠在进出层，牵引器将中转货位上的牵引架全部推至过渡货位上，最多可同时将中转货位上的 Z 个牵引架推至过渡货位；
(4) 、待存放的货物放至放置有牵引架的过渡货位上，货物放稳后，升降平台将中转货位与停放有货物的过渡货位对准，此时牵引器将牵引架由过渡货位拖到中转货位上；单次待存放的货物的数量为 C ，过渡货位的数量为 G ， C ≤ G ，中转货位的数量为 Z ， C ≤ Z ，当 C ＜ Z 时，剩余的空牵引架留在过渡货位上以继续供客户停放货物；
(5) 、升降平台上下移动并停靠在未放置牵引架的闲置存货仓所对应的存放层处，将中转货位与未放置牵引架的空存货仓对准，然后牵引器将牵引架连同货物一起推至存货仓上，当升降平台上的全部牵引架均放置在存货仓上时，即完成单次存货作业，当存放层中对应的存货仓均为闲置时，可一次性将 Z 数量的待存放货物带牵引架同时推入存货仓；
(6) 、升降平台根据取货信息中货物停放的具体位置而移动至对应的存放层中，然后升降平台旋转，将中转货位对准待取货物的存货仓，然后牵引器拉动牵引架，将牵引架和货物一同拖至中转货位上，单次待取的货物的数量为 Q ， Q ≤ Z ，当 Q ＜ Z 时，根据下一次待存放的货物数量 C1 ，判断多余的中转货位上拉取空牵引架的数量 N ， N ＝ C1+C-Z-Q ，当 N ≤ 0 时，多余的中转货位上不拉取牵引架；
(7) 、升降平台上下移动并停靠在进出层，牵引器将中转货位上的牵引架全部推至过渡货位上，再将货物由过渡货位上取走，即完成单次取货作业；
(8) 、取货完毕后，重复步骤 (4) ～ (7) ，即可循环完成存货及取货作业。
步骤 (2) 中，升降平台先停靠在距离进出层最为接近的存放层处。
步骤 (4) 中，当待存放车数量小于待取货数量时，即当 C ＜ Q 时，过度货位上的空牵引架会逐渐累积增多，当此数量接近过渡货位的数量 G 时，升降平台将过渡货位中的空牵引架拖到空的中转货位上，然后按照步骤 (5) 将空牵引架推至存货仓上。
步骤 (5) 中，升降平台在升降过程中，中转货位底部的旋转座进行旋转 180 度，将 货物的方向调换。
步骤 (5) 和 (6) 中，当待存货的存货仓以及待取货物位于不同的存放层时，若进出层位于最底层，则升降平台由下至上移动先行存货，再由上至下移动，依次取货 ；若进出层位于最顶层，则升降平台由上至下移动先行存货，再由下至上移动，依次取货。
本发明同时还提供了一种用于上述方法中的转塔式立体存货架，至少包括呈多层 环状的货位架、位于货位架中心处的升降塔以及安装于升降塔上且沿升降塔上下移动的升降平台，所述的货位架呈框架式结构，且至少设置有两层，所述的货位架中的任意一层与地面相平，且该层为进出层，其余层均为存放层，存放层中沿圆周方向均匀分布有存货仓，所述存货仓的方向均朝向圆心，所述存货仓上均设置有轨道；进出层中沿圆周方向均匀分布 有过渡货位，过渡货位上均设置有轨道，过渡货位的外端为敞开式，货物由其外端进入或开出所述存货架；
所述升降塔竖直固定于货位架的圆心处，升降平台呈环状且套在升降塔上，升降 平台沿着升降塔上下移动，且停靠在货架中的任意一层上，升降平台还能够以升降塔为中心进行旋转，所述的升降平台的外圆周紧邻着货位架的内圆周；所述的升降平台的台面上沿圆周方向均匀设置有中转货位，所述的中转货位上设置有轨道以及牵引器 ；
所述存货仓中均设置有牵引架，所述牵引架的底部设置有滑轮，所述滑轮沿存货仓、过渡货位以及中转货位上所设置的轨道滑动，货物停放在牵引架的上方，所述的牵引器 能够与牵引架相连接，并带动牵引架在存货仓以及中转货位上进行移动。
与现有技术相比，以上提供的自动化存取货物方法具有以下优点： 1 、本发明适用范围十分广泛，能够适用于港口码头的集装箱存取，适用于军队中的战备物质及武器弹 药的存取，将其建造于城市的繁华地带，还能够作为立体停车场进行使用。 2 、由于升降平台上设置有多个中转货位，因此单次可完成多辆货物的存取，效率高。 3 、中转货位的下方设置有旋转座，旋转座通过旋转从而调换停放在中转货位上的货物方向，因此对于一些讲究方向性的特殊货物如车辆等，当司机存车时，只需要将车开进过渡货位即可下车后离去 ；在取货时，由于货物已经调转了方向，因此司机只需要从过渡货位上将车架开出即可，不需要进行倒车。 4 、由于本申请在存取货时能够实现自动化作业，因此存货时仅需将货物放至过渡货位上，放稳后即可离开，取货时可提前将取货信息发至存货架管理人员，进行预约取货， 待货主行至存货架时，货物已取出，因此使用十分便利，充分节省了货主的时间。
本发明的 另一个 目的是提供了一种转塔式立体停车场，解决了背景技术中的不足，该停车场采用立体结构，占地面积小，提供停车位多，停车取车方便、高效。
实现本发明上述目的所采用的技术方案为：
