WO2020168609A1 - 自动化立体货柜系统及其存、取方法 - Google Patents

自动化立体货柜系统及其存、取方法 Download PDF

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Publication number
WO2020168609A1
WO2020168609A1 PCT/CN2019/079412 CN2019079412W WO2020168609A1 WO 2020168609 A1 WO2020168609 A1 WO 2020168609A1 CN 2019079412 W CN2019079412 W CN 2019079412W WO 2020168609 A1 WO2020168609 A1 WO 2020168609A1
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WIPO (PCT)
Prior art keywords
access
access unit
storage
tray
automated
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PCT/CN2019/079412
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English (en)
French (fr)
Inventor
华聚良
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江苏华章物流科技股份有限公司
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Publication of WO2020168609A1 publication Critical patent/WO2020168609A1/zh

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    • 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

Definitions

  • the invention relates to the technical field of three-dimensional containers, in particular to an automated three-dimensional container system and storage and retrieval methods thereof.
  • Three-dimensional container also known as automatic container, is the main equipment of modern warehousing. It is mainly divided into vertical circulation container, vertical lifting container, horizontal circulation container, etc., which can realize the automated operation of the warehouse and improve management efficiency.
  • the traditional vertical lifting three-dimensional container mainly uses the pallet as the storage and retrieval unit.
  • the pallet storing the goods is taken out or sent to the appropriate cargo space in the cabinet.
  • the cabinet can be automatically and reasonably arranged Storage space to realize the intelligent distribution and management of goods.
  • the automatic storage/retrieval system described in the aforementioned document includes at least a pair of symmetrically arranged multi-layer racks, each rack is composed of multi-layer racks, and Including a shuttle that can move horizontally between each layer of racks in order to store access units (such as pallets) in and out of the multi-layer racks.
  • the disclosed vertical lifting container uses pallets as the storage unit. Through the lifting and horizontal movement of the pallet truck, the pallets storing the goods are taken out or sent to the appropriate cargo space in the cabinet. .
  • the solution in the prior art needs to take out or store goods, the entire layer of pallets needs to be moved, and the next pallet task can only be performed after the previous pallet task is completed.
  • the access efficiency is low and The high power consumption also inhibits the improvement of the three-dimensional container capacity.
  • the structure can handle different heights and/or widths of the load-bearing parts, but this is achieved by adjusting the size structure of the rack to place different heights and/or widths of the load-bearing parts. In the actual storage and retrieval process, it can only be stored and retrieved. A single size carrier; it does not really realize variable mixed storage of width and depth.
  • the width and depth of the access unit are fixed, that is, the cargo compartment on each shelf is of a fixed size, so only a single size access unit can be stored.
  • the grabbing mechanism of the shuttle of the traditional automated three-dimensional container is installed on the chassis of the shuttle, which drives the wheels of the shuttle to walk on the steel track, and the positioning is to prevent the shuttle from hitting the access unit by installing sensors. Therefore, there is a certain error in the positioning accuracy. If the positioning is not accurate, repositioning is required, which affects the access efficiency.
  • the driving wheel motor of the shuttle has no brake device. When the power is accidentally cut off, the car is completely out of control. On the one hand, it will hit the obstacle at the end of the guide rail. On the other hand, when the power is turned on again, the trolley needs to run back to the original point and re-drive to find the box position, which further affects the access efficiency.
  • the present invention aims to solve the above problems and provide an automated three-dimensional container system and its storage and retrieval method. It overcomes the technical problems of the above-mentioned traditional automated three-dimensional container.
  • the system is adopted to realize fast and accurate storage, retrieval and access unit, access
  • the unit can be of any shape (including pallets, turnover boxes, cartons or the goods themselves), and the storage and retrieval units of different shapes and sizes can be realized through the storage and retrieval equipment of variable structure, which truly realizes the width and depth direction.
  • Variable hybrid storage greatly increases the application scenarios of three-dimensional containers, improves storage capacity and access efficiency.
  • the lateral movement device uses a servo motor to drive the timing belt wheel to drive the timing belt to move and then drive the access device to move.
  • the lateral movement device is also provided with a guiding mechanism for guidance.
  • This absolute control method positioning is accurate and avoiding impact access.
  • the occurrence of the unit phenomenon improves the reliability of access; it also avoids the time cost consumption caused by inaccurate positioning and needs to be repositioned, and further improves the access efficiency.
  • An automated three-dimensional container system includes a storage rack and a lifting device that can move up and down in a vertical direction.
  • the storage rack includes a tray for storing access units, access channels and access ports, and access Equipment and host computer, including:
  • the access device is set on the lifting device as a whole, and includes a lateral movement device and an access device;
  • the lateral moving device includes at least two moving parts arranged parallel to each other, and the moving parts are arranged on the lifting device and move laterally along the access channel relative to the lifting device;
  • the access device includes a telescopic turning fork, each moving part is provided with at least one telescopic turning fork, each of the telescopic turning forks is arranged on the moving part and is telescopic relative to the moving part toward the pallet, and is used to transfer Units are stored in and/or removed from the tray;
  • the host computer is electrically connected to the lateral movement device and the access device, and is configured to control the movement of the moving part and the expansion and contraction of the telescopic fork in response to the occupied space of the access unit to complete the deposit and storage of the access unit /Or remove.
  • the automated three-dimensional container system further includes a data acquisition device installed at the access port, which is connected to the upper electromechanical system, and is used to monitor the occupied space of the access unit and the storage location of the access unit at the access port. Collect and feedback to the host computer.
  • the host computer is also configured to generate a unique ID of the access unit according to the occupied space of the access unit, and has a database module,
  • the database module is used to store the unique ID, its corresponding occupancy space and the binding relationship between the two, and is also used to store the occupancy information of the access unit on the tray;
  • the host computer is also configured to automatically match the access unit with a suitable storage space on the tray and/or take the access unit out of the matching tray.
  • the automated three-dimensional container system further includes an information interaction device connected to the upper electromechanical device for inputting and/or outputting information stored and/or taken out of the access unit.
  • each of the moving parts is moved by a first timing belt transmission mechanism
  • the first synchronous belt transmission mechanism includes a first driving device, a first driving pulley, a first driven pulley, and a timing belt;
  • the first driving device, the first driving pulley and the first driven pulley are respectively fixedly installed on the lifting device, and the first driving pulley is driven by the first driving device to drive the first driven pulley to rotate to drive synchronization
  • the belt moves laterally along the access channel;
  • the moving part is fixedly connected with the timing belt.
  • the lateral movement device further includes a guide part
  • the guide part includes a sliding block and a guide rail
  • the guide rail is fixedly connected to the lifting device and is parallel to the access channel;
  • the moving part is fixedly connected with the slider;
  • the slider moves along the guide rail with the moving part.
  • each of the telescopic turning forks includes a front rail, a middle rail and a turning fork
  • the middle rail expands and contracts toward the tray through a second timing belt transmission mechanism fixedly installed on the moving part;
  • the front rail extends and retracts toward the tray along the middle rail through a belt drive mechanism
  • the turning fork is fixedly connected with the front rail and used for grabbing the access unit.
  • the second timing belt transmission mechanism includes a second driving device, a second driving pulley, a second driven pulley, and a double-sided timing belt;
  • the second driving device, the second driving pulley, and the second driven pulley are respectively fixedly installed on the moving part, and the second driving pulley is driven by the second driving device to drive the second driven pulley to rotate to drive the double
  • the toothed synchronous belt moves towards the tray;
  • the middle rail has a tooth shape adapted to the double-sided toothed synchronous belt and meshes with the double-sided toothed synchronous belt.
  • the belt transmission mechanism includes a belt, a pulley block and a third driving device
  • the pulley block is driven by the third driving device to drive the belt to move toward the tray;
  • the front rail expands and contracts with the belt along the middle rail toward the tray.
  • a storage method of an automated three-dimensional container system is also proposed, which is based on the aforementioned automated three-dimensional container system, and the method includes:
  • the access unit is placed at the access port
  • the upper computer controls the moving part to move to the access port, and controls the moving part to adjust to the width of the access unit in response to the occupied space of the access unit;
  • the telescopic fork extends from the initial position toward the access opening and grabs the access unit, and the retractable fork retracts the access unit to return to its initial position;
  • the lifting device moves upward to drive the access unit to a suitable tray height
  • the host computer controls the telescopic fork to extend toward the pallet to store the access unit on the pallet.
  • the method further includes:
  • the upper computer controls the moving part to move to the access port, and in response to the occupied space of the access unit, controls the moving part to adjust to a width suitable for the access unit, and automatically matches the access unit with a suitable storage space on the tray.
  • a method for taking out an automated three-dimensional container system is also proposed, which is based on the aforementioned automated three-dimensional container system, and the method includes:
  • the access unit is stored on the tray;
  • the upper computer controls the moving part to move to the position of the tray where the access unit is stored, and controls the moving part to adjust to a width suitable for the access unit in response to the occupied space of the access unit;
  • the telescopic fork extends from the initial position toward the pallet and grabs the access unit, and the retractable fork causes the access unit to return to its initial position;
  • the lifting device moves downward to drive the access unit down to the height of the access port
  • the host computer controls the telescopic fork to extend toward the access port to place the access unit to the access port.
  • the access units can be of any shape (including pallets, turnover boxes, cartons or the goods themselves), any size (length, width), and through variable structure Access equipment can store and retrieve access units of different shapes and sizes, truly realize variable and mixed storage in width and depth directions, greatly increase the application scenarios of three-dimensional containers, and improve storage capacity and access efficiency.
  • the automated three-dimensional container system has multiple moving parts and multiple telescopic forks, which can store and retrieve multiple different access units each time, and can realize automatic layer change storage, It greatly improves the storage and retrieval efficiency, and further reduces the power consumption.
  • the lateral movement device realizes the dual functions of lateral movement and access variable width.
  • the entire system structure is more compact, installation and maintenance are more convenient, and costs are reduced.
  • the lateral movement device uses a servo motor to drive the timing belt wheel to drive the timing belt to move and then drive the access device to move.
  • the lateral movement device is also provided with a guiding mechanism for guidance.
  • FIG. 1 is a schematic diagram of the overall structure of an automated three-dimensional container system according to a preferred embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of an access device of an automated three-dimensional container system according to a preferred embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an access device and an access unit of an automated three-dimensional container system according to a preferred embodiment of the present invention.
