WO2021244381A1 - 物品存取系统 - Google Patents

物品存取系统 Download PDF

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Publication number
WO2021244381A1
WO2021244381A1 PCT/CN2021/096295 CN2021096295W WO2021244381A1 WO 2021244381 A1 WO2021244381 A1 WO 2021244381A1 CN 2021096295 W CN2021096295 W CN 2021096295W WO 2021244381 A1 WO2021244381 A1 WO 2021244381A1
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WO
WIPO (PCT)
Prior art keywords
carrier
channel
storage
exchange
area
Prior art date
Application number
PCT/CN2021/096295
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English (en)
French (fr)
Inventor
于君
Original Assignee
于君
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.)
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Publication date
Application filed by 于君 filed Critical 于君
Publication of WO2021244381A1 publication Critical patent/WO2021244381A1/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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Definitions

  • the invention belongs to an article access system, and particularly relates to a system that uses a mobile carrier to transfer and access objects.
  • the current item access system is roughly divided into forklift type and laneway type.
  • Forklift type is to pass a forklift between two rows of parallel multi-layer shelves, and use the liftable and retractable forks of the forklift to deposit and withdraw goods and pallets into the storage compartments of each layer.
  • the laneway type is to run multiple shuttle carriers in the multi-layer lanes formed between the multi-layer parallel rack structures, and use the carriers to access the goods from the storage compartments on both sides of each lane with special devices, and then pass through the vertical
  • the lifting platform is transported to the import and export of goods.
  • the main defect of the forklift-type item access system is: each time a loading pallet is accessed, the forklift needs to exclusively occupy the channel space where the loading pallet is located. It is not suitable to carry out multiple loading pallets in the same channel space at the same time. Access, the overall operating efficiency is low.
  • the forklift operation itself also has the problem of relying too much on manual control for its safety and reliability. Even if automatic devices such as stackers are used, the stackers often need to perform long-distance and long-time-consuming lifting and traversing operations. To pick and place only a single cargo, when continuous access operations are required, the access efficiency is too low and the waiting time is too long.
  • the main shortcomings of the aisle-type item access system are: when storing a load pallet, the carrier often needs to travel a long distance to a predetermined empty warehouse position, which takes a long average time and is very inefficient. In addition, when a carrier in an aisle is carrying a cargo pallet, it will also monopolize the aisle, and cannot simultaneously carry out the storage and retrieval operations of other goods in the aisle, and the operation efficiency is low.
  • This application provides an item access system, including:
  • At least one item storage layer In the same item storage layer, at least two parallel channels are arranged, including at least one access channel and at least one storage channel; the access channel is adjacent to at least one storage channel; in the channel There is a guide part extending parallel to the channel; the guide part in the storage channel is arranged with a plurality of carriers for storing objects that can be displaced by the driving system along the guide part; the carrier on the guide part in the channel can be taken The driven system is displaced along the guide part; the adjacent bearing bodies on the guiding part can squeeze against each other, and the moved bearing body can push the adjacent bearing bodies to move at the same time;
  • the carrier can move the carrier on the guide part in the storage channel to the guide part in the take-out channel;
  • At least one exchange station connected to the channel that can park the carrier, the drive system in the access channel can drive the carrier to move along the guide to the side of the exchange; the carrier on the exchange platform can be moved into the storage channel by the drive system; in the access channel The carrier can be moved into the exchange table by the drive system.
  • the "articles” referred to in this article can be all kinds of warehoused goods that meet the requirements of limited size in general, or specific products that meet the requirements of limited size and shape, such as motor vehicles, motorcycles, and bicycles; they can also be small and micro Objects, such as books, packaged medicines, mail, express parcels.
  • the "carrying body” referred to in this article can be large and medium-sized special trays, brackets, and workstations with protective enclosures for carrying items, or boxes, enclosures, basins, and trays that meet the requirements of specific shapes and sizes.
  • the “guide” referred to herein refers to a structure, component or component system that supports and restricts the direction of movement of the carrier, such as track systems, roller systems, roller systems, magnetic levitation rail systems, sliding rail systems, and rail systems in the prior art. Chute system and appropriate combination of these systems.
  • the corresponding positions of the supporting body supported and limited by the “guide portion” are provided with structures or components that form a matching pair of movement with the "guide portion", such as wheels, guide beams, magnetic suspensions, sliding bodies, and bottoms. Plane body, limit structure.
  • the article access system with the above basic features proposed by the present invention only needs to allow the carrier to transfer the carrier to be taken from the storage channel to the guide part in the retrieval channel when performing the article extraction operation.
  • Each carrier in the channel can be moved to the direction of the exchange table by the drive system without relying on a carrier to carry it.
  • the present invention significantly improves the access efficiency of the item access system.
  • the drive system in the take-in channel includes a driveable carrier that is fixedly arranged along the take-off channel and shifts to the side of the exchange table.
  • Body drive and braking system is:
  • the guide portion supports both sides of the carrier, and under the bottom of the carrier supported by the guide portion on both sides, there is a through bottom channel parallel to the guide portion;
  • At least one carrier is arranged for each storage channel and each retrieval channel, and the carrier can be moved along the retrieval channel or the storage channel;
  • the carrier in the storage channel can pass through the bottom channel under the bottom of each carrier in the storage channel;
  • the carrier in the fetching channel can travel through the bottom channel under the bottom of the carrier in the fetching channel;
  • the carrier is equipped with a lifting mechanism that can do lifting and falling actions
  • the lifting mechanism of the carrier can lift the carrier to make the carrier move upward from the guide in the storage channel Department;
  • the carrier is equipped with a lateral transfer mechanism
  • the lateral transfer mechanism of the carrier can displace the carrier in the lateral direction of the channel;
  • the lifting mechanism and the lateral transfer mechanism in the raised state of the carrier in the taking channel can support and receive the carrier transferred from the carrier in the adjacent storage channel on the side, and can be lifted by the lifting mechanism Drop onto the guide part in the take-out channel.
  • a guiding part is provided in the exchange station
  • the guide part in the access channel can be connected to the guide part in the exchange station;
  • At least one of the storage channels is adjacent to the side of the exchange
  • the hoisting mechanism and lateral transfer mechanism that can do the lifting and falling actions are arranged in the avoidance area;
  • the carrier supported by the guide in the avoidance area can be moved out of the avoidance area along the guide by the drive system;
  • the lifting mechanism in the exchange table can raise the carrier on the guide part to make the carrier separate from the guide part, and then the lateral transfer mechanism transfers the carrier to the empty avoidance area in the adjacent storage channel on the side. ;
  • the raised hoisting mechanism and lateral transfer mechanism in the vacant avoidance area can support and receive the carrier transferred from the exchange platform, and can make the carrier fall onto the guide part in the avoidance area ;
  • the carrier on the guide part in the taking channel can be moved into the exchange table along the guide part by the drive system.
  • a guiding part is provided in the exchange station
  • At least one guide part in the storage channel can be connected to the guide part in the exchange station;
  • the side of the access channel is adjacent to the exchange station
  • the carrier supported by the guide part in the exchange table can be moved by the drive system to the storage channel along the guide part;
  • the lifting mechanism in the unloading area can raise the carrier on the guide part to make the carrier separate from the guide part, and then the lateral transfer mechanism transfers the carrier to the vacant exchange table;
  • the raised hoisting mechanism and the lateral transfer mechanism in the vacant exchange table can support and receive the carrier transferred from the unloading area, and the hoisting mechanism will guide the carrier to drop into the exchange table Ministry.
  • At least one storage channel is arranged on the side of the exchange station, and at least one of the storage channels is adjacent to the exchange station;
  • the hoisting mechanism and lateral transfer mechanism that can do the lifting and falling actions are arranged in the avoidance area;
  • the carrier supported by the guide in the avoidance area can be moved out of the avoidance area along the guide by the drive system;
  • the lifting mechanism in the exchange table can raise the carrier on the guide part to make the carrier separate from the guide part, and then the lateral transfer mechanism transfers the carrier to the empty avoidance area in the adjacent storage channel on the side. ;
  • the raised hoisting mechanism and the lateral transfer mechanism in the vacant avoidance area can support and receive the carrier body transferred from the side, and can make the carrier fall onto the guide part in the avoidance area .
  • the exchange station is located at the extension of the first storage channel
  • the two sides of the switchboard are respectively adjacent to the access channel and the second storage channel;
  • An avoidance area is provided in the area of the second storage channel that is laterally aligned with the exchange station;
  • the carrier supported by the guide in the avoidance area can be moved out of the avoidance area along the guide by the drive system;
  • the carrier in the exchange station can be transferred to the avoidance area by the lateral transfer mechanism
  • the raised hoisting mechanism and lateral transfer mechanism in the avoidance area can support and receive the carrier transferred from the exchange platform, and then make the carrier fall to the guide part in the avoidance area;
  • the lifting mechanism in the unloading area can raise and support the carrier, so that the carrier is separated from the guide part, and then the carrier is transferred to the exchange table by the lateral transfer mechanism;
  • the lateral transfer mechanism of the exchange station can receive the carrier transferred from the transfer area.
  • the switchboard includes a front port and a rear port
  • the fetching channel is divided into a front fetching channel and a back fetching channel;
  • the front port of the switchboard is docked with the rear port of the front access channel, and the rear port of the switchboard is docked with the front port of the back access channel;
  • the guide part in the exchange table can be docked with the guide part in the front section and the rear section of the take-in channel;
  • Temporary storage areas are set up at the back of the front section of the take-in channel and at the front section of the back section take-out channel; the temporary storage area is provided with a lifting mechanism and a lateral transfer mechanism;
  • An avoidance area is set up in the storage channel that is laterally aligned with the temporary storage area, and a lifting mechanism and a lateral transfer mechanism are set up in the avoidance area;
  • the carrier supported by the guide in the avoidance area can be moved out of the avoidance area along the guide by the drive system;
  • the lifting mechanism in the temporary storage area can raise the carrier on the guide part to separate the carrier from the guide part, and then the lateral transfer mechanism will transfer the carrier to the adjacent vacant avoidance zone;
  • the raised hoisting mechanism and the lateral transfer mechanism in the vacant avoidance area can support and receive the carrying body transferred from the side, and allow the carrying body to fall to the guide part in the avoidance area;
  • the carrier can be moved to the temporary storage area by the drive system along the guide in the access channel;
  • the carrier on the guide part in the exchange table can be moved to the guide part in the vacant temporary storage area by the drive system
  • the carrier on the guide part in the temporary storage area can be moved to the guide part in the vacant exchange area by the drive system.