一种转塔式立体停车场，至少包括呈多层环状的车位架、位于车位架中心处的升降塔以及安装于升降塔上且沿升降塔上下移动的升降平台，所述的车位架呈框架式结构，且至少设置有两层，所述的车位架中的任意一层与地面相平，且该层为进出层，其余层均为存放层，存放层中沿圆周方向均匀分布有停车位，所述停车位的方向均朝向圆心，所述停车位上均设置有轨道，进出层中沿圆周方向均匀分布有过渡车位，过渡车位上均设置有轨道，过渡车位的外端为敞开式，车辆由其外端进入或开出所述停车场；所述升降塔竖直固定于车位架的圆心处，升降平台呈环状且套在升降塔上，升降平台沿着升降塔上下移动，且停靠在停车架中的任意一层上，升降平台还能够以升降塔为中心进行旋转，所述的升降平台的外圆周紧邻着车位架的内圆周；所述的升降平台的台面上沿圆周方向均匀设置有中转车位，所述的中转车位上设置有轨道以及牵引器；所述停车位中均设置有牵引架，所述牵引架的底部设置有滑轮，所述滑轮沿停车位、过渡车位以及中转车位上所设置的轨道滑动，车辆停放在牵引架的上方，所述的牵引器与牵引架相连接，并带动牵引架在停车位以及中转车位上进行移动；所述的牵引架上设置有车轮固定装置，用于限制停放在其上的车辆的滑动；所述的中转车位的下方设置有旋转座，旋转座通过旋转从而调换停放在中转车位上的车辆方向；与之对应的，牵引架的首尾两端上均设置有牵引拉环。
所述的升降平台上设置有 6 个中转车位，所述的停车架中的每一层中均设置有 24 个停车位或过渡车位。
所述的停车架共设置有 5-15 层，其中最底层为进出层。
与现有技术相比，以上提供的转塔式立体停车场具有以下优点： 1 、由于停车架采用多层环状式框架结构，因此在占地面积较小的情况下，能够向高空或者地下拓展，提供较多的停车位。 2 、本申请中停车以及取车均采用升降平台自动完成，因此存取车的效率极高，并且不需要司机驾驶。 3 、中转车位的下方设置有旋转座，旋转座通过旋转从而调换停放在中转车位上的车辆方向，因此当司机存车时，只需要将车开进过渡车位即可下车后离去；在取车时，由于车辆已经调转了方向，因此司机只需要从过渡车位上将车架开出即可，不需要进行倒车。 4 、由于本申请提供的停车场为立体式，因此不会有闲杂人员进入停车场的内部，能够避免某些不法分子对车辆的恶意损坏或者对车辆以及车内财务的盗窃。
以下将结合附图对本 发明 的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本 发明 的目的、特征和效果。
附图说明
图 1 为本发明实施例 1 中转塔式立体存货架或本发明实施例 2 中 转塔式立体停车场 的整体结构示意图。
图 2 为图 1 所示的转塔式立体存货架或 转塔式立体停车场的 升降塔以及升降平台的结构示意图。
图 3 为图 1 所示的转塔式立体存货架或 转塔式立体停车场的 牵引架的结构示意图。
图 4 为本发明提供的 存取货物的系统的一种优选的具体实施方式的局部结构图，其中，中转货位位于第一移动位置。
图 5 为本发明提供的 存取货物的系统的一种优选的具体实施方式的具备结构图，其中，中转货位位于第二移动位置。
图 6 为本发明提供的 存取货物的系统的一种优选的具体实施方式的具备结构图，其中，中转货位位于第三移动位置。
具体实施方式
本发明所提供的 存取货物的系统包括货位架，所述货位架至少包括位于不同垂直高度的第一层和第二层。应当被理解的是，本文所说的'货物'指的是所有适合被存放的物品，例如，集装箱、车辆或其它大型物品；存放车辆时，货位架也可以称为车位架。本文所说的'第一层'和'第二层'并没有排序上的限定。当货位架总共为两层时，可以被理解为，较低的一层为'第一层'，较高的一层为'第二层'；也可以被理解为，较低的一层为'第二层'，较高的一层为'第一层'。当货位架总共为三层或三层以上时，货位架中的任何一层都可以被理解为'第一层'，任何其它的一层都可以被理解为'第二层'。
货位架的第一层具有多个过渡货位，货位架的第二层具有多个用于存放货物的存放货位。过渡货位的作用是暂时放置货物，货物最终被放置在存放货位。如果存放集装箱等货物，存放货位可以是 存货仓；如果存放车辆， 过渡货位和存放货位可以是过渡车位和停车位。作为一种优选的具体实施方式，货位架的第一层可以被设计成货物的进出层，例如，货位架的第一层与地面处于同一高度。第二层可以高于第一层（例如位于地上），也可以低于第一层（例如位于地下）。很显然，本领域技术人员可以依据本发明提供的原理及实际状态设计不同层数的货位架。例如，如果作为停车场，货位架可以设计成 5-15 层。
作为一种优选的具体实施方式，多个存放货位的至少一部分以环形阵列的方式进行排布，多个过渡货位的至少一部分以环形阵列的方式进行排布。更优选地，所有存放货位以环形阵列的方式进行排布，所有过渡货位以环形阵列的方式进行排布。以环形阵列的方式排布存放货位和过渡货位的好处是方便将货物在过渡货位和存放货位之间移动的操作。设定以环形阵列的方式进行排布的存放货位的数量为 F ，以环形阵列的方式进行排布的过渡货位的数量为 G ，作为一种优选的具体实施方式， F 与 G 的数量相等。如果作为停车场， F 与 G 的数量可以设计 24 个，也就是说，货位架的每层都具有 24 个车位。