  • Fig. 3a is a schematic structural diagram of an access unit of an automated three-dimensional container system according to a preferred embodiment of the present invention.
  • FIG. 4a is a schematic diagram of a partial structure of an access device of an automated three-dimensional container system according to a preferred embodiment of the present invention.
  • 4b is a schematic diagram of a partial structure of the access device of the automated three-dimensional container system according to a preferred embodiment of the present invention.
  • 4c is a partially enlarged schematic diagram of the access device of the automated three-dimensional container system according to the preferred embodiment of the present invention.
  • Fig. 5 is a schematic structural diagram of an access device (4 moving parts and 4 telescopic forks) of an automated three-dimensional container system according to another preferred embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of an access device (3 moving parts and 3 telescopic forks) of an automated three-dimensional container system according to another preferred embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an access device of an automated three-dimensional container system according to another preferred embodiment of the present invention.
  • FIG. 8 is a schematic diagram of the layout of the access ports and access channels of the automated three-dimensional container system according to the preferred embodiment of the present invention.
  • FIG. 9 is a schematic diagram of the working principle of the access device of the automated three-dimensional container system according to the preferred embodiment of the present invention.
  • FIG. 10 is a schematic flowchart of a storage method of an automated three-dimensional container system according to a preferred embodiment of the present invention.
  • FIG. 11 is a schematic flowchart of a method for taking out an automated three-dimensional container system according to a preferred embodiment of the present invention.
  • an automated three-dimensional container system is suitable for accessing variable-size and variable-shape access units 1 (including pallets, turnover boxes, cartons or goods). Itself) for mixed storage and retrieval.
  • the automated three-dimensional container system includes a storage rack 3 and a lifting device 9 that can move up and down in a vertical direction (the Z direction in FIG. 1).
  • the storage rack 3 includes the tray 2 of the access unit 1 of variable shape and variable size (width, depth, height) arranged in upper and lower layers (in this embodiment, as shown in FIG. 1, the tray 2 is Longitudinal type, the longitudinal direction is parallel to the X direction in FIG. 1), and the access channel 8 and the access port 7 used to supply the access unit 1 to deposit or withdraw during deposit and/or withdrawal.
  • the access channel 8 is a channel when the access unit 1 is deposited and/or taken out, and its longitudinal direction is parallel to the X direction in Fig. 1.
  • the tray 2 can mix and store access units 1 (1a, 1b, 1c, 1d, 1e, 1f) of different sizes and shapes.
  • the access port 7 is arranged at the lowest level of the storage rack 3, and is close to the free end surface of the access unit 1 for taking out.
  • the access area of the access port 7 The length is similar to or the same as the length of the tray 2, and multiple access units 1 of different sizes and shapes can be placed at the same time, and the access unit 1 can also be allowed to be placed at any position of the access port 7.
  • the aforementioned lifting device 9 is a technology well known to those skilled in the art, and will not be repeated here.
  • the system also includes an access device 6 and a host computer 4.
  • the access device 6 is integrally arranged on the lifting device 9 and moves up and down with the lifting device 9 in the vertical direction (the Z direction in FIG. 1).
  • the access device 6 includes a lateral movement device 6-1 and an access device 6-2.
  • the lateral movement device 6-1 as shown in Fig. 2, Fig. 3, and Fig. 3a in combination with Fig. 5 and Fig. 6, includes at least two parallel moving parts 6-1a, 6-1b, and moving parts 6-1a, 6 -1b, 6-1c, and 6-1d are arranged on the lifting device 9 and move laterally along the access channel 8 (the X direction in Figure 1) relative to the lifting device 9; it should be noted that the moving parts 6-1a, 6 -1b, 6-1c, and 6-1d are independently controlled, and are bidirectional (can be set on at least one of the two sides of the access channel 8, and cooperate with the access device 6-2 for storage and retrieval) , That is, when used in conjunction with the access device 6-2, the tray 2 on both sides of the access channel 8 can be stored and retrieved.
  • Access device 6-2 including telescopic forks 6-2a, 6-2b, 6-2c, 6-2d, each moving part 6-1a, 6-1b, 6-1c, 6-1d is provided with at least one telescopic fork Turning forks, each telescopic turning fork 6-2a, 6-2b, 6-2c, 6-2d is arranged on the moving part 6-1a, 6-1b, 6-1c, 6-1d and relative to the moving part 6- 1a, 6-1b, 6-1c, and 6-1d make telescopic movement toward the tray 2 (along the Y direction in FIG. 1) for storing the access unit 1 in the tray 2 and/or taking it out of the tray 2.
  • each telescopic fork 6-2a, 6-2b, 6-2c, 6-2d is two-way telescopic, so that one access device 6-2 can realize access to both sides of the access channel 8.
  • the storage and retrieval of the tray 2 of the pallet 2 improves the utilization efficiency of the access device 6-2 and the entire access device 6 and saves space.
  • each moving part 6-1a, 6-1b, 6-1c, 6-1d can also be provided with two telescopic forks (not shown in the figure), and the two telescopic forks are respectively located on both sides of the access channel 8.
  • the trays 2 on both sides of the access channel 8 expand and contract to realize the storage and retrieval of the trays 2 on both sides of the access channel 8.
  • Figures 2, Figure 3 and Figure 3a show two moving parts 6-1a, 6-1b and two telescopic forks 6-2a, 6-2b. It should be understood that the moving part and the telescopic The number of forks can be selected according to actual needs. As shown in Figure 6, three moving parts 6-1a, 6-1b, 6-1c are selected. In actual use, the three moving parts 6-1a, 6-1b, 6-1c are independently controlled and It is bidirectional. The moving parts 6-1a and 6-1c on both sides can share the moving part 6-1b in the middle to store and retrieve access units 1 of different sizes and shapes on the trays 2 on both sides of the access channel 8. As shown in FIG.
  • the present embodiment has multiple moving parts 6-1a, 6-1b,
  • the automated three-dimensional container system of 6-1c, 6-1d and multiple telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d can realize automatic layer changing and storage when storing and taking multi-task orders. take. If multiple access units 1 need to be stored in different pallet levels or need to be taken out from different pallet levels, only the access units 1 of the same pallet level need to be stored and retrieved, and the level is changed directly Go to the pallet level corresponding to the next access unit 1 to store and retrieve without returning to the access port 7 each time.
  • the tasks of storing and taking orders are located on the tray 2 of the same layer, and occupy different positions in the X direction.
  • This structure can achieve simultaneous storage. In and out of goods, realize the operation of multiple orders. Other storage and retrieval methods that can be realized through this structure are not listed here.
  • the automated three-dimensional container system also includes a data acquisition device 5 installed at the access port 7, which is electrically connected to the host computer 4, and is used to capture the space occupied by the access unit 1 (such as storage).
  • the image, length, width, height, volume, shape, etc. of the fetching unit 1 and the storage location of the access unit 1 are collected at the access port 7 and fed back to the upper computer 4.
  • the automated three-dimensional container system further includes an information interaction device, which is electrically connected to the host computer 4 for inputting and/or outputting information stored and/or retrieved from the access unit 1.
  • the input of the information interaction device can be keyboard input, barcode scanner input, voice input, touch screen input and other arbitrary input methods; the output of the information interaction device can be dynamic or static display on the screen, voice broadcast, and warning light Any output mode such as flashing.
  • the user when storing in the access unit 1, the user can scan the barcode of the access unit 1 through the barcode scanner to obtain the occupied space of the access unit 1 and input it to the upper computer 4; or access through the measuring instrument and camera
  • the space occupied by the unit 1 is input to the host computer 4 through a keyboard or voice; when the storage is completed, the information interaction device displays whether the storage is successful in real time on the display screen, and updates the current occupancy information of the tray 2 in real time for users to view in real time.
  • the aforementioned and following occupation information includes but not only the unique ID of access unit 1, the occupied space of access unit 1 itself (such as the image, length, width, height, volume, shape, etc.
  • the information interaction device informs and reminds the user to perform manual processing in real time by means of voice broadcast. In this way, the human-computer interaction is more convenient for storage and retrieval. It should be understood that the aforementioned information interaction device is a well-known technology in the art, and any suitable structure that is currently or developed in the future can be used according to the disclosure of the present invention.
  • the upper computer 4 is electrically connected to the lateral movement device 6-1, the access device 6-2, and the lifting device 9; in response to the occupied space of the access unit 1, the lifting device 9 is controlled to lift and move parts 6-1a, 6-
  • the movement of 1b, 6-1c, and 6-1d and the expansion and contraction of the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d complete the deposit or withdrawal of the access unit 1.
  • the aforementioned occupied space of the access unit 1 can be automatically collected by the data collection device 5, can also be obtained by manual measurement and input, or can be obtained by the pre-stored information of the access unit 1 in the host computer 4 and other information .
  • the aforementioned host computer 4 is a well-known technology in the art, and any suitable structure that is present or developed in the future can be used according to the disclosure of the present invention.
  • the upper computer 4 can also be replaced by other control equipment, such as a PLC system.
  • the upper computer 4 is also configured to generate a unique ID of the access unit 1 according to the occupied space of the access unit 1, and has a database module.
  • the database module is used to store the unique ID, its corresponding occupancy space and the binding relationship between the two, and also used to store the occupancy information of the access unit 1 on the tray 2.
  • the host computer 4 automatically matches the suitable storage space on the tray 2 for the access unit 1 according to the occupied space of the access unit 1 and the occupied position of the saved access unit 1 on the tray 2 (that is, the storage space on the tray 2
  • the free space can be obtained by removing the occupied position of the stored access unit 1 on the tray 2 with all the storage space).
  • the host computer 4 stores the ID of the access unit 1, the occupied space of the access unit 1 and its occupancy information on the tray 2 in real time to the database module for subsequent storage of other access units 1 or remove the access Called when unit 1.
  • the user can input the ID of the access unit 1, and the host computer 4 can retrieve the occupied space of the access unit 1 corresponding to the ID stored in the database module and the space on the tray 2 according to the ID of the access unit 1.
  • the lifting device 9 and the access device 6 are controlled to take out the access unit 1 from the occupied position on the matching tray 2.
  • the upper computer 4 clears the original occupancy information from the database module in real time for the subsequent storage of other access units 1 to call.
