WO2020215366A1

WO2020215366A1 - Three-dimensional matrix-type storage system

Info

Publication number: WO2020215366A1
Application number: PCT/CN2019/085624
Authority: WO
Inventors: 陈书宏; 罗浩然; 马克林; 魏宏宇; 许胜利
Original assignee: 中国科学院沈阳自动化研究所
Priority date: 2019-04-22
Filing date: 2019-05-06
Publication date: 2020-10-29
Also published as: CN109911492A; CN109911492B

Abstract

The present invention belongs to the technical field of storage, and particularly relates to a three-dimensional matrix-type storage system. The three-dimensional matrix-type storage system comprises a computer management system, a matrix-type repository and a plurality of movable carrier platforms arranged in the matrix-type repository. The plurality of movable carrier platforms are arranged in the form of a two-dimensional matrix to form a digital Huarong Dao mode; two adjacent movable carrier platforms can slide relative to each other in a contact manner; and stacking can be performed on an upper portion of each movable carrier platform to form a three-dimensional matrix, and there is always a vacancy in the three-dimensional matrix to serve as a space for enabling the movable carrier platform to move. A cargo entrance/exit is provided in an end of the matrix-type repository, and the computer management system is used for controlling a specified movable carrier platform to move, in a parallel manner, towards the cargo entrance/exit along two-dimensional plane coordinates, thereby realizing the entering and leaving of cargo. The present invention is high in storage density and utilization rate of space, and related devices are simple in structural form and low in cost, and has a high practicability.

Description

A three-dimensional matrix storage system

Technical field

The invention belongs to the technical field of storage, and particularly relates to a three-dimensional matrix storage system.

Background technique

At present, in the warehousing field, there are often limited warehousing space, and there are many types and quantities of goods, which cannot be completed effectively and timely when goods are stored and stored. Its external performance is the fixed storage of goods. Cargo vehicles including AGV, RGV, stacking manipulators, forklifts (manual), etc., store goods, which takes a long time for logistics, and has complex storage space structure, high cost, low storage density, etc. problem.

Summary of the invention

In view of the above-mentioned problems, the purpose of the present invention is to provide a three-dimensional matrix storage system to solve the existing problems of complex storage structure, high cost, low storage density, and long storage and retrieval time.

In order to achieve the above objectives, the present invention adopts the following technical solutions:

A three-dimensional matrix storage system includes a computer management system, a matrix storage warehouse, and a plurality of transfer platforms arranged in the matrix storage warehouse. The plurality of transfer platforms are arranged in a two-dimensional matrix form to form a digital Huarong Road mode, contact-type relative sliding can be carried out between two adjacent transfer platforms, the upper part of each transfer platform can be stacked to form a three-dimensional matrix, and a space is always reserved in the three-dimensional matrix as a movable platform In space, one end of the matrix warehouse is provided with a cargo entrance and exit, and the computer management system is used to control the designated transfer platform to move parallel to the cargo entrance and exit along the two-dimensional plane coordinates to realize the entry and exit of the goods.

The transfer platform includes a platform structure frame, a drive motor, a drive gear, a sliding contact line, a rack, a load universal wheel, and a current collector. The platform structure frame is a square structure, and one of its adjacent two sides is provided with a drive Gears and sliding contact lines, or both are equipped with drive gears and current collectors, and the other two adjacent sides are both equipped with racks and current collectors, or both are equipped with racks and sliding contact lines, and each of the driving gears passes through The clutch is connected with a driving motor, the driving motor is electrically connected with the current collector, and the bottom of the platform structure frame is provided with a plurality of load-carrying universal wheels.

The drive gear on the side of each transfer platform meshes with the rack on the side of the transfer platform or the matrix boundary rack; the current collector on the side of the transfer platform and the side of the adjacent transfer platform The sliding contact lines or matrix boundary sliding contact lines are connected.

The trolley wires on the multiple transfer platforms are connected in sequence to form a closed loop.

One adjacent two sides of the platform structure frame are provided with guide wheels, and the other two adjacent sides are provided with guide wheel rails; the guide wheels on the side of each transfer platform are connected to the adjacent transfer The guide wheel rail connection on the side of the platform.

The guide wheels and guide wheel rails are located in the middle of the side of the platform structure frame, the drive gears and racks are located on the upper part of the side of the platform structure frame, and the trolley wire and current collector are located on the side of the platform structure frame. Lower side.