为了将货物在过渡货位和存放货位之间移动， 本发明所提供的 存取货物的系统还包括存取装置；所述存取装置包括升降平台、用于升降所述升降平台的升降设备、以及用于驱动所述升降平台旋转的旋转设备，所述升降平台具有中转货位，所述升降平台至少具有用于在中转货位和过渡货位之间移动货物的第一升降位置以及用于在中转货位和存放货位之间移动货物的第二升降位置。
升降平台的作用就是将货物在过渡货位与存放货位之间移动，升降平台上具有中转货位，并具有升降自由度和旋转度。这样，通过升降平台的升降，升降平台便可以停靠在货位架的不同高度的层；通过升降平台的旋转，升降平台上的中转货位可以对应货位架的每层的过渡货位或存放货位，以便于将货位在中转货位与过渡货位或存放货位之间移动货物，从而最终实现在过渡货位与存放货位之间移动货物。如果作为停车场，中转货位可以是中转车位。作为一种优选的具体实施方式，所述升降平台具有多个中转货位，多个中转货位的至少一部分以环形阵列的方式进行排布。更优选地，所有中转货位的以环形阵列的方式进行排布。设定以环形阵列的方式进行排布的中转货位的数量为 Z ，作为一种优选的具体实施方式， F 为 Z 的整数倍， G 为 Z 的整数倍。更有选地， F 为 Z 的 2~6 倍， G 为 Z 的 2~6 倍； Z 的数值为 4-8 。例如，作为停车场， F 与 G 的数量可以设计 24 个， Z 的数量可以设计成 6 个。其中，过渡货位、存放货位、中转货位以环形阵列的方式均匀排布。当升降平台停靠在货位架的某一层时， 6 个中转货位并可以与该层的 24 个存放货位中的 6 个一一对应，这样便可以同时将 6 个货物从中转货位移动到存放货位，或者同时将 6 个货物从存放货位移动到中转货位，或者同时将 3 个货物从中转货位移动到存放货位并将 3 个货物从存放货位移动到中转货位。因此作为一种优选的具体实施方式，所述存取装置被配置成：当所述升降平台位于第一升降位置时，所述多个中转货位中的至少一部分与所述多个过渡货位的至少一部分在第一层的平面上处于一一对应的位置；当所述升降平台位于第二升降位置时，所述多个中转货位中的至少一部分与所述多个存放货位的至少一部分在第二层的平面上处于一一对应的位置。如果想要将 6 个中转货位与其它 18 个存放货位一一对应，只需要将升降平台旋转 3 次，每次旋转 15 度即可。
很显然，本领域的技术人员可以根据本发明所提供的原理设计各种合适的升降设备和旋转设备。例如，升降设备可以包括立柱，升降平台沿所述立柱升降，所述立柱直接或间接地安装于所述旋转设备上。升降设备可以是链条式升降设备，升降设备也可以是剪叉式升降设备。升降设备和旋转可以由电机驱动，也可以通过液压驱动。 升降设备和旋转设备的设置为本领域所熟知的技术，在此不再详述。
存取装置还包括用于在中转货位和过渡货位之间移动货物以及用于在中转货位和存放货位之间移动货物的移动设备。
移动设备可以为牵引式。移动设备包括可移动的牵引架以及用于移动所述牵引架的牵引器，货物通过放置于所述牵引架上被移动。例如，可以在牵引架上安装滚轮来实现牵引架的移动。作为一种优选的具体实施方式，可以设置轨道来优化牵引架的移动，所述存放货位的至少一个具有用于牵引架移动的存放货位轨道，所述过渡货位的至少一个具有用于牵引架移动的过渡货位轨道，所述中转货位的至少一个具有用于牵引架移动的中转货位轨道。更优选地，所有存放货位都具有用于牵引架移动的存放货位轨道，所有过渡货位都具有用于牵引架移动的过渡货位轨道，所有中转货位都具有用于牵引架移动的中转货位轨道。所述存取装置被配置成：当所述升降平台位于所述第一升降位置时，至少一个中转货位轨道与至少一个过渡货位轨道连接；当所述升降平台位于所述第二升降位置时，至少一个中转货位轨道与至少一个存放货位轨道连接。更优选地，所述存取装置被配置成：当所述升降平台位于所述第一升降位置时，所有中转货位轨道与部分过渡货位轨道连接；当所述升降平台位于所述第二升降位置时，所有中转货位轨道与部分存放货位轨道连接。
轨道也可以设计成各种样式。例如，轨道可以是位于过渡货位、存放货位、中转货位上的凹槽，牵引架的滚轮被限制在凹槽中移动。轨道也可以被设计成铁轨式样，牵引架的滚轮被限制在铁轨式轨道上移动。牵引器可以设计成绳索式，包括转轴、缠绕于转轴的绳索以及位于绳索远端的挂钩， 牵引架上安装牵引拉环，牵引器的绳索挂钩挂住牵引拉环，通过电机直接地或间接地控制所述转轴的旋转，从而控制牵引架沿轨道移动。