  • the automated three-dimensional container system taken an automated three-dimensional container system with two moving parts 6-1a, 6-1b and two telescopic forks 6-2a, 6-2b as an example, and its working principle is:
  • the access unit 1 When the access unit 1 is stored, the access unit 1 is placed at any position of the access port 7.
  • the host computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, and 6-1d along the access channel 8 (along the X direction) according to the storage position of the access unit 1 at the access port 7 collected by the data collection device 5 ) Move laterally to the location where the access unit 1 is stored corresponding to the access port 7, and according to the occupied space of the access unit 1 (the occupied space can be automatically collected by the data collection device 5, or can be obtained by manual measurement input)
  • the moving parts 6-1a, 6-1b, 6-1c, and 6-1d are adjusted to fit the width of the access unit 1.
  • the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d extend from the initial position (as shown in Figure 9) toward the access port 7 (along the Y direction) and grab the access unit 1, the telescopic fork
  • the contraction of 6-2a, 6-2b, 6-2c, and 6-2d drives the access unit 1 back to its initial position (as shown in Figure 9, the access unit 1 is located in the access channel 8 at this time).
  • the host computer 4 Based on the occupied space of the access unit 1 and the occupied position of the saved access unit 1 on the pallet 2, the host computer 4 automatically matches the suitable storage space on the pallet 2 for the access unit 1 (for example, align the goods with the same specifications) Store one column in the Y direction, and then store goods with the same width in one column in the Y direction, etc.).
  • the lifting device 9 moves upward to drive the access unit 1 to the height of the suitable tray 2 (that is, the height of the tray 2 corresponding to the aforementioned suitable storage space).
  • the upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, and 6-1d to drive the access unit 1 grabbed on it to move laterally along the access channel 8 (along the X direction) to the access unit 1 for storage Then the upper computer 4 controls the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d to extend toward the pallet 2 (along the Y direction) to store the access unit 1 on the pallet 2, and complete storage. After the storage is completed, the upper computer 4 controls the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d to shrink back to their initial positions; the lifting device 9 drives the access device 6 to move down to the bottom of the storage rack 3.
  • the host computer 4 generates the unique ID of the access unit 1, and stores the ID of the access unit 1, the occupied space of the access unit 1, and the occupied information on the tray 2 in real time to the database module for subsequent storage.
  • the information interaction device displays the storage result and storage occupancy information in real time for the user to view.
  • the access unit 1 When the access unit 1 is taken out, the access unit 1 is stored on the tray 2.
  • the upper computer 4 retrieves the occupied space of the access unit 1 corresponding to the ID stored in the database module and the occupied position on the tray 2 according to the unique ID number of the access unit 1.
  • the lifting device 9 moves to the height of the tray 2 stored in the access unit 1; the upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, and 6-1d to move laterally along the access channel 8 (in the X direction)
  • the moving parts 6-1a, 6-1b, 6-1c, and 6-1d are adjusted to fit the width of the access unit 1.
  • the telescopic forks 6-2a, 6-2b, 6-2c, 6-2d extend from the initial position (as shown in Figure 9) toward the tray 2 (along the Y direction) and grab the access unit 1, the telescopic fork 6
  • the contraction of 2a, 6-2b, 6-2c, and 6-2d drives the access unit 1 back to its initial position (as shown in Figure 9, the access unit 1 is located in the access channel 8 at this time).
  • the lifting device 9 moves downward to drive the access unit 1 down to the height of the access port 7.
  • the upper computer 4 controls the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d to extend toward the access port 7 (along the Y direction) and place the access unit 1 to the access port 7, the user takes it away, and waits Store or retrieve the job next time.
  • the host computer 4 clears the original occupancy information from the database module in real time to be called when other access units 1 are subsequently stored.
  • the information interaction device displays the retrieval result and the retrieved storage occupancy information in real time for the user to view.
  • the working principle of an automated three-dimensional container system with multiple moving parts 6-1a, 6-1b, 6-1c, 6-1d, and multiple telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d The working principle of the automated three-dimensional container system with two moving parts 6-1a, 6-1b and two telescopic forks 6-2a, 6-2b is basically the same, and the working principle when processing multi-task orders is as described above.
  • access unit 1 can be of any shape (including pallets, turnover boxes, cartons or the goods themselves), and through variable structure
  • the access device 6 can realize the storage and retrieval of access units 1 of different shapes and sizes (length, width, height), instead of the storage method that can only store pallets 2 or turnover boxes of a limited size as described in the background art (currently).
  • the storage size is variable, it is only achieved by adjusting the size of the shelf or storage carrier, such as adjusting the structural width of the shelf compartment.
  • the shape and size are still immutable Yes, the function of increasing storage capacity is limited; in addition, if the storage carrier is a large pallet and a turnover box, and the storage of goods is small, the space of the storage rack is not fully utilized, and storage and retrieval still require large power consumption and waste Space, energy).
  • the three-dimensional container system disclosed in this technical solution realizes the variable and mixed storage in the width and depth directions through the moving part and the telescopic fork in the true sense, and can make reasonable use of the space on each layer.
  • the lateral movement device 6-1 realizes the dual functions of lateral movement and access variable width (the width of the access unit 1 it grabs is variable) through structural optimization, and the overall system structure is achieved through an integrated design It is more compact, more convenient to install and maintain, and reduces costs.
  • the three-dimensional container system can realize automatic layer change storage and retrieval, which greatly improves the storage and retrieval efficiency and reduces power consumption.
  • the lifting device 9 also has a support frame 9-1 horizontally arranged along the access channel 8.
  • the support frame 9-1 is used to support and fix the entire access channel.
  • Each moving part 6-1a, 6-1b, 6-1c, 6-1d is moved by a first timing belt transmission mechanism fixed on the support frame 9-1.
  • the first timing belt transmission mechanism includes a first driving device 6-12, a first driving pulley 6-11, a first driven pulley 6-15, and a timing belt 6-14.
  • the first driving device 6-12, the first driving pulley 6-11 and the first driven pulley 6-15 are respectively fixedly installed on the support frame 9-1 of the lifting device 9, and the first driving pulley 6-11 is The driving of the first driving device 6-12 drives the first driven pulley 6-15 to rotate to drive the timing belt 6-14 to move laterally along the access channel 8.
  • the moving parts 6-1a, 6-1b, 6-1c, and 6-1d are fixedly connected to the timing belt 6-14, and move laterally along the access channel 8 as the timing belt 6-14 moves.
  • the first driving device 6-12 is a servo motor.
  • other driving devices of any form can also be selected according to actual needs.
  • the lateral movement device 6-1 further includes a guide part 6-13.
  • the guide portion 6-13 includes a sliding block 6-132 and a guide rail 6-131.
  • the guide rail 6-131 is fixedly connected to the lifting device 9 and is parallel to the access channel 8.
  • the moving parts 6-1a, 6-1b, 6-1c, 6-1d are fixedly connected to the slider 6-132, and the slider 6-132 follows the moving parts 6-1a, 6-1b, 6-1c, 6-1d Move along the guide rail 6-131. In this way, when the moving parts 6-1a, 6-1b, 6-1c, and 6-1d move laterally along the access channel 8, the entire guide part 6-13 plays a guiding role.
  • the lateral movement device 6-1 uses a servo motor to drive the first timing belt wheel to drive the timing belt 6-14 to move and then drive the access device 6-2 to move.
  • the lateral movement device 6-1 is also provided with a guide 6-13 Orientation.
  • the positioning is accurate when moving laterally, avoiding the phenomenon of hitting the access unit 1.
  • the width is more accurate, which improves the reliability of access and avoids the traditional technology of small cars relying on sensors.
  • the occurrence of the impact phenomenon caused by inaccurate positioning also avoids the time cost consumption caused by inaccurate positioning and repositioning, and further improves the access efficiency.
  • each telescopic fork 6-2a, 6-2b, 6-2c, 6-2d includes a front rail 6-21, a middle rail 6-22, and a fork 6-20.
  • the middle rail 6-22 expands and contracts toward the tray 2 through the second timing belt transmission mechanism 6-23, and the second timing belt transmission mechanism 6-23 is installed on the moving parts 6-1a, 6-1b, 6-1c, 6 through a fixed plate. -1d on.
  • the front rail 6-21 expands and contracts toward the pallet 2 along the middle rail 6-22 through the belt drive mechanism 6-24; the turning fork 6-20 is fixedly connected with the front rail 6-21 for grabbing the access unit 1.
  • the maximum stroke of the front rail 6-21 is twice the maximum stroke of the middle rail 6-22.
  • the variable depth storage (the depth of the accessed access unit 1 is variable) is realized by the telescopic fork, which greatly saves the running time of the system and improves the efficiency.
  • the turning fork 6-20 is a well-known technology in the art, and any suitable structure existing or developed in the future can be used according to the disclosure of the present invention.
  • the fork 6-20 can also be replaced by other grabbing devices, such as a six-axis robotic arm.
  • Fig. 3 and Fig. 3a show schematic diagrams of two telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d arranged in parallel with each other. It should be understood that in order to facilitate the grasping of deposits of different shapes Taking unit 1, in some embodiments, the angles between the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d may also be adjustable.
  • each telescopic fork 6-2a, 6-2b, 6-2c, 6-2d is replaced with a sprocket drive assembly 6-25 or Timing belt drive assembly 6-25
  • the aforementioned sprocket drive assembly 6-25 or timing belt drive assembly 6-25 includes a driving wheel 6-251, a driven wheel 6-252 and a timing belt or chain 6-254 for driving,
  • Three push-pull blocks 6-253 are fixed on the synchronous belt or chain 6-254.
  • the driving wheel 6-251 rotates to drive the driven wheel 6-252 to rotate to drive the timing belt or chain 6-254 toward
  • the tray moves (along the Y direction in FIG. 1), thereby driving the push-pull block 6-253 on it to adjust the angle, and the access unit 1 is stored in the tray 2 or taken out from the tray 2.
  • the second timing belt transmission mechanism 6-23 includes a second driving device 6-235, a second driving pulley 6-231, and a second driven pulley 6- 232.