  • the carrier straddles at least one storage channel and at least one storage space for objects in the channel, and can move along a track parallel to the channel;
  • the structure of the carrier includes a lifting and transferring mechanism that can move back and forth between the access channel and the adjacent storage channel;
  • the lifting and transferring mechanism of the carrier When the lifting and transferring mechanism of the carrier is moved to the alignment position above a carrier in the storage channel, the lifting and transferring mechanism can lift the carrier to a height that is free from the guide, and then move it horizontally and place it down to take it down. On the guide of the channel.
  • a further 10th group feature of the present invention is that: the carrier drive and brake system includes a channel with a slope in the direction of the exchange platform. Guidance.
  • the carrier driving and braking system includes:
  • a speed-limiting mechanism that limits the speed at which the carrier slides in the direction of the exchange table along the sloped guide part
  • Buffer brake mechanism installed adjacent to the exchange station.
  • the article access system includes: a multi-layer article storage layer, and an article access port;
  • the exchange table is arranged in a lifting shaft containing a guide rail, and the lifting shaft is connected to each layer of the article storage layer and the article access port;
  • the exchange platform running in the hoistway can be docked with the goods storage layer and the object access opening level.
  • the exchange table can serve as an item entry and exit area for items to enter and exit the carrier.
  • the exchange platform running through the hoistway can transport the carriers in the article storage layer of each layer to the article entry and exit area for article access operations.
  • the present invention eliminates the inefficiency problems in the prior art that the access channel is monopolized by the carrier for a long time and the carrier is occupied for a long time by a single access operation, and avoids that the access operations cannot be performed at the same time.
  • the ongoing problem has significantly improved the access efficiency.
  • Figures 1 to 6 are schematic top views of the single-layer working face access operation mode of the embodiment 1;
  • Figures 7 and 8 are perspective views of a front upper and lower front view of a carrier
  • Figure 9 is a perspective view of a carrier with the lifting frame in a falling state from the upper front perspective
  • FIG. 10 is a perspective view of a carrier as shown in FIG. 9 when the lifting frame is in a raised state;
  • Fig. 11 is a perspective view of a front and upper perspective view of an exchange table with a lifting frame in a raised state
  • Figure 12 is a side view of an exchange table when the hoisting frame is in a falling state, viewed in the direction indicated by the white arrow in Figure 11;
  • Fig. 13 is a side view of an exchange table when the hoisting frame is in a raised state, viewed in the direction indicated by the white arrow in Fig. 11;
  • Fig. 14 is a perspective view from the upper front when a carrier is moved sideways by two lateral conveying devices;
  • Fig. 15 is a side view viewed in the direction indicated by the white arrow in Fig. 14;
  • Embodiment 16 is a perspective view of the operating state of Embodiment 1 when all the carriers are hidden;
  • Figure 17 is a perspective view and a partial enlarged view of the operating state of the embodiment 1 after the carrier is normally arranged;
  • Figure 18 is a perspective view of the operating state of the carrier when a carrier is jacked up in the storage channel;
  • Figure 19 is a schematic cross-sectional view at the section line indicated in Figure 18, in this figure, the lifting frame of the carrier is in a falling state;
  • Figure 20 is a schematic cross-sectional view at the section line indicated in Figure 18, in this figure, the lifting frame of the carrier is in a lifting state;
  • Figure 21 is a perspective view of the operating state when two carriers take out a carrier from the storage channel
  • Figure 22 is a schematic cross-sectional view of the section line marked in Figure 21;
  • FIG. 23 is a perspective view and a partial enlarged view of the operating state of the exchange platform of Embodiment 1 when it is not leveled;
  • Figure 24 is a perspective view and a partial enlarged view of the operating state of the exchange platform of Embodiment 1 when leveling;
  • Figures 25 to 30 are schematic top views of the operating mode of the single-layer working face access operation of the second embodiment
  • Figures 31 to 36 are schematic top views of the single-layer working face access operation operation mode of the third embodiment.
  • Figures 37 to 40 are schematic top views of the single-layer working face access operation mode of the embodiment 4.
  • 41 and 42 are the schematic top views of the operation mode of the single-layer working face access operation with double exchange stations in the fifth embodiment
  • Figure 43 is a perspective view of the operating state of the fifth embodiment
  • Figures 44 to 45 are schematic top views of the single-layer working face access operation mode of the sixth embodiment.
  • Figure 46 is a perspective view of the operating state of the sixth embodiment.
  • 47 is a schematic top view of a single-layer working face access operation mode of embodiment 7;
  • Fig. 48 is a schematic cross-sectional view of the application mode of the inclined channel of the embodiment 8.
  • Fig. 49 is a three-dimensional schematic diagram of the operating state of the ninth embodiment.
  • the buffer top block of the carrier-104 The chassis of the carrier-105
  • Carrier walking wheel 11 Carrier bottom frame-12 Exchange table bottom frame-13 Exchange table corner slider-131
  • Figure 1 is a schematic diagram/flow chart of XXX
  • Figure 2 is a XXX diagram of an embodiment
  • Figure 3 is a XXX diagram of another embodiment.
  • connection and “connection” mentioned in this application include direct and indirect connection (connection) unless otherwise specified.
  • Example 1 The schematic diagram of the operation of Example 1 is shown in Figures 1 to 24. This is an application scheme with a storage layer and a hoistway. Obviously, this solution can also be applied in multi-storey storage spaces.
  • the upper direction of each schematic diagram is described as north, and the lower direction is described as south.
  • the left and right directions are described as west and east, respectively.
  • this embodiment includes an east-west direction access channel 21, and two storage lanes are arranged on the north and south sides of the access channel 21: a north storage channel 20-1 and a south storage channel 20-2.
  • the fetching channel and each storage channel are arranged with a rail 5 of a movable carrier.
  • a plurality of carriers 1 capable of storing goods are pre-arranged on the tracks 5 of the Beicun Passage 20-1 and the Nancun Passage 20-2.
  • a carrier 2a with lateral conveying function is arranged in the taking channel 21.
  • a carrier 2b and 2c with lateral transport function are respectively arranged.
  • the access channel 21 is divided into two sections, one east and one long and one short.
  • the length of the west section is slightly longer than the length of a carrier.
  • a temporary storage area 19 is provided, and a lateral transport device is installed in the temporary storage area 19 3-1.
  • An elevator shaft 16 is set between the two sections.
  • an exchange platform 4 that can be raised and lowered is arranged.
  • the exchange platform 4 is also provided with a rail 5 capable of running a carrier. When the exchange platform 4 is at a level level with the access channel 21, the rail 5 on the exchange platform 4 and the rail 5 in the access channel 21 can be connected to each other.
  • North Side Avoidance Area 18-1 and South Side Avoidance Area 18-2 there are two avoidance areas in the north-south and north-south areas of North Storage Passage 20-1 and South Storage Passage 20-2 and Temporary Storage Area 19: North Side Avoidance Area 18-1 and South Side Avoidance Area 18-2. In the avoidance area, there are also side conveying devices 3-2 and 3-3 respectively.
  • the system can instruct the carrier 2b in the Beicun channel 20-1 to move to the alignment position directly below the carrier 1a.
  • the carrier 2a in the taking channel 21 is also moved to the side-aligned position of the load carrier 1a to be taken and stopped.
  • the two aligned carriers 2a and 2b jointly move the carrier 1a to be taken from the Beicun channel 20-1 to the rail 5 in the access channel 21, and use friction along the track.
  • the wheel drive system moves in the direction of the exchange station 4.
  • the carrier 1a to be taken left the Beicun Passage 20-1 a vacancy appeared in the Beicun Passage 20-1.
  • the system will instruct each carrier located between this vacancy and the north side avoidance area 18-1 to translate along the track 5 to the vacancy under the action of the drive system to fill the vacancy. In this way, the corresponding north side avoidance zone 18-1 will be vacated.
  • another carrier 1b to be taken in the Nancun channel 20-2 can also be used in cooperation with the carrier 2a in the take-in channel 21 and the carrier 2c in the Nancun channel 20-2, as shown in FIG. 4 , Move to the access channel 21, and as shown in Figure 5, slide to the side of the exchange station 4 to queue, waiting for the out of the library.
  • a to-be-stored carrier 1 c on the exchange platform 4 can be moved into the temporary storage area 19 along the track 5.
  • the first to-be-taken carrier 1a in the taking channel 21 can enter the exchange station 4.
  • the first to-be-taken carrier 1a moves to the left and enters the north storage passage 20 -1 within 18-1 of the avoidance area, complete its storage operation.
  • the first to-be-taken carrier 1a enters the vacant exchange platform 4 under the action of the drive system, and follows the descending or rising exchange platform 4 for subsequent outgoing operations .
  • the supporting body 1 in this embodiment can adopt the application modes shown in Figs. 7 and 8, four casters 101 are installed under the four corners of the chassis 105, and a buffer top block 104 is provided in the middle of the outer side of the front and rear ends.
  • a longitudinal guide beam 102 is provided at the lower part of the left and right sides, and a lateral guide beam 103 is provided at the lower part of the front and rear ends.
  • the carrier 2 in this embodiment can adopt the application modes shown in FIG. 9 and FIG. 10.
  • the lower part of the left and right sides of the carrier chassis 12 is provided with walking wheels 11 running synchronously, and the side conveying device 3 is provided on the upper part of the chassis.