移动设备也可以为其它结构。图 4- 图 6 示出了移动设备的一种具体实施方式。在该具体实施方式中，中转货位被设计成梳状结构。过渡货位和存放货位具有空隙，中转货位相对于过渡货位和存放货位具有第一移动位置（图 4 所示）、第二移动位置（图 5 所示）、第三移动位置（图 6 所示），其中，第一移动位置在竖直方向上与所述过渡货位和存放货位错开；第二移动位置位于所述过渡货位或存放货位的竖直下方，第三移动位置位于所述过渡货位或存放货位的竖直上方。当中转货位位于第一移动位置时，升降平台可以带动中转货位进行升降以将中转货位移动到与货位架中的某一层对应的高度；当所述中转货位穿过所述过渡货位或存放货位的空隙从第二移动位置移动到第三移动位置时，货位从所述过渡货位或存放货位移动到所述中转货位；当所述中转货位穿过所述过渡货位或存放货位的空隙从第三移动位置移动到第二移动位置时，货位从所述中转货位移动到所述过渡货位或存放货位。这样，如果需要将货物从过渡货位或存放货位移动到中转货位，该系统所执行的操作为： 1 ）中转货位移动到第一移动位置； 2 ）升降平台进行升降，最终升降平台停在需要移动货位的过渡货位或存放货位的那一层； 3 ）如果中转货位的位置没有对应需要移动货位的过渡货位或存放货位，升降平台还需要进行旋转，使得中转货位的位置对应需要移动货位的过渡货位或存放货位； 4 ）中转货位从第一移动位置移动到第二移动位置，然后从第二移动位置移动到第三移动位置，此时货物从过渡货位或存放货位移动到中转货位； 5 ）中转货位移动到第一移动位置； 6 ）升降平台进行升降。如果需要将货物从中转货位到过渡货位或存放货位移动，该系统所执行的操作为： 1 ）中转货位移动到第一移动位置； 2 ）升降平台进行升降，最终升降平台停在需要移动货位的过渡货位或存放货位的那一层； 3 ）如果中转货位的位置没有对应需要移动货位的过渡货位或存放货位，升降平台还需要进行旋转，使得中转货位的位置对应需要移动货位的过渡货位或存放货位； 4 ）中转货位从第一移动位置移动到第三移动位置，然后从第三移动位置移动到第二移动位置，此时货物从中转货位移动到过渡货位或存放货位； 5 ）中转货位移动到第一移动位置； 6 ）升降平台进行升降。作为一种优选的具体实施方式，空隙的形状为与中转货位的形状相匹配的梳状，空隙的大小足够中转货位在第二移动位置和第三移动位置之间移动。如果将本发明提供的系统作为停车场使用，作为一种更有选的具体实施方式，中转货位具有两侧梳齿，这样车辆的两侧轮胎可以分别停在两侧梳齿上。
在图 4- 图 6 所示的具体实施方式中，移动设备可以包括伸缩装置和升降装置，所述伸缩装置安装于所述升降平台上，所述升降装置直接地或间接地安装于所述伸缩装置的远端，所述中转货位直接地或间接地安装于所述升降装置上。升降装置的作用是驱动中转货位在第二移动位置和第三移动位置之间移动，伸缩装置的作用是驱动中转货位从第一移动位置移动到第二移动位置或第三移动位置，或者驱动中转货位从第二移动位置或第三移动位置移动到第一移动位置。应该被理解的是，本文所说的'第一移动位置'可能包括两种情况，即较高的第一移动位置和较低的第一移动位置；当中转货位位于较高的第一移动位置时，中转货位在水平方向上与第三移动位置齐平；当中转货位位于较低的第一移动位置时，中转货位在水平方向上与第二移动位置齐平。中转货位在较高的第一移动位置和较低的第一移动位置之间的移动可以通过升降装置驱动完成。当中转货位需要从第一移动位置移动到第二移动位置时，中转货位首选需要移动到较低的第一移动位置；当中转货位需要从第一移动位置移动到第三移动位置时，中转货位首选需要移动到较高的第一移动位置。当升降平台进行升降时，中转货位可以位于较高的第一移动位置，也可以位于较低的第一移动位置。更有选的是，当升降平台进行升降时，中转货位位于较低的第一移动位置。
在图 4- 图 6 所示的具体实施方式中，所述移动设备还可以包括旋转装置，所述旋转装置直接地或间接地安装于所述伸缩装置的远端，所述升降装置直接地或间接地安装于所述旋转装置上。通过旋转装置的驱动，中转货位可以绕着竖直方向的轴线旋转。这样设置更有利于本发明提供的系统用作停车场。当车辆需要存放时，车辆首先驶入过渡货位，这样，车辆的车头便朝向货位架的中心。如果没有旋转装置，车辆在存放和取出的过程中，车辆最终仍然以车头朝向货位架中心的方向停在过渡货位上，这样便不利于车辆最终驶出过渡货位。通过旋转装置的设置，可以操作中转货位车辆在存放和取出的过程中进行一次旋转，这样车辆最终仍然以车头朝向货位架外侧的方向停在过渡货位上，有利于车辆最终驶出过渡货位。
以上所述的包括的升降设备、旋转设备、伸缩装置、升降装置、旋转装置的系统还可以包括自动控制设备，自动控制设备的作用是控制升降设备、旋转设备、伸缩装置、升降装置、旋转装置的运动，从而控制升降平台和中转货位的移动。很显然，本领域技术人员可以依据本发明提供的原理设计合适的自动控制系统。例如，控制设备包括中央控制模块、指令输入模块、升降设备电机驱动模块、旋转设备电机驱动模块、伸缩装置电机驱动模块、升降装置电机驱动模块、旋转装置电机驱动模块；所述中央控制模块分别与所述指令输入模块、升降设备电机驱动模块、旋转设备电机驱动模块、伸缩装置电机驱动模块、升降装置电机驱动模块、旋转装置电机驱动模块相连。作为一种优选的具体实施方式，中央控制模块还可以包括用于记载存放货位存放货物情况的数据模块，所述中央控制模块根据所述指令输入模块接收到的指令及所述数据模块中的数据生成存放货物或取出货物的程序。