  • the second driving device 6-235, the second driving pulley 6-231, the tensioning pulley 6-234, and the second driven pulley 6-232 are fixedly installed on the moving parts 6-1a, 6-1b, 6-1c, respectively
  • the second driving pulley 6-231 is driven by the second driving device 6-235 to drive the second driven pulley 6-232 to rotate to drive the double-sided toothed synchronous belt 6-233 to move toward the tray 2.
  • the middle rail 6-22 has a tooth shape adapted to the double-sided toothed synchronous belt 6-233, and the toothed shape meshes with the double-sided toothed synchronous belt 6-233.
  • the inner side of the double-sided toothed synchronous belt 6-233 is connected to the second driving pulley 6-231, the second driven pulley 6-232, and the tensioning pulley 6-234.
  • a closed-loop pulley conveyor group is formed and passes through the second drive
  • the device 6-235 (in this embodiment, the second driving device 6-235 is the motor) provides power, and at the same time, the double-sided toothed synchronous belt 6-233 is used for meshing, which effectively simplifies the transmission mechanism and reduces parts.
  • the telescopic transmission positioning of the middle rail 6-22 is more accurate and the grasping reliability is higher.
  • the belt transmission mechanism 6-24 includes a belt 6-242, a pulley block 6-241, and a third driving device (not shown in FIG. 4a).
  • the pulley block 6-241 is driven by the third driving device to drive the belt 6-242 to move toward the tray 2; the front rail 6-21 expands and contracts with the belt 6-242 along the middle rail 6-22 toward the tray 2, which is the second level of expansion and contraction .
  • the stability is better than the first-stage expansion and contraction.
  • the belt transmission mechanism 6-24 includes a belt 6-242 and a pulley block 6-241.
  • One end of the belt 6-242 is connected to the middle rail 6-22 of the fixed plate, and the other end is fixedly connected to the front rail 6-21.
  • the pulley middle rail 6-22 moves, the belt 6-242 moves to drive the front rail 6-21. mobile.
  • a storage method of an automated three-dimensional container system is also proposed, which is based on the aforementioned automated three-dimensional container system, and the storage method includes:
  • the access unit 1 is placed at the access port 7.
  • the host computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, and 6-1d to move to the access port 7, and controls the moving parts 6-1a, 6-1b, 6 in response to the occupied space of the access unit 1.
  • -1c and 6-1d are adjusted to fit the width of the access unit 1.
  • the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d extend from the initial position toward the access port 7 and grab the access unit 1.
  • the telescopic forks 6-2a, 6-2b, 6-2c, The 6-2d contraction drives the access unit 1 back to its original position.
  • the lifting device 9 moves upward to drive the access unit 1 to rise to a suitable height of the tray 2.
  • the upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, and 6-1d to move to the tray position to be stored in the access unit 1.
  • the upper computer 4 controls the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d to extend toward the tray 2 to store the access unit 1 on the tray 2.
  • the method further includes: the upper computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, 6-1d to move to the access port 7, and controls the moving part 6 in response to the occupied space of the access unit 1.
  • the access unit 1 will automatically match the suitable storage space on the tray 2.
  • a method for taking out an automated three-dimensional container system is also proposed, which is based on the aforementioned automated three-dimensional container system, and the method for taking out includes:
  • the access unit 1 is stored on the tray 2.
  • the host computer 4 controls the moving parts 6-1a, 6-1b, 6-1c, 6-1d to move to the tray position stored in the access unit 1, and controls the moving parts 6-1a, 6 in response to the occupied space of the access unit 1.
  • -1b, 6-1c, and 6-1d are adjusted to fit the width of the access unit 1.
  • the telescopic forks 6-2a, 6-2b, 6-2c, 6-2d extend from the initial position toward the pallet 2 and grab the access unit 1.
  • the telescopic forks 6-2a, 6-2b, 6-2c, 6 The 2d contraction drives the access unit 1 back to its initial position.
  • the lifting device 9 moves downward to drive the access unit 1 down to the height of the access port 7.
  • the host computer 4 controls the telescopic forks 6-2a, 6-2b, 6-2c, and 6-2d to extend toward the access port 7 to place the access unit 1 on the access port 7.
  • the more detailed and specific retrieval method (including the retrieval method of the multi-task order) is the same as the working principle of the aforementioned automated three-dimensional container system, and will not be repeated here.