  • the lateral transport device 3 includes a lifting frame 9 that can be raised and lowered within a range of about 5 cm.
  • a roller-shaped carrier separator 14 is provided on the outside of the lifting frame 9.
  • the switching center 4 in this embodiment may adopt the application modes shown in FIG. 11 to FIG. 13.
  • the four corner sliders 131 of the underframe 13 of this exchange platform are connected to the traction rope chain in the lifting shaft rail column 17 (see FIG. 16).
  • Two sections of carrier rails 5 are provided on the upper part of the left and right sides of the underframe 13 of the exchange platform, and two sets of longitudinally movable friction wheels 6 that can rotate synchronously are provided on the inner side of the carrier rail 5.
  • the exchange table 4 is also provided with a lateral transport device 3, including a lifting frame 9 that can be raised and lowered within a range of about 5 cm.
  • the front and rear ends of the lifting frame 9 are provided with two sets of side-shifting friction wheels 8 that can rotate synchronously. 12, when the lifting frame 9 of the exchange table is in the falling state, the casters 101 of the carrier 1 on the exchange table 4 fall on the track 5 of the exchange table 4, and the brake state of the exchange table is elastic
  • the longitudinal movement friction wheel 6 of the rubber surface resists the longitudinal movement guide beam 102 of the carrier 1 (see FIG. 8 ), and brakes the carrier 1.
  • the exchange station 4 may not need to be provided with the lateral transport device 3. But it is required in some other embodiments described later.
  • the lateral transport device provided on the exchange station 4 can also make the carrier 1 move to the left and right when the exchange station 4 reaches the cargo storage layer, which facilitates flexible transfer of cargo during storage and retrieval.
  • the avoidance areas 18-1, 18-2, temporary storage area 19 and the internal lateral transport devices 3-2, 3-1, 3-3 in this embodiment can adopt the application methods shown in Figs. 14 and 15 .
  • the lateral conveying devices 3-2, 3-1, and 3-3 arranged between the rails 5 include a lifting frame 9 and a side-shifting friction wheel 8.
  • the same group of side-shifting friction wheels 8 can rotate synchronously.
  • a longitudinal friction wheel 6 is arranged on the inner side of the track 5, and the side-shift friction wheel 8 of the same pair of tracks can rotate synchronously.
  • the lateral guide beam 103 of the lifted carrier 1 can be moved on the side with the stop rim
  • the friction wheel 8 moves from the side of the temporary storage area 19 to the avoidance area 18-2 under the guidance and support of the friction wheel 8 and driven by the friction force.
  • a transition wheel 10 that can assist in supporting the carrier 1 is arranged between the temporary storage area 19 and the avoidance area 18.
  • Figure 16 shows a library body frame structure of this embodiment. For ease of observation, all carriers are hidden in the figure. It can be seen from the figure that the three carriers 2a, 2b, 2c are respectively arranged on the carrier track 7 arranged in the access channel and the storage channel.
  • the exchange platform 4 arranged in the lifting shaft can perform lifting operations along the four guide rails 17.
  • a longitudinal friction wheel 6 is provided inside the carrier track 5 of the storage channel and the retrieval channel for driving the carrier 1 to move and position.
  • Figure 17 shows the operating state of the library body frame shown in Figure 16 after the carrier 1 is normally arranged.
  • the carrier 2a in the fetching channel and the carrier 2b in the left fetching channel jointly transfer a to-be-fetched carrier 1a from the left fetching channel to the fetching channel.
  • the exchange platform 4 carrying a to-be-stored carrier 1c is running in the hoistway. Taking the position of the passage close to the elevator shaft, a carrier 1b waiting to be out of the warehouse has been parked in advance.
  • Figures 18 to 24 show a process in which a carrier 1a to be taken is moved from the storage channel to the take-out channel by two carriers 2a, 2b and moved to the front of the exchange station 4.
  • the carrier separator 14 on the lifting frame 9 of the carrier 2b is upwardly inserted into the gap between the carrier to be taken 1a and the two adjacent carriers 1b, 1c, and abuts Live on the slope below the front and rear sides of the adjacent carriers 1b and 1c.
  • the carrier separator 14 on the lifting frame 9 will squeeze the two adjacent carriers 1b, 1c, so that the to-be-taken carrier 1a and their A gap of about 1 cm is separated, and the carrier 1a to be taken is in a suspended state higher than the rail 5 of the carrier. Due to the blocking effect of the carrier separator 14, when the carrier to be taken 1a is in the suspended state, the adjacent carriers 1b, 1c will not move to the carrier 1a to be taken. Referring to Figures 21 and 22, the lifting frame 9 on the carrier 2a in the access channel is raised to a set height in advance.
  • the side-shift friction wheel 8 of the carrier 2b in the storage channel starts to rotate, and the friction bearing
  • the side-shift guide beam 103 of the body 1a conveys the carrier body 1a to be taken in the direction of the carrier 2a in the take-up channel, and is received by the side-shift friction wheel 8 of the carrier 2a in the take-up channel that rotates synchronously and at the same speed.
  • the carrier 1a placed in the take-out channel by the carrier 2a is driven by the longitudinal friction wheel 6 and moves along the rail 5 to the front of the hoistway.
  • the exchange table 4 carrying a to-be-stored carrier 1d is rising along the guide rail 17 in the hoistway.
  • the to-be-stored carrier 1d on the exchange table 4 moves to the dump area under the drive of the longitudinal friction wheel 6
  • the to-be-taken carrier 1a enters the exchange station 4 along the connected track 5.
  • the carrier 1d to be stored is transferred from the transfer area to the avoidance area to complete the storage, and the carrier 1a to be taken enters the exchange station 4, and is transported by the exchange station 4 to the cargo import and export floor to complete the warehouse out.
  • the carrier 1 in each figure is only shown in an empty state, and no goods are shown.
  • the carrier in the process of leaving each carrier to be taken out of the warehouse, the carrier only needs to move the carrier to be taken from the storage channel to the take-out channel. After that, the carrier to be taken is moved to the exchange station. In the process, the carrier will not need to participate. In other words, after the carrier completes the task of moving a carrier to be taken into the retrieval channel, it can immediately drive to the position of the carrier to be taken to perform the same simple operation. During the warehousing process of each to-be-stored carrier, there is always no need for the carrier to participate. In each lifting process of the exchange table, the in-warehouse and out-warehouse operations that do not interfere with each other can be completed.
  • the loaded carrier will not compete with the carrier out of the warehouse at the same time for the right to use the passage.
  • more groups of carriers can be arranged in each storage channel and retrieval channel, and each group of carriers can independently extract the carrier in the distant section. Work without interfering with each other.
  • each "carrying body to be picked up” may not necessarily contain the goods to be picked up. Because, when the total number of carriers in the entire library is determined, when each carrier is accessed, all carriers should always have their own parking positions regardless of whether they carry goods. In order to meet this requirement, the reason why the system instructs an empty carrier to be discharged from a certain floor is actually just to vacate a space for a to-be-stored carrier that will be stored on this floor with goods, and the experience of an empty carrier It is transported to the cargo entry and exit level by the exchange station to immediately accept new goods or wait for new goods to be accepted. In the same way, the "carrying body to be stored” may not necessarily contain the goods to be stored.
  • this empty carrier being stored in this layer is because there is currently a carrier carrying the goods to be picked up from this layer.
  • a position in this layer is vacated and can be temporarily parked. That is to say, when a carrier is stored in a certain floor, there should be a carrier out of the warehouse at the same time, so as to always keep the total amount of carriers on this floor unchanged, so as to obtain the highest utilization rate of the warehouse.
  • the total amount of the carrying body of the complete warehouse body including one hoistway can be set to the sum of all the positions in the storage channel of each layer, and at least one more carrying body.
  • This multi-configuration carrier is arranged at the parking position by the cargo entry port. In this way, the exchange platform in the hoistway can carry one carrier for each operation, and can exchange positions with the taken out carrier.
  • the present invention has a very high access efficiency.
  • FIG. 25 The schematic diagram of the operation of Embodiment 2 is shown in Fig. 25 to Fig. 30.
  • this embodiment includes an east-west direction access channel 21, the north side of the access channel 21 is arranged with the first north storage channel 20-1 and the second north storage channel 20-3, and the south side is arranged with a south storage channel 20-2.
  • a carrier 1 is pre-arranged on the track 5 of each storage channel.
  • An east temporary storage area 19-1 and a west temporary storage area 19-2 are respectively provided on the east and west sides of an elevator shaft 16 in the access channel, and each temporary storage area 19 is provided with a lateral transport device 3.
  • avoidance areas 18-1, 18-2, 18-3, 18-4 corresponding to the first and second north storage channels on the north side of the east and west temporary storage areas 19-1 and 19-2.
  • a lateral conveying device 3 is installed in each avoidance area 18.
  • a space is reserved between the two avoidance areas 18-1 and 18-2 in the second Beicun passage 20-1.
  • each storage channel 20 should be equipped with at least two carriers 2. At least one carrier 2 should be arranged in the passage 21 on the east and west sides of the hoistway 16. In this embodiment, the exchange table 4 does not need to be provided with a lateral transport device.
  • the to-be-stored carrier 1b is moved from the exchange station 4 into the west temporary storage area 19-2, and at the same time, the to-be-taken carrier 1a is moved from the east temporary storage area 19- 1 Enter the exchange 4, and then follow the exchange 4 out of the warehouse.
  • the to-be-stored carrier 1b in the west temporary storage area 19-2 is moved to the west avoidance area 18-3 in the second north storage passage under the joint operation of multiple lateral conveying devices 3, and the storage is completed Operation.
  • two storage channels 20 can also be arranged on the south side of the access channel 21. Further, more storage channels 20 can be arranged on both sides of the access channel 21, and more carriers and sideways can be arranged.
  • the transport device uses the same operating principle as this embodiment for access operations.