采用该系统存取货物的方法包括如下步骤：
1 ）控制所述升降平台及控制中转货位的移动，使尽可能多的过渡货位上的待存放货物移动到中转货位；
2 ）控制所述升降平台及控制中转货位的移动，将中转货位上的待存放货物一次或多次存放到存放货位；
3 ）在步骤 2 ）操作的过程中，或者待步骤 2 ）操作完成后，控制所述升降平台及控制中转货位的移动，使尽可能多的存放货位上的待取出货物移动到中转货位；
4 ）控制所述升降平台及控制中转货位的移动，使得中转货位上的待取出货物移动到过渡货位。
以上所述的'控制所述升降平台及控制中转货位的移动'包括以下移动的一种或几种： a ）通过升降设备控制升降平台的升降，使得升降平台对应货位架的需要移动货物的那一层； b ）通过旋转设备控制升降平台的旋转，使得中转货位对应需要移动货物的过渡货位或存放货位； c ）通过伸缩装置控制中转货位在第一移动位置和第二移动位置之间以及在第一移动位置和第三移动位置之间移动； d ）通过升降装置控制中转货位在第二移动位置和第三移动位置之间移动； e ）通过旋转装置控制中转货位的旋转。
以上所述的'使尽可能多的过渡货位上的待存放货物移动到中转货位'的具体情况可能包括： a ）不需要存放货物，只需要取出货物，则不需要将待存放货物移动到中转货位； b ）位于过渡货位上的待存放货物的数量小于或等于中转货位的数量，一次性地将所有的待存放货位移动到中转货位，移动过程中可能需要旋转升降平台，也可能不需要选择升降平台； c ）位于过渡货位上的待存放货物的数量大于中转货位的数量，一次性地将中转货位数量的待存放货位移动到中转货位，移动过程中可能需要旋转升降平台，也可能不需要选择升降平台。
以上所述的'将中转货位上的待存放货物一次或多次存放到存放货位' 的具体情况可能包括： a ）某一层的空置的存放货位的数量大于或等于中转货位的待存放货物的数量，则可以一次性地将中转货位的所有待存放货物移动到这一层的空置的存放货位，移动过程中可能需要旋转升降平台，也可能不需要选择升降平台； b ）每一层的空置的存放货位的数量都小于中转货位的待存放货物的数量，则需要将中转货位的待存放货物移动到多个层的存放货位，这需要升降平台进行升降操作，可能需要旋转升降平台，也可能不需要选择升降平台。
以上所述的步骤 3 ）的具体情况可能包括： a ）不需要取出货物，只需要存放货物，则不需要将待取出货物移动到中转货位； b ）把中转货位的待存放货物移动到空置的存放货位的同时，将这一层的待取出货物移动到空置的中转货位，此时还有部分中转货位放置有未存放完的待存放货物； c ）把中转货位的待存放货物移动到空置的存放货位的同时，将这一层的待取出货物移动到空置的中转货位，此时所有中转货位都没有未被存放的待存放货物。
本发明提供的存取货物的方法可以同时存放和取出多个货物。
以下具体描述了本发明所提供了存取货物的系统的两个实施例。在以下的实施例 1 中，该系统用于存取静态货物（如集装箱等），因此被称为转塔式立体存货架，立柱具体为升降塔，存放货位具体为存货仓，旋转装置具体为旋转座。在以下的实施例 2 中，该系统用于存取车辆，因此被称为转塔式立体停车场，立柱具体为升降塔，存放货位具体为停车位，过渡货位具体为过渡车位，中转货位具体为中转车位，旋转装置具体为旋转座。
实施例 1 转塔式立体存货架
该实施例提供的转塔式立体存货架的整体结构如图 1 所示，至少包括呈多层环状的货位架 1 、位于货位架中心处的升降塔 2 以及安装于升降塔上且沿升降塔上下移动的升降平台 3 ，所述的货位架 1 呈框架式结构，且至少设置有两层，所述的货位架中的任意一层与地面相平，且该层为进出层，其余层均为存放层，存放层中沿圆周方向均匀分布有存货仓 4 ，所述存货仓的方向均朝向圆心，所述存货仓上均设置有轨道 5 ，进出层中沿圆周方向均匀分布有过渡货位 6 ，过渡货位 6 上均设置有轨道，过渡货位的外端为敞开式，货物由其外端进入或开出所述存货架。结合场地以及空间因素，货架一般设置 5-15 层较佳，其中最底层为进出层。在本实施例中货架共有 12 层。
所述升降塔 2 竖直固定于货位架 1 的圆心处，其结构如图 2 所示，升降平台 3 呈环状且套在升降塔 2 上，升降平台 3 沿着升降塔 2 上下移动，且停靠在货架中的任意一层上，升降平台还能够以升降塔 2 为中心进行旋转，所述的升降平台 3 的外圆周紧邻着货位架 1 的内圆周；所述的升降平台 3 的台面上沿圆周方向均匀设置有中转货位 7 ，所述的中转货位 7 上设置有轨道 5 以及牵引器 8 。所述的中转货位 7 的下方设置有旋转座 11 ，旋转座 11 通过旋转从而调换停放在中转货位上的货物方向。