  • the access units can be of any shape (including pallets, turnover boxes, cartons or the goods themselves), any size (length, width), and through variable structure Access equipment can store and retrieve access units of different shapes and sizes, truly realize variable and mixed storage in width and depth directions, greatly increase the application scenarios of three-dimensional containers, and improve storage capacity and access efficiency.
  • the automated three-dimensional container system has multiple moving parts and multiple telescopic forks, which can realize automatic storage and retrieval of layers, greatly improve the efficiency of storage and retrieval, and further reduce power consumption.
  • the lateral movement device realizes the dual functions of lateral movement and access variable width.
  • the entire system structure is more compact, installation and maintenance are more convenient, and costs are reduced.
  • the horizontal movement device uses a servo motor to drive the timing belt wheel to drive the timing belt to move and then drive the access device to move.
  • the horizontal movement device is also provided with a guiding mechanism for guidance.

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Abstract

一种自动化立体货柜系统包括存储架(3)、提升装置(9)、存取设备(6)和上位机(4)。存储架(3)包括托盘(2)、存取通道(8)和存取口(7)。存取设备(6)包括横向移动装置(6-1)和存取装置(6-2)。横向移动装置包括至少两个移动部，每个移动部设置在提升装置上并且沿存取通道横向移动；存取装置包括多个伸缩翻叉，每个伸缩翻叉设置在相应的移动部上且朝向托盘伸缩。上位机(4)与横向移动装置和存取装置分别电连接，并响应于存取单元的占用空间控制移动部的移动以及伸缩翻叉的伸缩以完成对存取单元的存入或取出。还公开了该自动化立体货柜系统的存、取方法。能够实现快速精准的存、取存取单元，通过可变结构的存取设备能够实现高效率的存、取多个不同形状和尺寸的存取单元，真正实现了宽度与深度方向的可变混合存储。

Description

自动化立体货柜系统及其存、取方法 技术领域
本发明涉及立体货柜技术领域，尤其涉及一种自动化立体货柜系统及其存、取方法。
背景技术
立体货柜，又称自动货柜，是现代化仓储的主要设备，主要分为垂直循环货柜、垂直提升货柜、水平循环货柜等，其可以实现仓库的自动化操作，提升管理效率。
其中，传统的垂直升降立体货柜主要是以托盘为存取单元，通过托盘车的升降和水平运动，将存放货物的托盘取出或送到柜体内合适的货位，可以自动、合理地安排柜体内存储空间，以实现货物智能化地分发管理。如日本专利申请No.8-324721所公开的专利文献，在前述文献中描述的自动存储/检索系统包括至少一对左右对称设置的多层机架，每个机架由多层架子组成，还包括可以在每层机架之间水平移动的穿梭车、以便将存取单元(如托盘)存储到多层机架并从多层机架中取出存取单元(如托盘)。
又如专利申请号为CN201610130106.2的中国专利，其公开的垂直升降货柜以托盘为存取单元，通过托盘车的升降和水平运动，将存放货物的托盘取出或送到柜内合适的货位。现有技术中的方案需要取出或存储货物时，整层托盘均需要移动，并且前一个托盘任务完成之后才能进行下一个托盘任务，当一个订单涉及多个托盘时，其存取效率较低并且功耗较大，同时也抑制了立体货柜容纳能力的提高。
另外，立体货柜厂商总是需要增加其存储容量。对于这种需要，传统上已经提出了各种策略。其中一种策略是一种方法，包括将存取单元尽可能深地推到多层机架的每个架子上(尽可能远离穿梭车的行进路径)。为了实现这种策略，穿梭车的伸缩机构的左/右行程需要大约是穿梭车的左/右行程的两倍。又如专利公开号为US9919870的美国专利，其公开的自动化立体货柜以承载件作为自动化立体货柜的存取单元，其 后壁配置有以模块化结构布置的支撑结构或互连装置，通过模块化结构以处理不同高度和/或宽度的承载件，但是这个是通过调整机架的尺寸结构来实现放置不同高度和/或宽度的承载件，在实际的存、取过程中仍然只能存、取单一尺寸的承载件；并未真正实现宽度与深度方向的可变混合存储。
前述的传统的自动化立体货柜存储存取单元，存取单元的宽度与深度均是固定的，即每层货架上的货格均为固定尺寸，因此只能存储单一尺寸的存取单元，这大大的限制了立体货柜的应用场景，并且存储容量小、存取效率较低。
再者，传统的自动化立体货柜的穿梭车的抓取机构是安装在穿梭车的底盘上，通过驱动穿梭车的轮子行走在钢制轨道上，定位是通过安装传感器来避免穿梭车撞击存取单元，因此定位精度上存在一定的误差，如果定位不精确时就需要重新定位，影响存取效率。另外，当自动化立体货柜穿梭车的最大行驶距离较长时，为了检修方便(能够人为推动穿梭车)，穿梭车的驱动轮电机没有刹车装置，当意外断电时，小车完全处于失控状态，一方面会撞到导轨端头障碍物，另一方面重新上电的时候小车需要跑回至原点重新行驶寻找箱位，进一步影响存取效率。
发明内容
本发明旨在解决上述问题，提供一种自动化立体货柜系统及其存、取方法，它克服了上述传统自动化立体货柜的技术问题，采用该系统实现快速精准的存、取存取单元，存取单元可以为任意形状(包括托盘、周转箱、纸箱或者货物本身)，并且通过可变结构的存取设备能够实现存、取不同形状、尺寸的存取单元，真正的实现了宽度与深度方向的可变混合存储，大大增加了立体货柜的应用场景、提高了存储容量、存取效率。另外，横向移动装置是采用伺服电机驱动同步带轮带动同步带移动进而带动存取装置移动，横向移动装置还设置有导向机构进行导向，通过这种绝对控制的方式定位精准、避免了撞击存取单元的现象发生，提高了存取的可靠性；也避免了定位不准确需要重新定位所带来的时间成本消耗，进一步提高了存取效率。
为达成上述目的，本发明所采用的技术方案如下：
一种自动化立体货柜系统，包括：存储架以及可沿竖直方向上下移动的提升装置，所述存储架包括用于存储存取单元的托盘、以及存取通道和存取口，还包括存取设备以及上位机，其中：
所述存取设备，整体设置在提升装置上，包括横向移动装置和存取装置；
所述横向移动装置，包括至少两个相互平行设置的移动部，所述移动部设置在提升装置上并且相对于提升装置沿存取通道横向移动；
所述存取装置，包括伸缩翻叉，每个移动部至少设置一个伸缩翻叉，每个所述伸缩翻叉设置在所述移动部上且相对于移动部朝向托盘伸缩，用于将存取单元存入托盘和/或从托盘中取出；
所述上位机，与横向移动装置、存取装置分别电连接，被设置成响应于存取单元的占用空间控制移动部的移动以及伸缩翻叉的伸缩、以完成对存取单元的存入和/或取出。
进一步的实施例中，所述自动化立体货柜系统还包括安装在存取口的数据采集装置，与上位机电连接，用于对存取单元的占用空间以及存取单元在存取口的存放位置进行采集并反馈至上位机。
进一步的实施例中，所述上位机还被设置成根据存取单元的占用空间生成存取单元的唯一ID，具有一数据库模块，
所述数据库模块，用于存储所述唯一ID、与其对应的占用空间以及两者之间的绑定关系，还用于存储所述存取单元在托盘上的占用信息；
所述上位机还被设置成自动为存取单元匹配托盘上的适合存放空间和/或将存取单元从匹配的托盘上取出。
进一步的实施例中，所述自动化立体货柜系统还包括信息交互装置，与上位机电连接，用于对存取单元的存入和/或取出的信息进行输入和/或输出。
进一步的实施例中，每个所述移动部通过第一同步带传动机构移动；
所述第一同步带传动机构，包括第一驱动装置、第一驱动带轮、第一从动带轮以及同步带；
所述第一驱动装置、第一驱动带轮以及第一从动带轮分别固定安装在提升装置上，第一驱动带轮受第一驱动装置的驱动带动第一从动带轮旋转以带动同步带沿存取通道横向移动；
移动部与同步带固定连接。
进一步的实施例中，所述横向移动装置还包括导向部，
所述导向部，包括滑块与导轨；
所述导轨，固定连接在提升装置上，与存取通道平行；
所述移动部与滑块固定连接；
所述滑块随着移动部沿导轨移动。
进一步的实施例中，每个所述伸缩翻叉包括前轨、中轨以及翻叉，
所述中轨通过固定安装在移动部上的第二同步带传动机构朝向托盘伸缩；
所述前轨通过皮带传动机构沿着中轨朝向托盘伸缩；
所述翻叉，与前轨固定连接，用于抓取存取单元。
进一步的实施例中，所述第二同步带传动机构包括第二驱动装置、第二驱动带轮、第二从动带轮以及双面齿同步带；
所述第二驱动装置、第二驱动带轮以及第二从动带轮分别固定安装在移动部上，第二驱动带轮受第二驱动装置的驱动带动第二从动带轮旋转以带动双面齿同步带朝向托盘移动；
所述中轨，其具有适配于双面齿同步带的齿形，与双面齿同步带啮合。
进一步的实施例中，所述皮带传动机构包括皮带、滑轮组以及第三驱动装置；
所述滑轮组受第三驱动装置的驱动带动皮带朝向托盘移动；
所述前轨随着皮带沿着中轨朝向托盘伸缩。
根据本发明的改进，还提出一种自动化立体货柜系统的存储方法，其基于前述的自动化立体货柜系统，该方法包括：
存取单元放置在存取口；
上位机控制移动部移动至存取口，并且响应于存取单元的占用空间控制移动部调整到适合存取单元的宽度；
伸缩翻叉从初始位置朝向存取口延伸并且抓取存取单元，伸缩翻叉收缩带动存取单元回到其初始位置；
提升装置向上移动带动存取单元上升至适合的托盘高度；
上位机控制伸缩翻叉朝向托盘延伸将存取单元存入至托盘上。
进一步的实施例中，该方法还包括：
上位机控制移动部移动至存取口，并且响应于存取单元的占用空间控制移动部调整到适合存取单元的宽度后，自动为存取单元匹配托盘上的适合存放空间。