  • this embodiment uses multiple carriers and lateral transport devices, so that both sides of the hoistway 16 can be accessed as in Embodiment 1, so that in a larger-scale library application environment, High access efficiency can still be obtained.
  • FIG. 25 The schematic diagrams of the operation of Embodiment 3 are shown in Figs. 31 to 36.
  • the north storage passage 20-1 and the south storage passage 20-2 are arranged on the north and south sides of the access passage 21 in this embodiment.
  • side conveying devices 3-2 and 3-3 are respectively provided.
  • the exchange table 4 needs to be provided with a lateral conveying device 3-1 as shown in FIG. 11.
  • the carrier 1b on the exchange platform 4 is shared by the side transport devices 3-1 and 3-2 in the exchange platform 4 and the avoidance area 18-1. Under the action, move into the avoidance area 18-1 to complete the warehousing operation.
  • the first to-be-taken carrier 1a enters the empty exchange station 4, and follows the exchange station 4 out of the warehouse.
  • the second to-be-taken carrier 1c moved by the carriers 2a, 2c from the Nancun passage 20-2 into the take-out passage 21 can be moved to the hoistway 16 while waiting for the exchange platform 4 to return for the next out-of-warehouse operation.
  • the carrier 1a to be taken needs to wait for the carrier 1b on the switchboard 4 to be completely removed from the switchboard 4, and the switchboard 4 can be vacated before it can enter the switchboard 4, which takes a few more seconds.
  • the advantage is that one less lateral handling device can be arranged in each storage layer.
  • Embodiment 4 is shown in Figs. 37 to 40. This is an application method that adds more memory channels on the basis of Embodiment 3.
  • the access channel 21 of this embodiment has a first north access channel 20-1, a second north access channel 20-3, and a third north access channel 20-5 on the north side of the access channel 21.
  • an avoidance area 18 is set, and a lateral transport device 3 is installed in each avoidance area 18 and the exchange platform 4.
  • Carriers 2 are arranged in the fetching channel 21 and each storage channel 20.
  • vacancies are reserved.
  • the carrier 1a to be taken when the carrier 1a to be taken is moved to the taking channel 21 by the four carriers 2, the first Beicun channel 20-1, the second Beicun channel 20-3, and the third Beicun channel 20 Part of the carriers in -5 can move eastward to fill the vacancies and vacate the avoidance area 18 to provide storage passages and vacancies for the to-be-stored carriers 1b on the exchange station 4.
  • the carrier 1b to be stored on the exchange station 4 moves northward into the avoidance area 18, the carrier 1a to be taken enters the exchange station 4 and follows it out of the warehouse.
  • the outbound operation can be completed for any carrier in the storage channel.
  • setting more storage channels 20 can significantly improve the utilization rate of the storage space, but does not significantly reduce the overall access efficiency.
  • Embodiment 5 is shown in Figure 41 to Figure 43.
  • this embodiment is provided with one access channel 21, three north storage channels 20-1, 20-3, 20-5 are arranged on the north side of the access channel 21, and three south storage channels 20-2 are arranged on the south side. , 20-4, 20-6.
  • an avoidance area 18 is arranged respectively.
  • a temporary storage area 19 is set at the position where the middle part of the taking channel 21 is aligned with the avoidance area.
  • a lifting shaft 16-1 and 16-2 are respectively set.
  • lateral conveying devices 3 are installed.
  • Two carriers 2 are respectively arranged in the access channels 21 on the east and west sides of the temporary storage area 19, and at least one carrier 2 is also arranged in each storage channel 20.
  • the carrier 1b to be stored on the exchange platform 4-2 in a hoistway 16-2 is moved into the temporary storage area 19
  • the carrier 2 is moved from the storage channel 20 to the carrier to be taken in the retrieval channel 21 1a can enter this exchange 4-2 at the same time, and follow the exchange 4-2 out of the library.
  • the carrier entering the temporary storage area 19 can enter a certain avoidance area 18 under the operation of the lateral transport device 3 to complete the storage.
  • Fig. 43 is a perspective view showing some application details of this embodiment.
  • Embodiment 6 is shown in Figure 44 to Figure 46.
  • three north storage passages 20-1, 20-3, 20-5 are arranged on the north side of the access channel 21, and three south storage passages 20-2, 20-4, 20- are arranged on the south side. 6.
  • An avoidance area 18 is arranged at the western end of each storage channel.
  • a temporary storage area 19 is provided at the west end of the access channel 21.
  • An elevator shaft 16 is set on the east side of the temporary storage area 19. In the temporary storage area 19 and all the avoidance areas 18, lateral conveying devices 3 are installed.
  • a carrier 2 is arranged in the taking channel 21 and each storage channel 20 respectively. Except for the outermost storage channels 20-5 and 20-6, which are covered with carriers, the westernmost avoidance area 18 of the remaining storage channels 20-1, 20-2, 20-3, and 20-4 should be reserved regularly. Out of the vacancy.
  • the first to-be-taken carrier 1b waiting to leave the warehouse can enter the exchange platform 4 at the same time and follow the exchange platform 4 out of the library.
  • the carrier 1c entering the temporary storage area 19 can enter the avoidance area 18-5 of the northernmost storage passage 20-5 under the operation of the lateral transport device 3 to complete the storage.
  • Fig. 46 is a perspective view showing some application details of this embodiment.
  • This embodiment can meet the common channel layout requirements for the side-by-side arrangement of goods import and export, and can provide higher access efficiency.
  • Example 7 is shown in Figure 47.
  • a dump area 22 is provided in the middle of the access channel 21.
  • Two lifting shafts 16-1, 16-2 are set at positions close to the dump area 22 of the storage channels 20-1, 20-2 adjacent to the access channel 21. Where the middle of the other storage channels 20-3, 20-4, 20-5, 20-6 is aligned with the elevator shaft 16, avoidance areas 18-1, 18-2, 18-3, 18-4 are set.
  • the transfer area 22, the exchange platform 4, and the avoidance area 18 are all provided with lateral conveying devices 3.
  • the carrier 1b, 1d to be stored in the exchange platform 4-1, 4-2 at the leveling position can directly enter the storage channel 20-1 or 20-2 with vacancy where the elevator shaft 16 is located, and the storage is completed, or you can It is moved by the lateral conveying device 3 to the avoidance area in other storage passages 20-3, 20-5 or 20-4, 20-6 with vacancies to complete the storage.
  • the to-be-taken carriers 1a, 1c, and 1e that are transferred by the carrier 2 to the retrieval channel 21 can enter the unloading area 22 in turn, and move from the side of the unloading area 22 to the unloading area 22.
  • the handling device 3 is transported to the exchange station 4, and then out of the warehouse.
  • Example 8 is shown in Figure 48.
  • the carrier track 5 in the access channel and the storage channel in each storage layer has a slope in the direction of the hoistway 16, which should be sufficient to allow the carrier 1a in the access channel to slide upward and downward by gravity. Hoistway 16 direction.
  • speed limiting measures that can limit the sliding speed of the carrier, such as setting one-way damping friction wheels along the track, or setting the casters of the carrier as a speed limiting wheel with one-way damping function.
  • the bearing body is sliding, it is subjected to the damping speed limiting force, and when climbing in the storage channel, the resistance is the least.
  • the bearing body can be equipped with elastic buffer top block 104 as shown in Figures 7 and 8, and a forced brake can be set at the sliding end position. Device.
  • a strong pushing mechanism can be set in the avoidance area 18 at the bottom of the slope, and the first carrying body at the bottom of the slope can be pushed to form a row.
  • the carrier In order to allow the carrying body in the storage channel to climb on the inclined track 5, a strong pushing mechanism can be set in the avoidance area 18 at the bottom of the slope, and the first carrying body at the bottom of the slope can be pushed to form a row.
  • the carrier In order to allow the carrying body in the storage channel to climb on the inclined track 5, a strong pushing mechanism can be set in the avoidance area 18 at the bottom of the slope, and the first carrying body at the bottom of the slope can be pushed to form a row.
  • the carrier to be taken is out of the warehouse, sometimes it is necessary to slide the carrier queue in the adjacent storage channel that blocks its lateral passage to the direction of the bottom of the slope to form a vacant channel, but it cannot allow the upslope section of this vacant position.
  • the carrier slides down.
  • the upwardly raised carrier separator 14 on the lifting frame 9 of the carrier 2 shown in Figures 9 and 10 can be used to temporarily Block the load-bearing body on the uphill.
  • the track slope can be set in different ranges.
  • the track gradient can be selected in the range of ⁇ 5 ⁇ , >1 ⁇ , while in storage devices such as plastic storage boxes for general small items, the gradient can be increased to Above 10%, a sliding auxiliary mechanism can be used between the guiding part and the bearing body to directly allow the bearing body with wear-resistant smooth ground to slide to the direction of the hoistway in the same smooth and wear-resistant slope chute with a large slope.
  • the carrier to be taken can slide to the exchange table in the taking channel by itself, which simplifies the driving mechanism and reduces the cost.
  • Example 9 is shown in Figure 49. This is an application scheme of the present invention in a multi-layer three-dimensional maintenance workshop. Each maintenance layer can complete a maintenance process.
  • the carrier 1 arranged in the two storage channels of each layer is an maintenance station platform with a hoarding and a door. The outside of the station platform is adjacent to the personnel channel 23. The parts to be overhauled are placed in the middle of the table.
  • a lifting shaft containing four guide rails 17 is set. When the station platform stops moving, employees can enter and exit the station platform from the personnel channel.
  • a station When a station has completed the maintenance process of its location and other processes need to be carried out, move the station table from the storage channel to the subsequent access channel under the joint operation of the storage channel and the carrier (the figure omitted) of the access channel, and Under the action of the drive system, it moves to an elevator hoistway and enters the exchange platform 4 of the elevator hoistway, follows the exchange platform 4 to other process maintenance floors, and enters the storage channel of this layer to complete the subsequent maintenance work.