所述存货仓中均设置有牵引架 9 ，牵引架 9 的结构如图 3 所示，所述牵引架 9 的底部设置有滑轮 10 ，牵引架的首尾两端上均设置有牵引拉环 12 。所述滑轮 10 沿存货仓、过渡 货位以及中转货位上所设置的轨道滑动，货物停放在牵引架 9 的上方，所述的牵引器 8 能够与牵引架相连接，并带动牵引架在存货仓以及中转货位上进行移动。所述的牵引架上设置有固定装置，用于限制停放在其上的货物的滑动。
在本实施例中，所述的升降平台上设置有 6 个中转货位，所述的货架中的每一层中均设置有 24 个存货仓或过渡货位。由于 24 是 6 的倍数，因此在使用时，旋转平台仅需要进行 3 次旋转，每次旋转 15 度，即可与单层的所有存货仓进行对接，省时省力。
本发明提供的基于转塔式立体存货架的自动化存取货物方法如下 ： 1 、在首次使用时先进行初始化：确认货架的存放层中所有存货仓上均放置有牵引架，且进出层上的过渡货位以及升降平台上的中转货位上没有牵引架，即初始化完毕。
2 、升降平台移动并停靠在任一存放层处，出于效率最大化的原则，升降平台一般先停靠在距离进出层最为接近的存放层处，然后升降平台旋转，将第一个中转货位与存货仓相对准，然后牵引器启动，牵引器将位于存货仓上的牵引架拖到中转货位上，然后再按此过程继续将另一个存货仓上的牵引架拖到第二个中转货位上，直至全部中转货位上均放置有牵引架。
3 、升降平台上下移动并停靠在进出层，牵引器将中转货位上的牵引架全部推至过渡货位上。
4 、将待存放的货物放至放置有牵引架的过渡货位上，货物放稳后，升降平台将中转货位与停放有货物的过渡货位对准，此时牵引器将牵引架由过渡货位拖到中转货位上；如果单次待存放的货物数量小于 6 辆，则剩余的空牵引架留在过渡货位上。
然而，当在取货高峰期时，待存放货物数量远小于待取货数量时，因此过度货位上的空牵引架会逐渐累积增多，当此数量接近过渡货位的数量 24 个时，升降平台在此步骤中 将过渡货位中的空牵引架拖到空的中转货位上，然后按照下一步骤将空牵引架推至存货仓 上。
5 、升降平台上下移动，中转货位底部的旋转座进行旋转 180 度，将货物的方向调换 ( 此步骤仅针对有必要调转方向的货物，如车辆 ) 。然后升降平台停靠在未放置牵引架的空存货仓所对应的存放层处，将中转货位与未放置牵引架的空存货仓对准，然后牵引器将牵引架连同货物一起推至存货仓上，当升降平台上的全部牵引架均放置在存货仓上时，即 完成单次存货作业。
6 、接着，升降平台根据取货信息中货物停放的具体位置而移动至对应的存放层中，然后升降平台旋转，将中转货位对准停放有货物的存货仓，然后牵引器拉动牵引架，将牵引架和货物一同拖至中转货位上，当待取货物位于不同的存放层时，升降平台由上至下移动，依次取货。如果取货信息中待取货物的数量小于中转货位的数量，根据下一次待存放的货物数量 C1 ，判断多余的中转货位上拉取空牵引架的数量。举例说明，当下一次待存放的 货物为 5 个，而此次取的货物仅有 2 个，此次存的货物有 5 个，那么过渡货位上的空牵引架有 1 架，根据计算， N ＝ 5+5-6-2 ＝ 2 ，也就是说多余的 4 个中转货位上还需要拉取 2 个空牵引架。这样一来下方的一个空牵引架加上本次中转货位上的 4 个牵引架加起来刚好与下次待存的货物的数量相当。按照此运算方法作业，能够最大限度的提高存取效率。
7 、升降平台上下移动并停靠在进出层，牵引器将中转货位上的牵引架全部推至过渡货位上，货主将货物由过渡货位上取走，即完成单次取货作业。
8 、取货完毕后，重复步骤 4 ～ 7 ，即可循环完成存货及取货作业。
作为本申请的拓展使用，本申请还能够使用于城市繁华地带，用于自动化存取车辆。当作为自动停车取车方法使用时，将存货仓设置为停车位，中转货位和过渡货位设置成 中转车位和过渡车位即可，其余步骤均相同。
实施例 2 转塔式立体停车场
该实施例提供的转塔式立体停车场的整体结构如图 1 所示，至少包括呈多层环状的车位架 1 、位于车位架中心处的升降塔 2 以及安装于升降塔上且沿升降塔上下移动的升降平台 3 ，所述的车位架 1 呈框架式结构，且至少设置有两层，所述的车位架中的任意一层与地面相平，且该层为进出层，其余层均为存放层，存放层中沿圆周方向均匀分布有停车位 4 ，所述停车位的方向均朝向圆心，所述停车位上均设置有轨道 5 ，进出层中沿圆周方向均匀分布有过渡车位 6 ，过渡车位 6 上均设置有轨道，过渡车位的外端为敞开式，车辆由其外端进入或开出所述停车场。结合场地以及空间因素，停车架一般设置 5-15 层较佳，其中最底层为进出层。在本实施例中停车架共有 12 层。