The platform structure frame is arranged on a bearing bottom surface, and a positioning mechanism is provided between the platform structure frame and the bearing bottom surface.

The positioning mechanism includes a positioning cone shaft, a positioning cone seat, a guide sliding seat and a positioning cone shaft telescopic driving mechanism, wherein the positioning cone shaft telescopic driving mechanism is arranged at the bottom of the platform structure frame, and the output end is provided with a positioning cone shaft, so The positioning cone seat is arranged on the bearing bottom surface, and the positioning cone shaft telescopic drive mechanism drives the positioning cone shaft to extend and plug into the positioning cone seat to realize the positioning of the platform structure frame.

The bottom of the platform structure frame is provided with a guide sliding seat for guiding the positioning cone shaft, and the positioning cone shaft is slidably connected in the guide sliding seat.

A stacker manipulator is provided at the entrance and exit of the goods of the matrix storage warehouse, and the stacker manipulator is used for taking and placing goods.

The advantages and beneficial effects of the present invention are: in a three-dimensional matrix storage system provided by the present invention, the storage space adopts the form of digital Huarong Road. There are multiple transfer platforms in close contact with each other in the storage space and are arranged in a matrix form; they can be closely contacted and slide relative to each other; this method firstly increases the storage density of the storage space and maximizes the use of space. Secondly, the movement of the transfer platform carrying cargo replaces the flow of cargo transport vehicles including AGV, RGV, stack manipulators, forklifts (manual), etc., which greatly shortens the logistics path and increases the speed of access to goods.

Each transfer platform of the present invention is an independent controlled unit, which obtains power by the sliding contact line, and moves by gear and rack transmission, and can arbitrarily combine various forms of three-dimensional storage formats. The storage form composed of multiple transfer platform controlled units is convenient for automatic control and intelligent management, and has unique features in the field of unmanned storage applications.

The storage system of the present invention has high storage density, high space utilization rate, simple structure of related equipment, low cost and strong practicability.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the present invention;

Figure 2 is a schematic diagram of the structure of the transfer platform in the present invention;

Figure 3 is a rear view of Figure 2;

Figure 4 is an axonometric view of the transfer platform in the present invention;

Figure 5 is a top view of the transfer platform in the present invention;

Figure 6 is a schematic structural diagram of the positioning mechanism in the present invention;

Figure 7 is a schematic diagram of the connection of two adjacent transfer platforms in the present invention;

8(a)-8(j) are diagrams of the selective entry and exit process of goods in the cargo warehouse in the first embodiment of the present invention;

Figures 9(a)-9(h) are diagrams of the sequential entry and exit process of goods in the warehouse in the second embodiment of the present invention.

In the figure: 1 is a matrix storage warehouse; 2 is a transfer platform, 201 is a cargo table, 202 is a platform structure frame, 203 is a drive gear, 204 is a sliding contact line, 205 is a guide wheel, 206 is a bottom surface of the load, 207 It is a rack, 208 is a guide wheel rail, 209 is a positioning cone, 210 is a load universal wheel, 211 is a positioning cone shaft, 212 is a current collector, 213 is a guide slide; 3 is an empty space; 4 is a stacker manipulator .

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figure 1, a three-dimensional matrix storage system provided by the present invention includes a computer management system, a matrix storage warehouse 1, and multiple transfer platforms 2 arranged in the matrix storage warehouse 1. 2 Arrange in the form of a two-dimensional matrix to form a digital Huarong Road pattern. The two adjacent transfer platforms 2 can slide relative to each other in contact. The upper part of each transfer platform 2 can be stacked to form a three-dimensional matrix. A space is always reserved in the three-dimensional matrix as a movable space for the transfer platform 2. One end of the matrix warehouse 1 is equipped with a cargo entrance and exit, and the computer management system is used to control the designated transfer platform 2 to move parallel to the cargo entrance and exit along the two-dimensional plane coordinates to realize the entry and exit of the goods.

A stacker manipulator 4 is provided at the cargo entrance of the matrix warehouse 1, and the stacker manipulator 4 is used for picking and placing of goods.