  • this embodiment allows any station to complete the maintenance process of this layer, and immediately transfer to the next one. Process, thereby improving the efficiency of overhaul operations, and using the lifting shaft to connect multiple process operating layers in series to form a three-dimensional workshop that saves floor space.
  • the process sites of each layer can also be arranged on a single level, and they can be connected vertically and horizontally and flexibly in series.
  • Coupled refers to physical connection, electrical connection, magnetic connection, optical connection, communication connection, functional connection and/or any other connection.

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Abstract

一种物品存取系统，包括可载入物品的承载体（1），用于存放承载体（1）的存通道（20）和用于提取承载体（1）的取通道（21）。提取承载体（1b）时，搬运器（2a、2c）可将存通道（20-2）内的承载体（1b）移至取通道（21），并由驱动系统将承载体（1b）移至交换台（4），完成提取作业。存入时，承载体（1c）可从交换台（4）经由暂存区（3-1）移至存通道（20）内的避让区（18），完成存入作业。因存入和取出过程可在重叠时间段内同时进行，并且，搬运器无需长距离运送承载体（1），所以，与叉车仓储系统和堆垛机仓储系统相比，具有显著的高效率存取优势。

Description

物品存取系统 技术领域
本发明属于物品存取系统，尤其涉及一种以移动承载体来移送和存取物体的系统。
背景技术
现行物品存取系统大致分为叉车式与巷道式。叉车式是在两排平行的多层货架之间通行叉车，并利用叉车的可升降伸缩的货叉向各层储物格中存取货物和托盘。巷道式是在多层平行货架结构之间形成的多层巷道内运行多个穿梭式的搬运器，以搬运器从每条巷道两侧的储物格内以专用装置存取货物，再通过垂直升降台运至货物进出口。
叉车式物品存取系统的主要缺陷是：每次存取一件载货托盘时，叉车需要独占这件载货托盘所在的通道空间，不宜在同一个通道空间中同时进行多个载货托盘的存取，总体运行效率低。并且，叉车作业本身也存在安全性和可靠性过于依赖人工操控的问题，即便采用堆垛机之类的自动装置，也因堆垛机需要经常进行长距离、长耗时的升降和横移动作来仅仅取放单个货物，当需要连续存取作业时，存取效率过低、等待时间过长的问题。
巷道式物品存取系统的主要缺陷是：存入一件载货托盘时，搬运器往往需要长距离运行到预定的空仓位置，平均耗时长，效率也很低。并且，一个巷道内的搬运器正在运载载货托盘作业时，也将独占这个巷道，不能同时进行这个巷道内的其他货物的存取作业，运行效率低。
现有技术中还有一种以水平循环方式存取物品的系统，这种系统中的几乎每个存储位置中的物品需要被取出时，都需要让与其循环相连的其他物品先进行循环移动，效率更低，机构也更复杂。
发明内容
针对上述现有技术的缺陷，为了提高存取效率，本发明提出如下解决方案：
本申请提供了一种物品存取系统，包括：
至少一层物品存放层，在同一层物品存放层内，布置了至少两条平行排列的通道，其中包括至少一条取通道和至少一条存通道；取通道与至少一条存通道相邻；在通道内设有与通道平行延伸的引导部；存通道内的引导部上排列了多个可被驱动系统沿引导部移位的用于存放物体的承载体；取通道内的引导部上的承载体可被驱动系统沿引导部移位；在引导部上的相邻的承载体可相互挤靠，并且，其中被移动的承载体可推动相邻的承载体同时移动；
搬运器，搬运器可将存通道内的引导部上的承载体移至取通道内的引导部上；
至少一个与通道相连的可停放承载体的交换台，取通道内的驱动系统可驱动承载体沿引导部向交换台边移动；交换台上的承载体可被驱动系统移入存通道；取通道内的承载体可被驱动系统移入交换台。
本文所称的“物品”，可以是总体上符合限定尺寸要求的各类仓储货物，也可以是符合限定尺寸外形要求的特定产品，比如机动车辆、摩托车、自行车；也可以是小型、微型的物件，比如书籍、有包装的药品、邮件、快递包裹。
本文所称的“承载体”，可以是用于承载物品的大中型专用托盘、托架、带护围的工位，也可以是符合特定形状尺寸要求的箱体、筐体、盆体、盘体、容器，比如储藏箱、货柜。
本文所称的“引导部”，是指支撑并限制承载体移动方向的构造、组件或者部件系统，例如现有技术中的轨道系统、滚轮系统、滚柱系统、磁悬浮导轨系统、滑动导轨系统、滑槽系统以及这些系统的适当组合。相应的，被“引导部”支撑和限位的承载体的对应位置，设有与“引导部”形成相互匹配的移动副的构造或者部件，例如轮子、引导梁、磁悬浮体、滑行体、底平面体、限位构造。
本发明提出的具有以上基本特征的物品存取系统，在进行物品提取作业时，只需让搬运器将待取承载体从存通道转移到取通道内的引导部上即可，被转移到取通道中的各个承载体，可利用驱动系统自行移向交换台方向，无需依靠搬运器载运。当需要连续提取物品时，只要让搬运器依次将每个待取承载体从存通道转移到取通道即可，从而显著提高了物品提取效率。在进行物品存放作业时，只需让待存承载体直接从交换台进入存通道即可，无需搬运器参与作业。
每个承载体从存通道被移至取通道后，都会在存通道中的承载体队列中形成空档。这些空档会被其他移进的承载体补位填充，并在队列首端靠近交换台处形成避让空位，这些空位为来自交换台的待存承载体提供了预留存放空间，形成了待存承载体与待取承载体之间循环补位的存取作业过程。
显然，与现有技术相比，本发明显著提高了物品存取系统的存取效率。
在上述的一组基本特征基础上，本发明的进一步的第2组特征是：所述取通道内的驱动系统，包括沿着取通道固定设置的可驱动承载体向交换台边移位的承载体驱动和制动系统。
在上述第2组特征基础上，本发明的进一步的第3组特征是：
所述的引导部支撑所述承载体的两侧，两侧被引导部支撑的承载体的底部下方，有平行于引导部的贯通的底通道；
每条存通道和每条取通道，至少布置了一台搬运器，搬运器可沿取通道或存通道移位；
存通道内的搬运器可在存通道内的各承载体的底部下方的底通道穿行；
取通道内的搬运器可在取通道内的承载体的底部下方的底通道穿行；
搬运器设有可做起升和下落动作的起升机构；
当存通道内的搬运器移至位于存通道的引导部上的承载体下方的底通道内后，搬运器的起升机构可升起该承载体，使该承载体向上脱离存通道内的引导部；
搬运器设有侧向传接机构；
当存通道内的搬运器的起升机构升起一个承载体后，搬运器的侧向传接机构可使该承载体向侧方的取通道方向移位；
取通道内的搬运器的处于升起状态的起升机构和侧向传接机构，可承托并接收从侧方相邻的存通道内的搬运器移送过来的承载体，并可由起升机构将其下落到取通道内的引导部上。
本文所称的“侧方”和“侧向”与通道延伸方向大致垂直。
在上述第3组特征基础上，本发明的进一步的第4组特征是：
所述交换台内设有引导部；
所述取通道内的引导部可与交换台内的引导部对接连通；
至少一条所述存通道与交换台的侧方相邻；
存通道中与交换台侧向对正的区域设有避让区；
避让区内设有可做起升和下落动作的起升机构和侧向传接机构；
当避让区内的起升机构处于下落状态时，由避让区内的引导部承托的承载体可被驱动系统沿引导部移出避让区；
交换台内设有可做起升和下落动作的起升机构和侧向传接机构；
交换台内的起升机构可升起引导部上的承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向侧方相邻的存通道内处于空置状态的避让区移送；
处于空置状态的避让区内的已升起的起升机构和侧向传接机构可承托并接收由交换台移送过来的承载体，并可使该承载体下落到避让区内的引导部上；
当空置的交换台内的起升机构处于下落状态时，取通道内的引导部上的承载体可被驱动系统沿引导部移至交换台内。
在上述第3组特征基础上，本发明的进一步的第5组特征是：
所述交换台内设有引导部；
至少一条所述存通道内的引导部可与交换台内的引导部对接连通；
所述取通道的侧方与交换台相邻；
取通道中与交换台侧向对正的区域设有转存区；
交换台内设有可做起升和下落动作的起升机构和侧向传接机构；
当交换台内的起升机构处于下落状态时，由交换台内的引导部承托的承载体可被驱动系统沿引导部移至存通道内；
转存区内设有可做起升和下落动作的起升机构和侧向传接机构；
转存区内的起升机构可升起引导部上的承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向处于空置状态的交换台移送；
空置的交换台内的已升起的起升机构和侧向传接机构可承托并接收由转存区移送过来的承载体，并由起升机构将该承载体下落到交换台内的引导部上。
在上述第5组特征基础上，本发明的进一步的第6组特征是：
在所述交换台的侧方布置了至少一条所述存通道，并且，其中至少一条存通道与交换台相邻；
交换台侧方的存通道内与交换台侧向对正的区域设有避让区；