所述升降塔 2 竖直固定于车位架 1 的圆心处，其结构如图 2 所示，升降平台 3 呈环状且套在升降塔 2 上，升降平台 3 沿着升降塔 2 上下移动，且停靠在停车架中的任意一层上，升降平台还能够以升降塔 2 为中心进行旋转，所述的升降平台 3 的外圆周紧邻着车位架 1 的内圆周；所述的升降平台 3 的台面上沿圆周方向均匀设置有中转车位 7 ，所述的中转车位 7 上设置有轨道 5 以及牵引器 8 。所述的中转车位 7 的下方设置有旋转座 11 ，旋转座 11 通过旋转从而调换停放在中转车位上的车辆方向。所述停车位中均设置有牵引架 9 ，牵引架 9 的结构如图 3 所示，所述牵引架 9 的底部设置有滑轮 10 ，牵引架的首尾两端上均设置有牵引拉环 12 。所述滑轮 10 沿停车位、过渡车位以及中转车位上所设置的轨道滑动，车辆停放在牵引架 9 的上方，所述的牵引器 8 能够与牵引架相连接，并带动牵引架在停车位以及中转车位上进行移动。所述的牵引架上设置有车轮固定装置，用于限制停放在其上的车辆的滑动。
在本实施例中，所述的升降平台上设置有 6 个中转车位，所述的停车架中的每一层中均设置有 24 个停车位或过渡车位。由于 24 是 6 的倍数，因此在使用时，旋转平台仅需要进行 3 次旋转，每次旋转 15 度，即可与单层的所有停车位进行对接，省时省力。
本发明提供的基于转塔式立体停车场的自动化停车及取车方法如下： 1 、在首次使用时先进行初始化：确认停车架的存放层中所有停车位上均放置有牵引架，且进出层上的过渡车位以及升降平台上的中转车位上没有牵引架，即初始化完毕。
2 、升降平台移动并停靠在任一存放层处，出于效率最大化的原则，升降平台一般先停靠在距离进出层最为接近的存放层处，然后升降平台旋转，将第一个中转车位与停车位相对准，然后牵引器启动，牵引器将位于停车位上的牵引架拖到中转车位上，然后再按此过程继续将另一个停车位上的牵引架拖到第二个中转车位上，直至全部中转车位上均放置有牵引架。
3 、升降平台上下移动并停靠在进出层，牵引器将中转车位上的牵引架全部推至过渡车位上。
4 、司机将待存放的车辆开至放置有牵引架的过渡车位上，车辆停稳并熄火后司机下车离开，升降平台将中转车位与停放有车辆的过渡车位对准，此时牵引器将牵引架由过渡车位拖到中转车位上；如果单次待存放的车辆数量小于 6 辆，则剩余的空牵引架留在过渡车位上。
然而，当在取车高峰期时，待存放车数量远小于待取车数量时，因此过度车位上的空牵引架会逐渐累积增多，当此数量接近过渡车位的数量 24 个时，升降平台在此步骤中将过渡车位中的空牵引架拖到空的中转车位上，然后按照下一步骤将空牵引架推至停车位上。
5 、升降平台上下移动，中转车位底部的旋转座进行旋转 180 度，将车辆的方向调换。然后升降平台停靠在未放置牵引架的空停车位所对应的存放层处，将中转车位与未放置牵引架的空停车位对准，然后牵引器将牵引架连同车辆一起推至停车位上，当升降平台上的全部牵引架均放置在停车位上时，即完成单次停车作业。
6 、接着，升降平台根据取车信息中车辆停放的具体位置而移动至对应的存放层中，然后升降平台旋转，将中转车位对准停放有车辆的停车位，然后牵引器拉动牵引架，将牵引架和车辆一同拖至中转车位上，当待取车辆位于不同的存放层时，升降平台由上至下移动，依次取车。如果取车信息中待取车辆的数量小于中转车位的数量，根据下一次待存放的车辆数量 C1 ，判断多余的中转车位上拉取空牵引架的数量。举例说明，当下一次待存放的车辆为 5 辆，而此次取的车辆仅有 2 辆，此次存的车辆有 5 辆，那么过渡车位上的空牵引架有 1 架，根据计算， N=5+5-6-2=2 ，也就是说多余的 4 个中转车位上还需要拉取 2 个空牵引架。这样一来下方的一个空牵引架加上本次中转车位上的 4 个牵引架加起来刚好与下次待存的车辆的数量相当。按照此运算方法作业，能够最大限度的提高存取效率。
7 、升降平台上下移动并停靠在进出层，牵引器将中转车位上的牵引架全部推至过渡车位上，待取车的司机将车辆由过渡车位上开走，即完成单次取车作业。
8 、取车完毕后，重复步骤 4 ～ 7 ，即可循环完成停车及取车作业。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (22)

  1. 一种存取货物的系统，所述系统包括货位架，所述货位架至少包括位于不同垂直高度的第一层和第二层，其特征在于，所述货位架的第一层具有多个过渡货位，所述货位架的第二层具有多个用于存放货物的存放货位；
    所述系统还包括用于将货物在过渡货位与存放货位之间移动的存取装置；所述存取装置包括升降平台、用于升降所述升降平台的升降设备、以及用于驱动所述升降平台旋转的旋转设备，所述升降平台具有中转货位，所述升降平台至少具有用于在中转货位和过渡货位之间移动货物的第一升降位置以及用于在中转货位和存放货位之间移动货物的第二升降位置，所述存取装置还包括用于在中转货位和过渡货位之间移动货物以及用于在中转货位和存放货位之间移动货物的移动设备。
  2. 如权利要求1所述的系统，其特征在于，所述升降设备包括立柱，所述升降平台沿所述立柱升降，所述立柱直接或间接地安装于所述旋转设备上。
  3. 如权利要求1所述的系统，其特征在于，所述货物为车辆。