As shown in Figure 2-5, the transfer platform 2 includes a platform structure frame 202, a drive motor, a drive gear 203, a sliding contact line 204, a rack 207, a load universal wheel 210, and a current collector 212. The platform structure frame 202 is Square structure, one adjacent two sides are equipped with drive gear 203 and sliding contact line 204, or both are equipped with drive gear 203 and current collector 212; the other two adjacent sides are equipped with rack 207 and current collector 212, or both are provided with a rack 207 and a sliding contact line 204, each driving gear 203 is respectively connected to a driving motor through a clutch, the driving motor is electrically connected to the current collector 212, and the bottom of the platform structure frame 202 is provided with multiple load-carrying universals Round 210.

As shown in Figure 7, the drive gear 203 on the side of each transfer platform 2 meshes with the rack 3 or matrix boundary rack on the side of the adjacent transfer platform 2; The trolley lines 204 on the side of the transfer platform 2 or the matrix boundary trolley lines are connected, and the trolley lines 204 on the multiple transfer platforms 2 are connected in sequence to form a closed loop.

Two adjacent sides of the platform structure frame 202 are provided with guide wheels 205, and the other two adjacent sides are provided with guide wheel rails 208; the guide wheels 205 on the side of each transfer platform 2 are connected to the adjacent transfer platform 2 The guide wheel rails 208 on the side are connected.

The guide wheel 205 and the guide wheel rail 208 are located at the middle of the side of the platform structure frame 202, the driving gear 203 and the rack 207 are located on the upper side of the platform structure frame 202, and the trolley wire 204 and the current collector 212 are located at the lower side of the platform structure frame 202.

In the embodiment of the present invention, the driving gear 203, the sliding contact line 204 and the guide wheel 205 are arranged on the same side of the platform structure frame 202, and the guide wheel 205 is located between the driving gear 203 and the sliding contact line 204. The rack 207, the guide wheel rail 208 and the current collector 212 are arranged on the same side of the platform structure frame 202, and the guide wheel rail 208 is located between the rack 207 and the current collector 212. The trolley wire 204 and the current collector 212 are located on opposite sides of the platform structure frame 202.

The platform structure frame 202 is disposed on the bearing bottom surface 206, and a positioning mechanism is provided between the platform structure frame 202 and the bearing bottom surface 206.

As shown in Figure 6, the positioning mechanism includes a positioning cone shaft 211, a positioning cone seat 209, a guide sliding seat 212 and a positioning cone shaft telescopic drive mechanism, wherein the positioning cone shaft telescopic drive mechanism is arranged at the bottom of the platform structure frame 202, and the output end is provided There is a positioning cone shaft 211, a positioning cone seat 209 is arranged on the bearing bottom surface 206, and the positioning cone shaft telescopic drive mechanism drives the positioning cone shaft 211 to extend and insert with the positioning cone seat 209 to realize the positioning of the platform structure frame 202. The bottom of the platform structure frame 202 is provided with a guide sliding seat 212 for guiding the positioning cone shaft 211, and the positioning cone shaft 211 is slidably connected in the guide sliding seat 212.

The shape of the platform structure frame 202 may be a rectangular parallelepiped or a cube. In the embodiment of the present invention, two sets of positioning mechanisms are provided between the platform structure frame 202 and the bearing bottom surface 206.

The invention adopts a double-cone positioning shaft and a ground double-cone hole positioning cone seat to be automatically pressed in to realize accurate positioning. The transfer platform positioning mechanism locates the transfer platform 2 at the position when the transfer platform 2 is not moving. When the transfer platform 2 needs to move, its positioning mechanism is separated from the ground positioning cone base 9, because its adjacent transfer platforms 2 are both In the positioning state, it has a high position accuracy.

The guide wheels 205 between the transfer platform 2 are in close contact with the guide wheel rails 208, which provide guiding constraints for the precise movement of the transfer platform 2 in the forward direction. The transfer platform 2 can only move in parallel along the two-dimensional matrix coordinate direction, and the orientation of all transfer platforms remains unchanged.

A plurality of transfer platforms 2 are closely arranged in a planar matrix to form a digital Huarong road movable array. The positioning mechanism of the transfer platform 2 positions the transfer platform 2 at the position when the platform is not moving. When it needs to move, its positioning mechanism is separated from the ground positioning cone 209. Because its adjacent transfer platforms 2 are in a positioning state, they have high position accuracy. Under the constraints of the guide wheel rails 208, the transfer platform 2 passes through the sliding contact line 204 With electricity, the motor drives the rack and pinion to push the transfer platform 2 forward.