避让区内设有可做起升和下落动作的起升机构和侧向传接机构；
当避让区内的起升机构处于下落状态时，由避让区内的引导部承托的承载体可被驱动系统沿引导部移出避让区；
交换台内的起升机构可升起引导部上的承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向侧方相邻的存通道内处于空置状态的避让区移送；
处于空置状态的避让区内的已升起的起升机构和侧向传接机构可承托并接收由侧方移送过来的承载体，并可使该承载体下落到避让区内的引导部上。
在上述第3组特征基础上，本发明的进一步的第7组特征是：
包括与所述取通道侧方并排相邻的第一存通道；
包括与第一存通道侧方并排相邻的第二存通道；
所述交换台位于第一存通道的延伸处；
交换台的两侧分别与取通道和第二存通道相邻；
在第二存通道中与交换台侧向对正的区域内设有避让区；
在取通道中与交换台侧向对正的区域内设有转存区；
在避让区和转存区内，设有起升机构和侧向传接机构；
当避让区内的起升机构处于下落状态时，由避让区内的引导部承托的承载体可被驱动系统沿引导部移出避让区；
在交换台内，设置了侧向传接机构；
交换台内的承载体可由侧向传接机构向避让区移送；
避让区内的已升起的起升机构和侧向传接机构可承托并接收由交换台移送过来的承载体，再使该承载体下落到避让区内的引导部；
转存区内的起升机构可升起并承托承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向交换台移送；
交换台的侧向传接机构可接收由转存区移送过来的承载体。
在上述第3组特征基础上，本发明的进一步的第8组特征是：
所述交换台包括前端口和后端口；
所述取通道分为前段取通道和后段取通道；
交换台的前端口与前段取通道的后端口对接，交换台的后端口与后段取通道的前端口对接；
交换台内的左右两侧设有引导部；
交换台内的引导部可与前段取通道和后段取通道内的引导部对接；
在前段取通道的后部和后段取通道的前部设置了暂存区；在暂存区设有起升机构和侧向传接机构；
在存通道中与暂存区侧向对正的区域设置了避让区，在避让区中设置了起升机构和侧向传接机构；
当避让区内的起升机构处于下落状态时，由避让区内的引导部承托的承载体可被驱动系统沿引导部移出避让区；
暂存区内的起升机构可升起引导部上的承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向相邻的处于空置状态的避让区移送；
处于空置状态的避让区内的已升起的起升机构和侧向传接机构可承托并接收由侧方移送过来的承载体，并可使该承载体下落到避让区内的引导部；
当空置的暂存区内的起升机构处于下落状态时，承载体可被驱动系统沿取通道内的引导部移至暂存区；
当空置的暂存区内的起升机构处于下落状态时，交换台内的引导部上的承载体可被驱动系统移至这个空置的暂存区内的引导部上；
当暂存区内的起升机构处于下落状态时，该暂存区内的引导部上的承载体可被驱动系统移至空置的交换区内的引导部上。
本文所称的“前”“后”方向，与通道延伸方向平行。
在上述第2组特征基础上，本发明的进一步的第9组特征是：
所述的搬运器横跨至少一条所述存通道和至少一条取通道的物体存放空间的上方，并可沿平行于通道的轨道移动；
搬运器的构成包括可在取通道与相邻的存通道之间往复横移的提升和转移机构；
当搬运器的提升和转移机构移至存通道内的一个承载体上方对正位置后，该提升和转移机构可将该承载体提升到脱离引导部的高度，再横移并向下放置到取通道的引导部上。
在上述第2组至9组之一特征基础上，本发明的进一步的第10组特征是：所述承载体驱动和制动系统包括取通道内的具坡向所述交换台方向的坡度的引导部。
在上述第10组特征基础上，本发明的进一步的第11组特征是：所述承载体驱动和制动系统包括：
限制所述承载体沿所述具有坡度的引导部向所述交换台方向溜行的速度的限速机构；
设置在邻近交换台处的缓冲制动机构。
在上述各组特征之一的基础上，本发明的进一步的第12组特征是：
所述物品存取系统包括：多层物品存放层，以及物体存取口；
所述交换台设置在包含导轨的升降井道内，该升降井道连通各层物品存放层和物体存取口；
在升降井道内运行的交换台可与物品存放层和物体存取口平层对接。
在只有一层物品存放层的应用环境中，交换台可充当物品进出承载体的物品出入区。当设置了多层物品存放层时，通过升降井道运行的交换台可将各层物品存放层内的承载体运至物品出入区进行物品的存取作业。
依据上述实施例的物品存取系统，本发明消除了现有技术中取通道被搬运器长时间独占、搬运器被单次存取操作长时间占用的低效率问题，避免了存取作业不可同时进行的问题，显著提高了存取效率。
本发明的更具体的技术特征和有益效果，将在以下多个实施例中，结合附图做进一步的详细描述。
附图说明
图1至图6是实施例1的单层工作面存取作业运行方式俯视示意图；
图7、图8是一种承载体的前上视角和前下视角立体图；
图9是起升架处于下落状态的一种搬运器的前上视角立体图；
图10是起升架处于起升状态的如图9所示的一种搬运器的前上视角立体图；
图11是起升架处于起升状态一种交换台的前上视角立体图；
图12是图11中白箭头所示方向观察的起升架处于下落状态时的一种交换台的侧视图；
图13是图11中白箭头所示方向观察的起升架处于起升状态时的一种交换台的侧视图；
图14是一个承载体被两个侧向搬运装置进行侧移作业时的前上视角立体图；
图15是图14中白箭头所示方向观察的侧视图；
图16是实施例1在隐藏所有承载体时的运行状态立体图；
图17是实施例1的正常排布了承载体后的运行状态立体图和局部放大图；
图18是搬运器在存通道顶起一个承载体时的运行状态立体图；
图19是图18中所注剖面线处的剖视示意图，本图中，搬运器的起升架处于回落状态；
图20是图18中所注剖面线处的剖视示意图，本图中，搬运器的起升架处于起升状态；
图21是两个搬运器从存通道取出一个承载体时的运行状态立体图；
图22是图21的所注剖面线处的剖视示意图；
图23是实施例1的交换台未平层时的运行状态立体图和局部放大图；
图24是实施例1的交换台平层时的运行状态立体图和局部放大图；
图25至图30是实施例2的单层工作面存取作业运行方式俯视示意图；
图31至图36是实施例3的单层工作面存取作业运行方式俯视示意图；
图37至图40是实施例4的单层工作面存取作业运行方式俯视示意图；
图41、图42是实施例5的具有双交换台的单层工作面存取作业运行方式俯视示意图；
图43是实施例5的运行状态立体图；
图44至图45是实施例6的单层工作面存取作业运行方式俯视示意图；
图46是实施例6的运行状态立体图；
图47是实施例7的单层工作面存取作业运行方式俯视示意图；
图48是实施例8的倾斜通道应用方式剖视示意图；
图49是实施例9的运行状态立体示意图。
附图标记包括：
承载体-1 承载体的脚轮-101 承载体的纵移引导梁-102 承载体的侧移引导梁-103
承载体的缓冲顶块-104 承载体的底盘-105
搬运器-2 侧向搬运装置-3 交换台-4 承载体的轨道-5 纵移摩擦轮-6
纵移摩擦轮驱动链组-61 搬运器的轨道-7 侧移摩擦轮-8 起升架-9 过渡轮10
搬运器的行走轮11 搬运器底架-12 交换台底架-13 交换台角部滑块-131
承载体分离器-14 侧向搬运装置底架-15 升降井道-16 升降井道导轨柱-17
避让区-18 暂存区-19 存通道-20 取通道-21 转存区-22 人员通道23
同一幅图中，暂时停留在不同位置的可移动的相同部件，以该部件的附图标记+小写英文字母区分，安装在不同位置的具有相同功能的部件，以该部件的附图标记+“-”+数字区分。
图1为XXX的结构示意/流程图；
图2为一种实施例的XXX图；
图3为另一种实施例的XXX图。
具体实施方式
下面通过具体实施方式结合附图对本发明作进一步详细说明。其中不同实施方式中类似元件采用了相关联的类似的元件标号。在以下的实施方式中，很多细节描述是为了使得本申请能被更好的理解。然而，本领域技术人员可以毫不费力的认识到，其中部分特征在不同情况下是可以省略的，或者可以由其他元件、材料、方法所替代。在某些情况下，本申请相关的一些操作并没有在说明书中显示或者描述，这是为了避免本申请的核心部分被过多的描述所淹没，而对于本领域技术人员而言，详细描述这些相关操作并不是必要的，他们根据说明书中的描述以及本领域的一般技术知识即可完整了解相关操作。
另外，说明书中所描述的特点、操作或者特征可以以任意适当的方式结合形成各种实施方式。同时，方法描述中的各步骤或者动作也可以 按照本领域技术人员所能显而易见的方式进行顺序调换或调整。因此，说明书和附图中的各种顺序只是为了清楚描述某一个实施例，并不意味着是必须的顺序，除非另有说明其中某个顺序是必须遵循的。
本文中为部件所编序号本身，例如“第一”、“第二”等，仅用于区分所描述的对象，不具有任何顺序或技术含义。而本申请所说“连接”、“联接”，如无特别说明，均包括直接和间接连接(联接)。
实施例1的运行示意图如图1至图24所示。这是具有一个存放层和一个升降井道的应用方案。显而易见的是，本方案也可以应用在多层仓储空间中。为了便于描述，各个示意图的上方向描述为北，下方向为南，相应的，左右方向分别描述为西和东。
参见图1，本实施例包含一条东西方向的取通道21，取通道21的南北两侧布置了两条存车道：一条北存通道20-1和一条南存通道20-2。取通道和每条存通道均布置了可运行承载体的轨道5。北存通道20-1和南存通道20-2的轨道5上预先排布了多个可存储货物的承载体1。在取通道21布置了一台具有侧向搬运功能的搬运器2a。在北存通道20-1南存通道20-2内也分别布置了一台具有侧向搬运功能的搬运器2b、2c。