根据本发明的改进，还提出一种自动化立体货柜系统的取出方法，其基于前述的自动化立体货柜系统，该方法包括：
存取单元存放在托盘上；
上位机控制移动部移动至存取单元存放的托盘位置，并且响应于存取单元的占用空间控制移动部调整到适合存取单元的宽度；
伸缩翻叉从初始位置朝向托盘延伸并且抓取存取单元，伸缩翻叉收缩带动存取单元回到其初始位置；
提升装置向下移动带动存取单元下降至存取口的高度；
上位机控制伸缩翻叉朝向存取口延伸将存取单元放置至存取口。
本发明提出的自动化立体货柜系统及其存、取方法，与现有技术相比，其显著的 有益效果在于，
1)采用该系统能够实现快速精准的存、取存取单元，存取单元可以为任意形状(包括托盘、周转箱、纸箱或者货物本身)、任意尺寸(长度、宽度)，通过可变结构的存取设备能够实现存、取不同形状、尺寸的存取单元，真正的实现了宽度与深度方向的可变混合存储，大大增加了立体货柜的应用场景、提高了存储容量、存取效率。
2)在处理多任务存、取订单时，自动化立体货柜系统具有多个移动部及多个伸缩翻叉，每次可以存、取多个不同的存取单元，并能够实现自动换层存、取，大大提高了存、取效率，进一步降低了功耗。
3)横向移动装置通过结构上的优化设计，实现了横向移动和存取变宽度的双重功能，通过一体化设计使整个系统结构更加紧凑、安装、维修更加方便，降低了成本。
4)横向移动装置是采用伺服电机驱动同步带轮带动同步带移动进而带动存取装置移动，横向移动装置还设置有导向机构进行导向，通过这种绝对控制的方式定位精准、避免了撞击存取单元的现象发生，提高了存取的可靠性；也避免了定位不准确需要重新定位所带来的时间成本消耗，进一步提高了存取效率。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，附图不意在按比例绘制。在附图中，在各个图中示出的每个相同或近似相同的组成部分可以用相同的标号表示。为了清晰起见，在每个图中，并非每个组成部分均被标记。现在，将通过例子并参考附图来描述本发明的各个方面的实施例，在附图中：
图1为本发明较优实施例的自动化立体货柜系统的整体结构示意图。
图2为本发明较优实施例的自动化立体货柜系统的存取设备的结构示意图。
图3为本发明较优实施例的自动化立体货柜系统的存取设备和存取单元的的示意图。
图3a为本发明较优实施例的自动化立体货柜系统的存取单元的结构示意图。
图4a为本发明较优实施例的自动化立体货柜系统的存取装置的部分结构示意图。
图4b为本发明较优实施例的自动化立体货柜系统的存取装置的部分结构示意图。
图4c为本发明较优实施例的自动化立体货柜系统的存取装置的部分局部放大示意图。
图5为本发明另一个较优实施例的自动化立体货柜系统的存取设备(4个移动部和4个伸缩翻叉)的结构示意图。
图6为本发明另一个较优实施例的自动化立体货柜系统的存取设备(3个移动部和3个伸缩翻叉)的结构示意图。
图7为本发明另一个较优实施例的自动化立体货柜系统的存取装置的结构示意图。
图8为本发明较优实施例的自动化立体货柜系统的存取口和存取通道的布局示意图。
图9为本发明较优实施例的自动化立体货柜系统的存取设备的工作原理示意图。
图10为本发明较优实施例的自动化立体货柜系统的存储方法的流程示意图。
图11为本发明较优实施例的自动化立体货柜系统的取出方法的流程示意图。
具体实施方式
为了更了解本发明的技术内容，特举具体实施例并配合上述所附图式说明如下。
如图1至图9所示，根据本发明的较优实施例，一种自动化立体货柜系统，适用于对可变尺寸、可变形状的存取单元1(包括托盘、周转箱、纸箱或者货物本身)进行混合存储、取出。
该自动化立体货柜系统包括存储架3以及可沿竖直方向(附图1中Z方向)上、下移动的提升装置9。存储架3包括上下多层设置的用于存储可变形状、可变尺寸(宽度、深度、高度)的存取单元1的托盘2(在本实施例中，如图1所示，托盘2为纵长型的，其纵长方向与附图1中X方向平行)、以及存取通道8和用于供给存取单元1存入时和/或取出时存入或者取出的存取口7。如图1结合图8所示，存取通道8为存 取单元1存入和/或取出时的通道，其纵长方向与附图1中X方向平行。如图3所示，该托盘2上可以混合存储不同尺寸、形状的存取单元1(1a、1b、1c、1d、1e、1f)。在本实施例中，如图1结合图8所示，存取口7设置在存储架3的最下层，并且靠近存取单元1的自由端面位置以便取出，存取口7的存取区域的长度与托盘2长度相近或者相同，可同时放置多个不同尺寸、形状的存取单元1，存取单元1也可允许被放置在存取口7的任何位置。前述的提升装置9是本领域所属的技术人员所熟知的技术，在此不再赘述。
该系统还包括存取设备6以及上位机4。存取设备6，整体设置在提升装置9上并且随着提升装置9沿竖直方向(附图1中Z方向)作上下移动。存取设备6包括横向移动装置6-1和存取装置6-2。
横向移动装置6-1，如图2、图3、图3a结合图5、图6所示，包括至少两个相互平行设置的移动部6-1a、6-1b，移动部6-1a、6-1b、6-1c、6-1d设置在提升装置9上并且相对于提升装置9沿存取通道8(附图1中X方向)横向移动；应当说明的是，移动部6-1a、6-1b、6-1c、6-1d是分别独立控制的，并且为双向的(可以设置在存取通道8的两侧中的至少一侧、与存取装置6-2配合进行存、取)，即与存取装置6-2配合使用能够实现对存取通道8两侧的托盘2进行存、取。存取装置6-2，包括伸缩翻叉6-2a、6-2b、6-2c、6-2d，每个移动部6-1a、6-1b、6-1c、6-1d至少设置一个伸缩翻叉，每个伸缩翻叉6-2a、6-2b、6-2c、6-2d设置在移动部6-1a、6-1b、6-1c、6-1d上且相对于移动部6-1a、6-1b、6-1c、6-1d朝向托盘2(沿附图1中Y方向)作伸缩运动，用于将存取单元1存入托盘2和/或从托盘2中取出。在本实施例中，每个伸缩翻叉6-2a、6-2b、6-2c、6-2d均为双向伸缩的，如此，一个存取装置6-2能够实现对存取通道8两侧的托盘2进行存、取，提高了存取装置6-2以及整个存取设备6的利用效率，节省了空间。当然，每个移动部6-1a、6-1b、6-1c、6-1d也可以设置两个伸缩翻叉(图中未示出)，两个伸缩翻叉分别位于存取通道8两侧、并且各自朝向存取通 道8两侧的托盘2(沿附图1中Y方向)伸缩以实现对存取通道8两侧的托盘2进行存、取。
附图2、附图3以及附图3a中示出的是两个移动部6-1a、6-1b和两个伸缩翻叉6-2a、6-2b，应当理解的是，移动部和伸缩翻叉的数量可以根据实际需求进行选择。如图6所示，选择设置3个移动部6-1a、6-1b、6-1c，在实际使用时，由于三个移动部6-1a、6-1b、6-1c是独立控制的并且为双向的，两侧的移动部6-1a、6-1c可以共用中间的移动部6-1b对存取通道8两侧的托盘2上不同尺寸、形状的存取单元1进行存、取。如图5所示，选择设置4个移动部6-1a、6-1b、6-1c、6-1d，可以同时对2个不同尺寸、形状的存取单元1进行存、取。其余数量的移动部的实施例，以此类推，在此不一一列举。需要说明的是，在存取的过程中，一个订单如果是多任务订单，即一个订单要存入或者取出多个不同尺寸的存取单元1，现有技术中的立体货柜，通过存取小车与输送装置每次只能存取单个固定尺寸的存取单元，在存、取多任务订单时，则需要将单个固定尺寸的存取单元存、取完毕后返回至存取口7，然后再运行至下一个存取单元所对应的货架层再进行存、取，完成多任务订单效率较低、功耗较大；而本实施例提出的具有多个移动部6-1a、6-1b、6-1c、6-1d及多个伸缩翻叉6-2a、6-2b、6-2c、6-2d的自动化立体货柜系统，在存、取多任务订单时，能够实现自动换层存、取。如果多个存取单元1需要存入不同的托盘层或者需要将多个存取单元1从不同的托盘层取出，则仅需存、取完同一托盘层的存取单元1后，直接换层至下一个存取单元1所对应的托盘层进行存、取，而不必每次返回至存取口7，当所有存取单元1均存、取完毕后，再返回至存取口7；如果多个存取单元1需要存入相同的托盘层或者需要将多个存取单元1从相同的托盘层取出，通过多个移动部6-1a、6-1b、6-1c、6-1d及多个伸缩翻叉6-2a、6-2b、6-2c、6-2d能够实现一次将多任务订单完成，再返回至存取口7。如此，大大提高了存、取效率，降低了功耗，可适用于多种应用场景，并可同时对存取通道8两侧的存取单元1进行存、取(如图5所示)。当然，还有其它多种通 过该结构能够实现的存、取方式，比如存、取订单的任务位于同一层的托盘2上，并且在X方向上的占用位置不同，通过该结构能够实现同时存入和取出货物，实现多订单的操作。其它的通过该结构能够实现的存、取方式，在此不一一列举。
在本实施例中，如图1所示，自动化立体货柜系统还包括安装在存取口7的数据采集装置5，与上位机4电连接，用于对存取单元1的占用空间(如存取单元1的图像、长、宽、高、体积、形状等)以及存取单元1在存取口7的存放位置进行采集并反馈至上位机4。
如图1所示，自动化立体货柜系统还包括信息交互装置，信息交互装置与上位机4电连接，用于对存取单元1的存入和/或取出的信息进行输入和/或输出。在本实施例中，信息交互装置的输入可以为键盘输入、扫码器输入、语音输入、触摸屏输入等任意输入方式；信息交互装置的输出可以为显示屏动态或者静态显示、语音播报、警示灯闪烁等任意输出方式。比如，在存入存取单元1时，用户可以通过扫码器扫取存取单元1的条码获取存取单元1的占用空间进行输入至上位机4；也可以通过测量仪器、摄像头获取存取单元1的占用空间并通过键盘或者语音输入至上位机4；当存储完成后，信息交互装置实时通过显示屏显示存储是否成功，实时更新当前的托盘2的占用信息方便用户实时查看。前述的和后述的占用信息包括但不仅包括存取单元1的唯一ID、存取单元1自身的占用空间(如存取单元1的图像、长、宽、高、体积、形状等)以及存取单元1在托盘2上的占用位置(托盘2在X、Y、Z方向的坐标位置)。当没有适合的存放空间时，信息交互装置实时通过语音播报的方式告知提醒用户进行人工处理。如此，人机互动存、取更加便捷。应当理解的是，前述的信息交互装置是本领域所熟知的技术，根据本发明的公开可以使用现有的，或者未来开发的任何适当的结构。
上位机4，与横向移动装置6-1、存取装置6-2以及提升装置9分别电连接；响应于存取单元1的占用空间控制提升装置9的升降、移动部6-1a、6-1b、6-1c、6-1d的移动以及伸缩翻叉6-2a、6-2b、6-2c、6-2d的伸缩以完成对存取单元1的存入或取出。 前述的存取单元1的占用空间可以通过数据采集装置5自动采集获得，也可以通过人工测量、输入的方法获得，亦可以通过上位机4内预先存储的存取单元1的占用空间等信息获得。应当理解的是，前述的上位机4是本领域所熟知的技术，根据本发明的公开可以使用现有的，或者未来开发的任何适当的结构。当然，上位机4也可以用其它的控制设备代替，如PLC系统等。
在一些优选的实施例中，上位机4还被设置成根据存取单元1的占用空间生成存取单元1的唯一ID，并且具有一数据库模块。数据库模块，用于存储唯一ID、与其对应的占用空间以及两者之间的绑定关系，还用于存储存取单元1在托盘2上的占用信息。在存储时，上位机4根据存取单元1的占用空间结合已存的存取单元1在托盘2上的占用位置，自动为存取单元1匹配托盘2上的适合存放空间(即托盘2上的空闲空间，该空闲空间用全部存放空间去除已存的存取单元1在托盘2上的占用位置即可获得)。当存储完成后，上位机4将存取单元1的ID、存取单元1的占用空间及其在托盘2上的占用信息实时存储至数据库模块供后续存储其它存取单元1或者取出该存取单元1时调用。在取出时，用户可以通过输入存取单元1的ID，上位机4根据存取单元1的ID调取数据库模块内存储的该ID对应的存取单元1的占用空间及其在托盘2上的占用位置，控制提升装置9和存取设备6将存取单元1从其匹配的托盘2上的占用位置取出。当取出完成后，上位机4将原占用信息实时从数据库模块清除以供后续存储其它的存取单元1时调用。