When the transfer platform 2 moves, you can choose to move in any of the four directions that it touches. When receiving instructions to move in a certain direction, the transfer platform 2 on both sides is still in the positioning state, and the motor drives the gear on the walking platform to move forward. The direction of rolling on the positioned platform rack drives the transfer platform 2 to move in the forward direction; the drive gear meshed with the rack on the walking transfer platform 2 is out of contact with the rotating part of the motor (realized by a clutch), Become a driven gear.

When the goods are stored, a transfer platform 2 is in place at the entrance and exit of the matrix warehouse 1, and the stacking manipulator 4 moves the goods to the transfer platform 2; after scanning the two-dimensional bar code, the goods are connected to the transfer platform 2 The information is stored in the computer management system, and the transfer platform 2 carrying the goods moves to the designated position along the planned path according to the instructions of the computer management system; at the same time, other transfer platforms 2 located in the planned path move to the vacant position according to the instructions of the computer management system Move in the direction to avoid walking space for the transfer platform 2 carrying goods.

When the goods are taken out, the transfer platform 2 carrying the goods will follow the instructions of the computer management system and calculate the optimal path to the entrance and exit of the goods according to the computer management system; at the same time, other transfer platforms located in the optimal path 2 Move to the empty space according to the instructions of the computer management system to make room for the transfer platform 2 carrying the goods.

After the transfer platform 2 carrying the goods moves to the entrance and exit of the goods, the stacking manipulator 4 at the entrance and exit of the goods takes out the goods. After scanning the two-dimensional bar code, the computer management system records the information of the transfer platform 2 where the goods are taken out ; After taking the goods, the transfer platform 2 is moved to the designated location according to the instructions of the computer management system.

Example one

The selective access process of the transfer platform 2 numbered 01 in the warehouse along the two-dimensional plane coordinates is as follows:

There is an empty space at the entrance and exit of the cargo warehouse. Above the transfer platform 2 numbered 01 is the transfer platform numbered 05 and 08, as shown in Figure 8(a); the transfer numbered 05 and 08 The platform 2 moves in the direction of the entrance and exit, and a space is left above the transfer platform 2 numbered 01, as shown in Figure 8(b); the transfer platform 2 numbered 01 moves up to the upper empty space, as shown in Figure 8 As shown in (c); the transfer platform 2 numbered 02 and 11 move to the right to the empty space below the transfer platform number 01, as shown in Figure 8(d); the transfer platform number 05 is under Move to a vacant position, as shown in Figure 8(e); the transfer platform 2 numbered 08 and 01 move to the left to the entrance and exit, as shown in Figure 8(f); the transfer platform 2 numbered 11 moves up To the empty position, as shown in Figure 8(g); the transfer platform 2 numbered 05 and 02 move to the right to the empty position, as shown in Figure 8(h); the number 08 transfer platform 2 moves down to the empty position , As shown in Figure 8 (i); the transfer platform 2 numbered 01 moves to the left to the entrance and exit, and the stacking manipulator 4 accesses the goods.

Example two

The process of the transfer platform 2 numbered 05, 08, and 10 in the cargo warehouse arriving at the cargo entrance and exit in sequence is as follows:

There is a space at the entrance and exit of the cargo warehouse, and the transfer platform 2 numbered 05, 08, and 10 is located on the side of the exit and exit, as shown in Figure 9(a); the transfer platform 2 numbered 05, 08, and 10 Move to the left to the entrance and exit of the warehouse, as shown in Figure 9(b); the transfer platform 2 numbered 04 moves up to the empty position, as shown in Figure 9(c); transfer numbered 02, 11, 01 The platform 2 moves to the right to the empty position, as shown in Figure 9(d); the transfer platform numbered 05 moves down to the empty position, as shown in Figure 9(e); the transfer platform numbered 08, 10, 04 2 Move to the left to the entrance and exit, as shown in Figure 9(f); the transfer platform 2 numbered 01 moves up, and the transfer platform 2 numbered 05, 02, 11 moves to the right, as shown in Figure 9(g) ); the transfer platform 2 numbered 08 moves down, as shown in Figure 9(h).

The present invention uses the digital Huarong Road mode to maximize the storage density of goods in the storage space, and the movement of the transfer platform 2 carrying the goods replaces the flow of the traditional load transport vehicle, which greatly shortens the logistics path and improves the access to goods effectiveness.