取通道21分为东西一长一短两个区段，西段的长度稍大于一个承载体长度，并且，在西区段内设置了暂存区19，暂存区19内设置了侧向搬运装置3-1。两个区段之间设置了一个升降井道16。在升降井道内，布置了可升降的交换台4。交换台4也设置了可运行承载体的轨道5。当交换台4处于与取通道21平层的高度位置时，交换台4上的轨道5与取通道21内的轨道5可对接连通。
北存通道20-1和南存通道20-2的与暂存区19南北对正的区域，设有两个避让区：北侧避让区18-1和南侧避让区18-2。在避让区内，也分别设有侧向搬运装置3-2、3-3。
参见图1，当需要从北存通道20-1中取出一个待取承载体1a时，系统可指令北存通道20-1内的搬运器2b移至待取承载体1a的正下方对正位置停稳，同时，取通道21中的搬运器2a也移至待取承载体1a侧方对正位置停稳。
然后，如图2所示，两台位置对齐的搬运器2a、2b共同将待取承载体1a由北存通道20-1移至取通道21内的轨道5上，并借助沿轨道布置的摩擦轮驱动系统向交换台4方向移动。当这个待取承载体1a离开北存 通道20-1后，在北存通道20-1内出现了一个空位。这时，如图3所示那样，系统将指令位于这个空位和北侧避让区18-1之间的各个承载体在驱动系统作用下沿轨道5向空位平移，填补这个空位。这样，会让对应的北侧避让区18-1空出。
此后，南存通道20-2内的另一个待取承载体1b也可在取通道21内的搬运器2a以及南存通道20-2内的搬运器2c共同配合下，如图4所示那样，移至取通道21内，并像图5所示那样，滑至交换台4边排队，等待出库。
参见图4，当交换台4在升降井道16内运行到与取通道21平层对接的位置后，交换台4上的一个待存承载体1c可沿轨道5移入暂存区19。同时，取通道21内的第一个待取承载体1a可进入交换台4。
参见图5，在暂存区19和避让区18-1内的侧向搬运装置3-1、3-2的共同作用下，第一个待取承载体1a向左侧移进入北存通道20-1内的避让区18-1内，完成其入库操作。
然后，如图4至图6所示那样，第一个待取承载体1a在驱动系统作用下进入已经空出的交换台4内，并跟随下降或者上升的交换台4进行后续的出库作业。
本实施中的承载体1可以采用图7、图8所示的应用方式，四个脚轮101安装在底盘105的四角下方，前后端边外侧中部设置了缓冲顶块104。左右侧边下部设置了纵移引导梁102，前后端边下部设置了侧移引导梁103。
本实施例中的搬运器2可以采用图9、图10所示的应用方式。这种搬运器底架12左右两侧下部设有同步运行的行走轮11，底架上方设有侧向搬运装置3。这个侧向搬运装置3包括可在约5厘米幅度内升降的起升架9，在起升架9上，设有两列可同步转动的侧移摩擦轮8。在起升架9外侧设有转辊状的承载体分离器14。
本实施例中的交换台4可以采用图11至图13所示的应用方式。这种交换台底架13四个角部滑块131与升降井道导轨柱17(参见图16)内的牵引绳链相连。交换台底架13的左右两侧上部设有两段承载体轨道5，在承载体轨道5的内侧设有两组可同步转动的纵移摩擦轮6。
交换台4上也设有侧向搬运装置3，包括可在约5厘米幅度内升降的起升架9，起升架9的前后端部设有两组可同步转动的侧移摩擦轮8。 参见图12，当交换台的起升架9处于下落状态时，交换台4上的承载体1的脚轮101落在交换台4的轨道5上，并且，交换台的处于制动状态的具有弹性胶面的纵移摩擦轮6抵住承载体1的纵移引导梁102(参见图8)，将承载体1制动。
参见图13，当交换台4的起升架9处于起升状态时，上升了5厘米的起升架9的侧移摩擦轮6托起承载体1下部的侧移引导梁103，使承载体1脚轮101向上脱离交换台4的轨道5。这时，起升架的侧移摩擦轮8如果同步同向转动，承载体1将被侧向移动。
需注意的是，虽然在本实施例中，交换台4可能并不需要设置侧向搬运装置3。但在后面描述的其他一些实施例中是需要的。并且，交换台4上设置的这个侧向搬运装置，也可以使交换台4运行到货物存取层时，让承载体1向左右方向移动，便于进行货物存取时的灵活传送。
本实施例中的避让区18-1、18-2和暂存区19以及内部的侧向搬运装置3-2、3-1、3-3，可以采用图14、图15所示的应用方式。设置在轨道5之间的侧向搬运装置3-2、3-1、3-3包括起升架9和侧移摩擦轮8。同组侧移摩擦轮8可同步转动。轨道5内侧布置了纵移摩擦轮6，同一对轨道的侧移摩擦轮8可同步转动。参见图15，当暂存区19和一侧避让区18-2内的起升架9起升后，被托起的承载体1的侧移引导梁103可在带限位轮缘的侧移摩擦轮8的引导支撑和摩擦力驱动下，从暂存区19侧移到避让区18-2内。为了避免承载体1移动中悬空失衡，在暂存区19与避让区18之间设置了可协助承托承载体1的过渡轮10。
图16显示了本实施例的一种库体框架构造。为便于观察，图中隐藏了所有承载体。图中可以看出，三台搬运器2a、2b、2c分别在布置在取通道和存通道内的搬运器轨道7上。设置在升降井道内的交换台4可沿着四根导轨柱17做升降作业。在存通道和取通道的承载体轨道5内侧，设置了纵移摩擦轮6，用于驱动承载体1移动和定位。
图17显示了图16中所示的库体框架内正常布置了承载体1后的运行状态。图中，取通道中的搬运器2a与左存通道中的搬运器2b共同将一个待取承载体1a从左存通道转移到取通道内。图中，载有一个待存承载体1c的交换台4正在升降井道中运行。取通道临近升降井道的位置，已经预先停放了一个等待出库的承载体1b。
图18至图24显示了一个待取承载体1a被两个搬运器2a、2b从存 通道移向取通道并移至交换台4前的过程。参见图19，搬运器2b的正在起升中的起升架9上的承载体分离器14向上插入待取承载体1a与相邻的两个承载体1b、1c之间的空隙中，并抵住相邻承载体1b、1c的前后侧边下方的斜面上。参见图20，当搬运器2b的起升架9继续起升时，起升架9上的承载体分离器14将挤推两个相邻承载体1b、1c，使待取承载体1a与它们分离出大约1厘米空隙，并让待取承载体1a处于高过承载体轨道5的悬空状态。因承载体分离器14的阻挡作用，当待取承载体1a处于悬空状态期间，相邻承载体1b、1c不会向待取承载体1a移动。参见图21、图22，取通道中的搬运器2a上的起升架9预先起升到设定的高度位置，之后，存通道内的搬运器2b的侧移摩擦轮8开始转动，摩擦承载体1a的侧移引导梁103，将待取承载体1a向取通道内的搬运器2a方向传送，并由取通道内的搬运器2a的同步同速回转的侧移摩擦轮8接收到搬运器2a上。参见图23，被搬运器2a放置到取通道内的承载体1a在纵移摩擦轮6的驱动下，沿着轨道5移至升降井道前。图中，载有一个待存承载体1d的交换台4正在升降井道内沿着导轨柱17上升。当交换台4如图24所示那样升至与本层取通道平层对接位置并制动后，交换台4上的待存承载体1d在纵移摩擦轮6的驱动下移向转存区，同时，待取承载体1a沿着已经连通的轨道5进入交换台4。之后，待存承载体1d从转存区转至避让区完成入库，待取承载体1a进入交换台4，并被交换台4运至货物进出口层完成出库。
为了便于观察，各图中的承载体1都仅显示为空载状态，没有显示所载货品。
从以上描述可以看出，每个待取承载体的出库过程中，搬运器只需完成将待取承载体从存通道移至取通道即可，此后，待取承载体移至交换台的过程中，搬运器将不需要参与。也就是说，搬运器完成了一个待取承载体移入取通道的任务后，可立即驶向下一个待取承载体的位置进行同样简单的作业。每个待存承载体的入库过程中，始终无需搬运器的参与。交换台的每次升降过程，都可以完成互不妨碍的入库和出库作业。入库的承载体不会与同时段出库的承载体争抢通道使用权。在长通道的应用场合，为了进一步提高存取效率，还可以在每条存通道和取通道中布置更多组搬运器，每组搬运器可以在相距较远的区段独立进行承载体的提取作业，互不干扰。
需要说明的是，在运行时，每个“待取承载体”中，未必一定装有待取货物。因为，在整个库体的承载体总量确定的情况下，各个承载体被进行存取作业时，应该让所有承载体无论是否载有货物，都始终有各自的停放位置。为满足此要求，系统指令一个空的承载体从某层出库的原因，其实只是为了给即将存入本层的载有货物的一个待存承载体空出一个仓位，并且，空的承载体会被交换台运至货物进出层立即接纳新的货物或者等待接纳新的货物。同理，“待存承载体”中，也未必一定装有待存货物，这个空的承载体被存入这层库中的目的，是因为当前正有一个载有待取货物的承载体从本层出库，本层中的一个仓位被空出，可以让其暂时停放。也就是说，一个承载体存入某层入库的同时，应该有一个承载体从这层出库，从而始终保持本层的承载体总量不变，从而获得最高的仓位利用率。
包含一个升降井道的完整库体的承载体总量，可设定为各层的存通道内的所有仓位的总和之外，多配至少一个承载体。多配置的这个承载体，由货物进入口安排停放位置。这样，就能让升降井道内的交换台的每次运行都可载运一个承载体，并与取出的承载体交换仓位。
综上所述，从本实施例的上述优点可以看出，与现有技术相比，本发明有很高的存取效率。
实施例2的运行示意图如图25至图30所示。参见图25，本实施例包含一条东西方向的取通道21，取通道21的北侧布置了第一北存通道20-1和第二北存通道20-3，南侧布置了一条南存通道20-2。各存通道的轨道5上预先排布了承载体1。取通道内的一个升降井道16的东西两侧分别设有东暂存区19-1和西暂存区19-2，每个暂存区19内均设有侧向搬运装置3。东、西暂存区19-1、19-2的北侧的第一、第二北存通道内对应设置了四个避让区18-1、18-2、18-3、18-4，每个避让区18内均设置了侧向搬运装置3。在第二北存通道20-1内的两个避让区18-1、18-2之间，预留一个空位。东、西暂存区19-1、19-2南侧存通道20-2内也对应设置了两个避让区18-5、18-6。