本实施例提供的自动化立体货柜系统，以具有两个移动部6-1a、6-1b、两个伸缩翻叉6-2a、6-2b的自动化立体货柜系统为例，其工作原理为：
当存储存取单元1时，存取单元1放置在存取口7的任意位置。上位机4根据数据采集装置5采集的存取单元1在存取口7的存放位置，控制移动部6-1a、6-1b、6-1c、6-1d沿存取通道8(沿X方向)横向移动至存取口7对应的存放存取单元1的位置，并且根据存取单元1的占用空间(占用空间可以通过数据采集装置5自动采集获得， 也可以通过人工测量输入的方法获得)控制移动部6-1a、6-1b、6-1c、6-1d调整到适合存取单元1的宽度。伸缩翻叉6-2a、6-2b、6-2c、6-2d从初始位置(如图9所示)朝向存取口7(沿Y方向)延伸并且抓取存取单元1，伸缩翻叉6-2a、6-2b、6-2c、6-2d收缩带动存取单元1回到其初始位置(如图9所示，此时存取单元1位于存取通道8内)。上位机4根据存取单元1的占用空间结合已存的存取单元1在托盘2上的占用位置，自动为存取单元1匹配托盘2上的适合存放空间(比如，将规格相同的货物沿着Y方向存储一列，其次再将宽度相同的货物沿着Y方向存储一列等)。提升装置9向上移动带动存取单元1上升至适合的托盘2的高度(即前述的适合存放空间所对应的托盘2的高度)。上位机4控制移动部6-1a、6-1b、6-1c、6-1d带动其上抓取的存取单元1沿存取通道8(沿X方向)横向移动至存取单元1待存入的托盘位置，然后上位机4控制伸缩翻叉6-2a、6-2b、6-2c、6-2d朝向托盘2(沿Y方向)延伸将存取单元1存入至托盘2上，完成存储。存储完成后，上位机4控制伸缩翻叉6-2a、6-2b、6-2c、6-2d收缩回到其初始位置；提升装置9带动存取设备6向下移动至存储架3的最下层，等待下一次存储作业或者取出作业。同时，上位机4生成存取单元1的唯一ID，并将存取单元1的ID、存取单元1的占用空间及其在托盘2上的占用信息实时存储至数据库模块供后续存储其它存取单元1或者取出该存取单元1时调用，信息交互装置实时显示存储结果和存储占用信息方便用户查看。
在取出存取单元1时，存取单元1存放在托盘2上。上位机4根据存取单元1的唯一ID号调取数据库模块内存储的该ID对应的存取单元1的占用空间及其在托盘2上的占用位置。提升装置9移动至该存取单元1所存放的托盘2高度；上位机4控制移动部6-1a、6-1b、6-1c、6-1d沿存取通道8(沿X方向)横向移动至存取单元1存放的托盘位置，并且响应于存取单元1的占用空间控制移动部6-1a、6-1b、6-1c、6-1d调整到适合存取单元1的宽度。伸缩翻叉6-2a、6-2b、6-2c、6-2d从初始位置(如图9所示)朝向托盘2(沿Y方向)延伸并且抓取存取单元1，伸缩翻叉6-2a、6-2b、6-2c、 6-2d收缩带动存取单元1回到其初始位置(如图9所示，此时存取单元1位于存取通道8内)。提升装置9向下移动带动存取单元1下降至存取口7的高度。上位机4控制伸缩翻叉6-2a、6-2b、6-2c、6-2d朝向存取口7(沿Y方向)延伸将存取单元1放置至存取口7，用户取走，等待下一次存储作业或者取出作业。同时，上位机4将原占用信息实时从数据库模块清除以供后续存储其它的存取单元1时调用，信息交互装置实时显示取出结果和取出后的存储占用信息方便用户查看。
具有多个移动部6-1a、6-1b、6-1c、6-1d、多个伸缩翻叉6-2a、6-2b、6-2c、6-2d的自动化立体货柜系统的工作原理与具有两个移动部6-1a、6-1b、两个伸缩翻叉6-2a、6-2b的自动化立体货柜系统的工作原理基本相同，处理多任务订单时的工作原理如前所述。
如此，该系统能够实现快速精准的存、取存取单元1，如图3所示，存取单元1可以为任意形状(包括托盘、周转箱、纸箱或者货物本身)，并且通过可变结构的存取设备6能够实现存、取不同形状、尺寸(长度、宽度、高度)的存取单元1，替代了如背景技术所述的只能存储限定尺寸的托盘2或者周转箱的存储方式(现有技术中所公开的技术方案，即使存储尺寸可变，也仅是通过调整货架或者存储载体的尺寸来实现的，比如调整货架货格的结构宽度，从实质来讲，形状尺寸仍然是不可变的，增加存储容量的功能受限；另外如果存储载体是大型的托盘和周转箱，存储的货物较少时，存储架的空间并没有完全利用，存储、取出仍然需要较大的功耗，浪费了空间、能源)。而本技术方案公开的立体货柜系统通过移动部和伸缩翻叉真正意义上实现了宽度与深度方向的可变混合存储，能够合理利用每层空间，即使存取单元1较小时，存取时仅需直接运送存取单元1，也仅占用托盘上较小的空间，大大增加了立体货柜的应用场景、提高了存储容量、存取效率，降低了存取功耗，节约了能源。另外，横向移动装置6-1通过结构上的优化设计，实现了横向移动和存取变宽度(其抓取的存取单元1的宽度可变)的双重功能，通过一体化设计使整个系统结构更加紧凑、安装、维修更加方便， 降低了成本。在处理多任务订单时，具有多个移动部6-1a、6-1b、6-1c、6-1d、多个伸缩翻叉6-2a、6-2b、6-2c、6-2d的自动化立体货柜系统，能够实现自动换层存、取，大大提高了存、取效率，降低了功耗。
在某些优选的实施例中，如图1和图2所示，提升装置9还具有一沿存取通道8水平设置的支撑架9-1，支撑架9-1用于支撑固定整个存取设备6。每个移动部6-1a、6-1b、6-1c、6-1d通过固定在支撑架9-1上的第一同步带传动机构移动。第一同步带传动机构包括第一驱动装置6-12、第一驱动带轮6-11、第一从动带轮6-15以及同步带6-14。第一驱动装置6-12、第一驱动带轮6-11以及第一从动带轮6-15分别固定安装在提升装置9的支撑架9-1上，第一驱动带轮6-11受第一驱动装置6-12的驱动带动第一从动带轮6-15旋转以带动同步带6-14沿存取通道8横向移动。移动部6-1a、6-1b、6-1c、6-1d与同步带6-14固定连接，随着同步带6-14的移动沿存取通道8横向移动。在本实施例中，该第一驱动装置6-12为伺服电机，当然，也可以根据实际需求选择其它任意形式的驱动装置。
如图2所示，横向移动装置6-1还包括导向部6-13。导向部6-13包括滑块6-132与导轨6-131。导轨6-131固定连接在提升装置9上，与存取通道8平行。移动部6-1a、6-1b、6-1c、6-1d与滑块6-132固定连接，滑块6-132随着移动部6-1a、6-1b、6-1c、6-1d沿导轨6-131移动。如此，在移动部6-1a、6-1b、6-1c、6-1d沿存取通道8作横向移动时整个导向部6-13起到了导向的作用。
如此，横向移动装置6-1是采用伺服电机驱动第一同步带轮带动同步带6-14移动进而带动存取装置6-2移动，横向移动装置6-1还设置有导向部6-13进行导向，通过这种绝对控制的方式作横向移动时定位精准、避免了撞击存取单元1的现象发生，当然变宽度也更加精准，提高了存取的可靠性，避免了传统技术中小车靠传感器定位不精准带来的撞击现象的发生；也避免了定位不准确需要重新定位所带来的时间成本消耗，进一步提高了存取效率。
在某些优选的实施例中，如图2所示，每个伸缩翻叉6-2a、6-2b、6-2c、6-2d包括前轨6-21、中轨6-22以及翻叉6-20。中轨6-22通过第二同步带传动机构6-23朝向托盘2伸缩，第二同步带传动机构6-23通过一固定板安装在移动部6-1a、6-1b、6-1c、6-1d上。前轨6-21通过皮带传动机构6-24沿着中轨6-22朝向托盘2伸缩；翻叉6-20，与前轨6-21固定连接，用于抓取存取单元1。在本实施例中，前轨6-21的最大行程是中轨6-22最大行程2倍。通过伸缩翻叉实现了可变深度存储(其抓取的存取单元1的深度可变)，大大节省了系统的运行时间，提高了效率。应当说明的是，翻叉6-20是本领域所熟知的技术，根据本发明的公开可以使用现有的，或者未来开发的任何适当的结构。当然，翻叉6-20也可以用其它的抓取装置代替，如六轴机械手臂等。
附图3以及附图3a给出了两个相互平行设置的伸缩翻叉6-2a、6-2b、6-2c、6-2d的示意图，应当理解的是，为方便抓取不同形状的存取单元1，在某些实施例中，伸缩翻叉6-2a、6-2b、6-2c、6-2d之间的角度也可以为可调节的。比如在一些实施例中，如图7所示，每个伸缩翻叉6-2a、6-2b、6-2c、6-2d的前轨6-21被替换成链轮传动组件6-25或者同步带传动组件6-25，前述的链轮传动组件6-25或者同步带传动组件6-25包括用于驱动的驱动轮6-251、从动轮6-252以及同步带或链条6-254，在同步带或链条6-254上固定有3个推拉块6-253。当中轨6-22带动链轮传动组件6-25或者同步带传动组件6-25延伸至合适位置时，驱动轮6-251旋转带动从动轮6-252旋转以带动同步带或链条6-254朝向托盘移动(沿附图1中Y方向)、从而带动其上的推拉块6-253调整角度，将存取单元1存入至托盘2或从托盘2中取出。
优选地，如图4a、图4b及图4c所示，第二同步带传动机构6-23包括第二驱动装置6-235、第二驱动带轮6-231、第二从动带轮6-232、张紧轮6-234以及双面齿同步带6-233。第二驱动装置6-235、第二驱动带轮6-231、张紧轮6-234以及第二从动带轮6-232分别固定安装在移动部6-1a、6-1b、6-1c、6-1d上，第二驱动带轮6-231受第二驱动装置6-235的驱动带动第二从动带轮6-232旋转以带动双面齿同步带6-233 朝向托盘2移动，此为第一级伸缩。中轨6-22，其具有适配于双面齿同步带6-233的齿形，该齿形与双面齿同步带6-233啮合。双面齿同步带6-233内侧连接第二驱动带轮6-231、第二从动带轮6-232、张紧轮6-234，如此，形成一闭环带轮输送组并且通过第二驱动装置6-235(在本实施例中，第二驱动装置6-235为电机)提供动力，同时采用双面齿同步带6-233啮合，有效的简化了传动机构，减少了零件，通过啮合使中轨6-22的伸缩传动定位更加准确，抓取可靠性更高。
在某些实施例中，如图4a所示，皮带传动机构6-24包括皮带6-242、滑轮组6-241以及第三驱动装置(图4a未视出)。滑轮组6-241受第三驱动装置的驱动带动皮带6-242朝向托盘2移动；前轨6-21随着皮带6-242沿着中轨6-22朝向托盘2伸缩，此为第二级伸缩。如此，采用两级伸缩，并且分别是独立驱动的，在长行程的状态下，比一级伸缩稳定性更好。
在某些实施例中，如图4b及图4c所示，皮带传动机构6-24包括皮带6-242以及滑轮组6-241。皮带6-242一端连接至固定板的中轨6-22上，另一端与前轨6-21固定连接，滑轮中轨6-22移动的时候带动皮带6-242移动从而带动前轨6-21移动。
根据本发明的改进，如图10所示，还提出一种自动化立体货柜系统的存储方法，其基于前述的自动化立体货柜系统，该存储方法包括：
存取单元1放置在存取口7。