The storage system of the present invention has high storage density, high space utilization rate, simple structure of related equipment, low cost, strong practicability, and can realize automatic, intelligent access and management of goods.

The above descriptions are only the embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

A three-dimensional matrix storage system, which is characterized by comprising a computer management system, a matrix storage warehouse (1) and a plurality of transfer platforms (2) arranged in the matrix storage warehouse (1). The loading platforms (2) are arranged in the form of a two-dimensional matrix to form a digital Huarong Road pattern. Two adjacent transfer platforms (2) can be contacted relative sliding, and the upper part of each transfer platform (2) can be The stacking forms a three-dimensional matrix. A space is always reserved in the three-dimensional matrix as a movable space for the transfer platform (2). One end of the matrix warehouse (1) is provided with a cargo entrance and exit, and the computer management system is used for Control the designated transfer platform (2) to move parallel to the entrance and exit of the goods along the two-dimensional plane coordinates to realize the entry and exit of the goods.
The three-dimensional matrix storage system according to claim 1, wherein the transfer platform (2) comprises a platform structure frame (202), a drive motor, a drive gear (203), a sliding contact line (204), a gear The bar (207), the load universal wheel (210) and the collector (212), the platform structure frame (202) is a square structure, and one of its two adjacent sides is provided with a drive gear (203) and a sliding contact line ( 204), or both are equipped with a drive gear (203) and a current collector (212), and the other two adjacent sides are both equipped with a rack (207) and a current collector (212), or both are equipped with a rack (207) And a sliding contact line (204), each of the driving gears (203) is connected to a driving motor through a clutch, the driving motor is electrically connected to the current collector (212), and the platform structure frame (202) A plurality of load-carrying universal wheels (210) are provided at the bottom of the device.
The three-dimensional matrix storage system according to claim 2, characterized in that the drive gear (203) on the side of each transfer platform (2) and the rack on the side of the adjacent transfer platform (2) (3) Or matrix boundary racks mesh; the current collector (212) on the side of the transfer platform (2) and the sliding contact line (204) or matrix boundary sliding contact on the adjacent side of the transfer platform (2) The line is connected.
The three-dimensional matrix storage system according to claim 3, wherein the trolley lines (204) on a plurality of transfer platforms (2) are connected in sequence to form a closed loop.
The three-dimensional matrix storage system according to claim 2, characterized in that, one adjacent two sides of the platform structure frame (202) are equipped with guide wheels (205), and the other two adjacent sides are equipped with guide wheels (205). Guide wheel rail (208); the guide wheel (205) on the side of each transfer platform (2) is connected with the guide wheel rail (208) on the side of the adjacent transfer platform (2).
The three-dimensional matrix storage system according to claim 5, characterized in that the guide wheels (205) and guide wheel rails (208) are located in the middle of the side of the platform structure frame (202), and the driving gear (203) ) And a rack (207) are located on the upper side of the platform structure frame (202), and the trolley wire (204) and the current collector (212) are located on the lower side of the platform structure frame (202).
The three-dimensional matrix storage system according to claim 2, characterized in that, the platform structure frame (202) is arranged on the bearing bottom surface (206), between the platform structure frame (202) and the bearing bottom surface (206) With positioning mechanism.
The three-dimensional matrix storage system according to claim 7, wherein the positioning mechanism comprises a positioning cone shaft (211), a positioning cone seat (209), a guide sliding seat (212) and a positioning cone shaft telescopic drive mechanism, The positioning cone shaft telescopic drive mechanism is arranged at the bottom of the platform structure frame (202), and the output end is provided with a positioning cone shaft (211), and the positioning cone seat (209) is arranged on the bearing bottom surface (206), The positioning cone shaft telescopic drive mechanism drives the positioning cone shaft (211) to extend and plug into the positioning cone seat (209) to realize the positioning of the platform structure frame (202).
The three-dimensional matrix storage system according to claim 8, wherein the bottom of the platform structure frame (202) is provided with a guide slide (212) for guiding the positioning cone shaft (211), so The positioning cone shaft (211) is slidably connected in the guide sliding seat (212).
The three-dimensional matrix storage system according to claim 1, wherein a stacker manipulator (4) is provided at the entrance and exit of the matrix storage warehouse (1), and the stacker manipulator (4) is used for Picking and placing of goods.