  4. 如权利要求1所述的系统，其特征在于，所述多个存放货位的至少一部分以环形阵列的方式进行排布。
  5. 如权利要求4所述的系统，其特征在于，所述多个过渡货位的至少一部分以环形阵列的方式进行排布。
  6. 如权利要求5所述的系统，其特征在于，所述升降平台具有多个中转货位，多个中转货位的至少一部分以环形阵列的方式进行排布。
  7. 如权利要求6所述的系统，其特征在于，以环形阵列的方式进行排布的存放货位的数量为F，以环形阵列的方式进行排布的过渡货位的数量为G，以环形阵列的方式进行排布的中转货位的数量为Z，其中，F为Z的整数倍，G为Z的整数倍。
  8. 如权利要求7所述的系统，其特征在于，F与G相等。
  9. 如权利要求7所述的系统，其特征在于，F为Z的2~6倍，G为Z的2~6倍。
  10. 如权利要求7所述的系统，其特征在于，Z的数值为4-8。
  11. 如权利要求6所述的系统，其特征在于，所述存取装置被配置成：当所述升降平台位于第一升降位置时，所述多个中转货位中的至少一部分与所述多个过渡货位的至少一部分在第一层的平面上处于一一对应的位置；当所述升降平台位于第二升降位置时，所述多个中转货位中的至少一部分与所述多个存放货位的至少一部分在第二层的平面上处于一一对应的位置。
  12. 如权利要求1所述的系统，其特征在于，所述移动设备包括可移动的牵引架，货物通过放置于所述牵引架上被移动。
  13. 如权利要求12所述的系统，其特征在于，所述存放货位的至少一个具有用于牵引架移动的存放货位轨道，所述过渡货位的至少一个具有用于牵引架移动的过渡货位轨道，所述中转货位的至少一个具有用于牵引架移动的中转货位轨道。
  14. 如权利要求13所述的系统，其特征在于，所述存取装置被配置成：当所述升降平台位于所述第一升降位置时，至少一个中转货位轨道与至少一个过渡货位轨道连接；当所述升降平台位于所述第二升降位置时，至少一个中转货位轨道与至少一个存放货位轨道连接。
  15. 如权利要求12所述的系统，其特征在于，所述牵引架装有滚轮，所述移动设备还包括用于移动所述牵引架的牵引器。
  16. 如权利要求1所述的系统，其特征在于，所述过渡货位和存放货位具有空隙；所述中转货位相对于过渡货位和存放货位具有第一移动位置、第二移动位置、第三移动位置，其中，第一移动位置在竖直方向上与所述过渡货位和存放货位错开；第二移动位置位于所述过渡货位或存放货位的竖直下方，第三移动位置位于所述过渡货位或存放货位的竖直上方；当所述中转货位穿过所述过渡货位或存放货位的空隙从第二移动位置移动到第三移动位置时，货位从所述过渡货位或存放货位移动到所述中转货位；当所述中转货位穿过所述过渡货位或存放货位的空隙从第三移动位置移动到第二移动位置时，货位从所述中转货位移动到所述过渡货位或存放货位。
  17. 如权利要求16所述的系统，其特征在于，所述中转货位包括梳状部，所述过渡货位和存放货位的空隙的形状与所述梳状部相匹配。
  18. 如权利要求16所述的系统，其特征在于，所述移动设备包括伸缩装置和升降装置，所述伸缩装置安装于所述升降平台上，所述升降装置直接地或间接地安装于所述伸缩装置的远端，所述中转货位直接地或间接地安装于所述升降装置上。
  19. 如权利要求18所述的系统，其特征在于，所述移动设备还包括旋转装置，所述旋转装置直接地或间接地安装于所述伸缩装置的远端，所述升降装置直接地或间接地安装于所述旋转装置上。
  20. 如权利要求19所述的系统，其特征在于，所述系统还包括自动控制设备，所述自动控制设备包括中央控制模块、指令输入模块、升降设备电机驱动模块、旋转设备电机驱动模块、伸缩装置电机驱动模块、升降装置电机驱动模块、旋转装置电机驱动模块；所述中央控制模块分别与所述指令输入模块、升降设备电机驱动模块、旋转设备电机驱动模块、伸缩装置电机驱动模块、升降装置电机驱动模块、旋转装置电机驱动模块相连。
  21. 如权利要求20所述的系统，其特征在于，所述中央控制模块还包括用于记载存放货位存放货物情况的数据模块，所述中央控制模块根据所述指令输入模块接收到的指令及所述数据模块中的数据生成存放货物或取出货物的程序。
  22. 采用如权利要求21所述的系统存取货物的方法，其特征在于，所述方法包括如下步骤：
    1）控制所述升降平台及控制中转货位的移动，使尽可能多的过渡货位上的待存放货物移动到中转货位；
    2）控制所述升降平台及控制中转货位的移动，将中转货位上的待存放货物一次或多次存放到存放货位；
    3）在步骤2）操作的过程中，或者待步骤2）操作完成后，控制所述升降平台及控制中转货位的移动，使尽可能多的存放货位上的待取出货物移动到中转货位；
    4）控制所述升降平台及控制中转货位的移动，使得中转货位上的待取出货物移动到过渡货位。
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