上位机4控制移动部6-1a、6-1b、6-1c、6-1d移动至存取口7，并且响应于存取单元1的占用空间控制移动部6-1a、6-1b、6-1c、6-1d调整到适合存取单元1的宽度。
伸缩翻叉6-2a、6-2b、6-2c、6-2d从初始位置朝向存取口7延伸并且抓取存取单元1，伸缩翻叉6-2a、6-2b、6-2c、6-2d收缩带动存取单元1回到其初始位置。
提升装置9向上移动带动存取单元1上升至适合的托盘2高度。
上位机4控制移动部6-1a、6-1b、6-1c、6-1d移动至存取单元1待存入的托盘位置。
上位机4控制伸缩翻叉6-2a、6-2b、6-2c、6-2d朝向托盘2延伸将存取单元1存入至托盘2上。
更详尽具体的存储方法(包括多任务订单的存储方法)与前述的自动化立体货柜系统的工作原理相同，在此不再赘述。
优选地，该方法还包括：上位机4控制移动部6-1a、6-1b、6-1c、6-1d移动至存取口7，并且响应于存取单元1的占用空间控制移动部6-1a、6-1b、6-1c、6-1d调整到适合存取单元1的宽度后，自动为存取单元1匹配托盘2上的适合存放空间。
根据本发明的改进，如图11所示，还提出一种自动化立体货柜系统的取出方法，其基于前述的自动化立体货柜系统，该取出方法包括：
存取单元1存放在托盘2上。
上位机4控制移动部6-1a、6-1b、6-1c、6-1d移动至存取单元1存放的托盘位置，并且响应于存取单元1的占用空间控制移动部6-1a、6-1b、6-1c、6-1d调整到适合存取单元1的宽度。
伸缩翻叉6-2a、6-2b、6-2c、6-2d从初始位置朝向托盘2延伸并且抓取存取单元1，伸缩翻叉6-2a、6-2b、6-2c、6-2d收缩带动存取单元1回到其初始位置。
提升装置9向下移动带动存取单元1下降至存取口7的高度。
上位机4控制伸缩翻叉6-2a、6-2b、6-2c、6-2d朝向存取口7延伸将存取单元1放置至存取口7。
更详尽具体的取出方法(包括多任务订单的取出方法)与前述的自动化立体货柜系统的工作原理相同，在此不再赘述。
本发明提出的自动化立体货柜系统及其存、取方法，具有以下优点：
1)采用该系统能够实现快速精准的存、取存取单元，存取单元可以为任意形状(包括托盘、周转箱、纸箱或者货物本身)、任意尺寸(长度、宽度)，通过可变结构的 存取设备能够实现存、取不同形状、尺寸的存取单元，真正的实现了宽度与深度方向的可变混合存储，大大增加了立体货柜的应用场景、提高了存储容量、存取效率。
2)在处理多任务订单时，自动化立体货柜系统具有多个移动部及多个伸缩翻叉，能够实现自动换层存、取，大大提高存、取效率，进一步降低功耗。
3)横向移动装置通过结构上的优化设计，实现了横向移动和存取变宽度的双重功能，通过一体化设计使整个系统结构更加紧凑、安装、维修更加方便，降低了成本。
4)横向移动装置是采用伺服电机驱动同步带轮带动同步带移动进而带动存取装置移动，横向移动装置还设置有导向机构进行导向，通过这种绝对控制的方式定位精准、避免了撞击存取单元的现象发生，提高了存取的可靠性；也避免了定位不准确需要重新定位所带来的时间成本消耗，进一步提高了存取效率。
虽然本发明已以较佳实施例揭露如上，然其并非用以限定本发明。本发明所属技术领域中具有通常知识者，在不脱离本发明的精神和范围内，当可作各种的更动与润饰。因此，本发明的保护范围当视权利要求书所界定者为准。

Claims (12)

  1. 自动化立体货柜系统，包括存储架(3)以及可沿竖直方向上、下移动的提升装置(9)，所述存储架(3)包括用于存储存取单元(1)的托盘(2)、以及存取通道(8)和存取口(7)，其特征在于，自动化立体货柜系统还包括存取设备(6)以及上位机(4)，其中：
    所述存取设备(6)，整体设置在提升装置(9)上，包括横向移动装置(6-1)和存取装置(6-2)；
    所述横向移动装置(6-1)，包括至少两个移动部，每个所述移动部(6-1a、6-1b、6-1c、6-1d)设置在提升装置(9)上并且相对于提升装置(9)沿存取通道(8)横向移动；
    所述存取装置(6-2)，包括伸缩翻叉，每个移动部(6-1a、6-1b、6-1c、6-1d)上设置至少一个伸缩翻叉(6-2a、6-2b、6-2c、6-2d)，所述伸缩翻叉(6-2a、6-2b、6-2c、6-2d)相对于移动部(6-1a、6-1b、6-1c、6-1d)朝向托盘(2)伸缩，用于将存取单元(1)存入托盘(2)和/或从托盘(2)中取出；
    所述上位机(4)，与横向移动装置(6-1)、存取装置(6-2)分别电连接，被设置成响应于存取单元(1)的占用空间控制移动部(6-1a、6-1b、6-1c、6-1d)的移动以及伸缩翻叉(6-2a、6-2b、6-2c、6-2d)的伸缩以完成对存取单元(1)的存入和/或取出。
  2. 根据权利要求1所述的自动化立体货柜系统，其特征在于，所述自动化立体货柜系统还包括安装在存取口(7)的数据采集装置(5)；
    所述数据采集装置(5)，与上位机(4)电连接，用于对存取单元(1)的占用空间以及存取单元(1)在存取口(7)的存放位置进行采集并反馈至上位机(4)。
  3. 根据权利要求1所述的自动化立体货柜系统，其特征在于，所述上位机(4)还被设置成根据存取单元(1)的占用空间生成存取单元(1)的唯一ID，并且具有一数据库模块；
    所述数据库模块，用于存储所述唯一ID、与其对应的占用空间以及两者之间的绑定关系，还用于存储所述存取单元(1)在托盘(2)上的占用信息；
    所述上位机(4)还被设置成自动为存取单元(1)匹配托盘(2)上的适合存放空间和/或将存取单元(1)从匹配的托盘(2)上取出。
  4. 根据权利要求1所述的自动化立体货柜系统，其特征在于，所述自动化立体货柜系统还包括信息交互装置；
    所述信息交互装置，与上位机(4)电连接，用于对存取单元(1)的存入和/或取出的信息进行输入和/或输出。
  5. 根据权利要求1-4任意一项所述的自动化立体货柜系统，其特征在于，每个所述移动部(6-1a、6-1b、6-1c、6-1d)通过第一同步带传动机构移动；
    所述第一同步带传动机构，包括第一驱动装置(6-12)、第一驱动带轮(6-11)、第一从动带轮(6-15)以及同步带(6-14)；
    所述第一驱动装置(6-12)、第一驱动带轮(6-11)以及第一从动带轮(6-15)分别固定安装在提升装置(9)上，第一驱动带轮(6-11) 受第一驱动装置(6-12)的驱动带动第一从动带轮(6-15)旋转以带动同步带(6-14)沿存取通道(8)横向移动；
    移动部(6-1a、6-1b、6-1c、6-1d)与同步带(6-14)固定连接。
  6. 根据权利要求5所述的自动化立体货柜系统，其特征在于，所述横向移动装置(6-1)还包括导向部(6-13)，
    所述导向部(6-13)，包括滑块(6-132)与导轨(6-131)；
    所述导轨(6-131)，固定连接在提升装置(9)上，与存取通道(8)平行；
    所述移动部(6-1a、6-1b、6-1c、6-1d)与滑块(6-132)固定连接；
    所述滑块(6-132)随着移动部(6-1a、6-1b、6-1c、6-1d)沿导轨(6-131)移动。
  7. 根据权利要求1-4任意一项所述的自动化立体货柜系统，其特征在于，每个所述伸缩翻叉(6-2a、6-2b、6-2c、6-2d)包括前轨(6-21)、中轨(6-22)以及翻叉(6-20)，
    所述中轨(6-22)通过固定安装在移动部(6-1a、6-1b、6-1c、6-1d)上的第二同步带传动机构(6-23)朝向托盘(2)伸缩；
    所述前轨(6-21)通过固定安装在中轨(6-22)上的皮带传动机构(6-24)沿着中轨(6-22)朝向托盘(2)伸缩；
    所述翻叉，与前轨(6-21)固定连接，用于抓取存取单元(1)。
  8. 根据权利要求7所述的自动化立体货柜系统，其特征在于，所述第二同步带传动机构(6-23)包括第二驱动装置(6-235)、第二驱动带轮(6-231)、第二从动带轮(6-232)以及双面齿同步带(6-233)；
    所述第二驱动装置(6-235)、第二驱动带轮(6-231)以及第二从动带轮(6-232)分别固定安装在移动部(6-1a、6-1b、6-1c、6-1d)上，第二驱动带轮(6-231)受第二驱动装置(6-235)的驱动带动第二从动带轮(6-232)旋转以带动双面齿同步带(6-233)朝向托盘(2)移动；
    所述中轨(6-22)，其具有适配于双面齿同步带(6-233)的齿形，并且齿形与双面齿同步带(6-233)啮合。
  9. 根据权利要求7所述的自动化立体货柜系统，其特征在于，所述皮带传动机构(6-24)包括皮带(6-242)、滑轮组(6-241)以及第三驱动装置；
    所述滑轮组(6-241)受第三驱动装置的驱动带动皮带(6-242)朝向托盘(2)移动；
    所述前轨(6-21)随着皮带(6-242)沿着中轨(6-22)朝向托盘(2)伸缩。
  10. 一种自动化立体货柜系统的存储方法，其特征在于，其基于所述权利要求1-9中任意一项所述的自动化立体货柜系统，该存储方法包括：
    存取单元(1)放置在存取口(7)；
    上位机(4)控制移动部(6-1a、6-1b、6-1c、6-1d)移动至存取口(7)，并且响应于存取单元(1)的占用空间控制移动部(6-1a、 6-1b、6-1c、6-1d)调整到适合存取单元(1)的宽度；
    伸缩翻叉(6-2a、6-2b、6-2c、6-2d)从初始位置朝向存取口(7)延伸并且抓取存取单元(1)，伸缩翻叉(6-2a、6-2b、6-2c、6-2d)收缩带动存取单元(1)回到其初始位置；
    提升装置(9)向上移动带动存取单元(1)上升至适合的托盘(2)高度；
    上位机(4)控制伸缩翻叉(6-2a、6-2b、6-2c、6-2d)朝向托盘(2)延伸将存取单元(1)存入至托盘(2)上。
  11. 根据权利要求10所述的自动化立体货柜系统的存储方法，其特征在于，该方法还包括：
    上位机(4)控制移动部(6-1a、6-1b、6-1c、6-1d)移动至存取口(7)，并且响应于存取单元(1)的占用空间控制移动部(6-1a、6-1b、6-1c、6-1d)调整到适合存取单元(1)的宽度后，自动为存取单元(1)匹配托盘(2)上的适合存放空间。
  12. 一种自动化立体货柜系统的取出方法，其特征在于，基于所述权利要求1-9中任意一项所述的自动化立体货柜系统，该取出方法包括：
    存取单元(1)存放在托盘(2)上；
    上位机(4)控制移动部(6-1a、6-1b、6-1c、6-1d)移动至存取单元(1)存放的托盘位置，并且响应于存取单元(1)的占用空间控制移动部(6-1a、6-1b、6-1c、6-1d)调整到适合存取单元(1)的宽度；
    伸缩翻叉(6-2a、6-2b、6-2c、6-2d)从初始位置朝向托盘(2)延伸并且抓取存取单元(1)，伸缩翻叉(6-2a、6-2b、6-2c、6-2d)收缩带动存取单元(1)回到其初始位置；
    提升装置(9)向下移动带动存取单元(1)下降至存取口(7)的高度；
    上位机(4)控制伸缩翻叉(6-2a、6-2b、6-2c、6-2d)朝向存取口(7)延伸将存取单元(1)放置至存取口(7)。
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