本实施例中，每条存通道20均应至少布置两台搬运器2。升降井道16的东西两侧取通道21内，均应至少布置一台搬运器2。在本实施例中，交换台4上不需要设置侧向搬运装置。
参见图25，当第二北存通道20-3内的一个待取承载体1a需要出库 时，在第一北存通道20-1内妨碍其侧移的承载体1d以及从该承载体1d到西侧空位之间的各承载体均在系统指令下向西侧移动，使待取承载体1a通往取通道21方向畅通。
参见图26，当待取承载体1a在下方各个搬运器2d、2b、2a的共同作用下移向取通道21后，在第二北存通道20-3形成的空位被西侧的部分东移的承载体填补，并在第二北存通道20-3的西侧避让区18-3出现空位。
参见图27，当待取承载体1a进入取通道21后，第一北存通道20-1内的空位被西侧部分东移的承载体填补，并在避让区18-2处形成空位。
参见图28、图29，交换台4与本层平层后，待存承载体1b从交换台4被移入西暂存区19-2，同时，待取承载体1a从东暂存区19-1进入交换台4，并在之后跟随交换台4出库。
参见图30，西暂存区19-2内的待存承载体1b在多个侧向搬运装置3的共同运作下移至第二北存通道内的西避让区18-3内，完成入库作业。
显而易见，应用环境需要时，取通道21南侧也同样可以布置两条存通道20，进一步的，取通道21两侧均可以设置更多条存通道20，并布置更多的搬运器和侧向搬运装置，采用与本实施例相同的运行原理进行存取作业。
与实施例1相比，本实施例利用多搬运器和侧向搬运装置，让升降井道16两侧都可以按实施例1那样进行存取作业，从而在库体规模更大的应用环境中，仍然能获得很高的存取效率。
实施例3的运行示意图如图31至图36所示。参见图25，本实施例的取通道21的南北两侧布置了北存通道20-1和南存通道20-2。升降井道16南北两侧的存通道内设有避让区18-1、18-2。在避让区18-1、18-2内，分别设有侧向搬运装置3-2、3-3。
本实施例中，交换台4上需要按图11那样，设置侧向搬运装置3-1。
参见图31、图32、图33，当存通道20-1内的一个待取承载体1a需要出库时，北存通道20-1内的搬运器2b与取通道21内的搬运器2a一同将该承载体1a移至取通道21后，令该待取承载体1a移向升降井道16。之后，再次移位后的搬运器2a移至南存通道20-2内的另一个待取承载体1c北侧对正位置，与南存通道20-2内的搬运器2c一同将该承载体1c移至取通道21内，并移向升降井道16，排队等待出库。参见图33， 当第一个待取承载体1a离开北存通道20-1后，北存通道20-1的部分承载体向东移动，填补空位，并空出避让区18-1。
参见图34，当交换台4与取通道21平层对接后，交换台4上的承载体1b在交换台4和避让区18-1内的侧向搬运装置3-1、3-2的共同作用下，移入避让区18-1内，完成入库操作。
然后，如图35、图36所示那样，第一个待取承载体1a进入空的交换台4，并跟随交换台4出库。在这期间，被搬运器2a、2c从南存通道20-2移入取通道21的第二个待取承载体1c可移至升降井道16边等待交换台4返回进行下一次出库作业。
与实施例1相比，待取承载体1a需要等待交换台4上的待存承载体1b完全移出交换台4，使交换台4空出之后才能开始进入交换台4，耗用时间多了数秒，但好处是可在每层存储层中可以少布置一个侧向搬运装置。
实施例4如图37至图40所示。这是在实施例3的基础上，增加更多存通道的应用方式。参见图37，本实施例的取通道21北面有第一北存通道20-1、第二北存通道20-3、第三北存通道20-5，在取通道21南面有第一南存通道20-2、第二南存通道20-4。各存通道20与取通道21中部的升降井道16南北对正的区域，设置了避让区18，每个避让区18以及交换台4内都设置了侧向搬运装置3。取通道21和各存通道20内均布置了搬运器2。在第一北存通道20-1、第二北存通道20-3以及第一南存通道20-2内的避让区18内，预留空位。
参见图38，当第三北存通道20-5的一个待取承载体1a出库时，第一北存通道20-1、第二北存通道20-3内的部分承载体预先向西移动，为其避让出通道。
参见图39、图40，当待取承载体1a被四个搬运器2移至取通道21后，第一北存通道20-1、第二北存通道20-3、第三北存通道20-5内的部分承载体可向东移动，填补空位，并腾出避让区18，为交换台4上的待存承载体1b提供入库通道和空位。当交换台4上的待存承载体1b向北移入避让区18后，待取承载体1a进入交换台4，并跟随出库。
采用类似以上方式，可以对存通道内的任意承载体完成出库操作。显然，在不增加取通道的情况下，设置更多存通道20可显著提高仓储空间的利用率，而对总体的存取效率并没有明显的降低。
实施例5如图41至图43所示。参见图41，本实施例设置了一条取通道21，在取通道21的北侧布置了三条北存通道20-1、20-3、20-5，南侧布置了三条南存通道20-2、20-4、20-6。在每个存通道中部的一个南北对齐位置，各自布置了一个避让区18。在取通道21的中部与避让区对齐的位置，设置了一个暂存区19。在暂存区19的东西两侧分别设置了一个升降井道16-1、16-2。在暂存区19和所有避让区18内，都设置了侧向搬运装置3。在暂存区19东西两侧的取通道21内分别布置了两台搬运器2，在每条存通道20内也分别至少布置了一台搬运器2。
参见图42，当一个升降井道16-2中的交换台4-2上的待存承载体1b移入暂存区19时，被搬运器2从存通道20移至取通道21的待取承载体1a可同时进入这个交换台4-2，并跟随交换台4-2出库。进入暂存区19的承载体可在侧向搬运装置3的运作下进入某个避让区18，完成入库。
同样，升降井道16-1内的交换台4-2上的另一个待存载车板1c也会进入暂存区19再转入避让区18完成入库，同时，西侧的另一个待取承载体1d也进入交换台4-1完成出库。
图43所示立体图，展示了本实施例的一些应用细节。
配置两个升降井道后，与只有一个升降井道的方式相比，总体的存取效率会显著提高。
实施例6如图44至图46所示。参见图44，本实施例在取通道21的北侧布置了三条北存通道20-1、20-3、20-5，南侧布置了三条南存通道20-2、20-4、20-6。在每个存通道西端都布置了一个避让区18。在取通道21的西端设置了一个暂存区19。在暂存区19的东侧设置了一个升降井道16。在暂存区19和所有避让区18内，都设置了侧向搬运装置3。在取通道21和每条存通道20内分别布置了一台搬运器2。除了最外侧的存通道20-5、20-6布满了承载体之外，其余存通道20-1、20-2、20-3、20-4的最西端的避让区18均应经常性留出空位。
参见图44，当最北的存通道20-5内的待取承载体1a出库时，其南侧两条存通道20-1、20-3内的部分承载体向西移动，让出通道。当待取承载体1a被搬运器2移入取通道后，这些承载体再东移归位，让出避让区18-1、18-3(参见图45)。
参见图45，当升降井道16中的交换台4上的待存承载体1c移入暂 存区19时，第一个等候出库的待取承载体1b可同时进入交换台4，并跟随交换台4出库。进入暂存区19的承载体1c可在侧向搬运装置3的运作下进入最北存通道20-5的避让区18-5，完成入库。
图46所示立体图，展示了本实施例的一些应用细节。
本实施例可满足货物进出口靠边布置的常见通道布局要求，并且能提供较高的存取效率。
实施例7如图47所示。本实施例的取通道21北面有三个存通道20-1、20-3、20-5，取通道21南面也有三个存通道20-2、20-4、20-6。在取通道21中部设置了转存区22。在与取通道21相邻的存通道20-1、20-2的靠近转存区22位置，设置了两个升降井道16-1、16-2。其他存通道20-3、20-4、20-5、20-6的中部与升降井道16对齐的位置，设置了避让区18-1、18-2、18-3、18-4。在转存区22、交换台4和避让区18内均设有侧向搬运装置3。
到达平层位置的交换台4-1、4-2内的待存承载体1b、1d可直接进入升降井道16所在的有空位的存通道20-1或20-2，完成入库，也可以由侧向搬运装置3移送到其他有空位的存通道20-3、20-5或者20-4、20-6内的避让区内，完成入库。当每个待存承载体依次离开交换台时，被搬运器2传递到取通道21内的待取承载体1a、1c和1e可依次进入转存区22，并由转存区22的侧向搬运装置3运至交换台4内，跟随出库。
实施例8如图48所示。本实施例中的各层存储层内的取通道和存通道中的承载体轨道5有坡向升降井道16方向的坡度，该坡度应足以让取通道内的承载体1a依靠重力自行滑向升降井道16方向。在一些应用场合，为了安全，需要设置可限制承载体滑行速度的限速措施，比如，沿轨道设置单向阻尼摩擦轮，或者将承载体的脚轮设置成具有单向阻尼功能的限速轮，使承载体滑行时受到阻尼限速力作用，而在存通道内爬坡时，阻力最小。
本实施例的原理可以采用在之前描述的各个实施例中，并让至少部分纵移摩擦轮设置成无动力的单向阻尼限速轮。
为了防止滑行中的承载体与前面被制动的承载体之间产生刚性不良碰撞，承载体可按图7、图8那样，设置弹性的缓冲顶块104，并在滑行终点位置设置强制制动装置。
为了让存通道内的承载体可爬上有斜度的轨道5，可在坡底位置的 避让区18内设置强力顶推机构，通过顶推坡底处的第一个承载体来推动成列的承载体。
当待取承载体出库式，有时需要将阻挡其侧向通行的相邻存通道内的承载体队列滑向坡底方向，形成空位通道，但又不能让这个的空位的上坡区段的承载体下滑。此时，为了阻止空位一侧上坡段的承载体队列向空位滑行，可利用图9、图10所示的搬运器2的起升架9上的向上顶起的承载体分离器14来临时阻挡上坡处的承载体。
根据不同的应用场合、不同的导向部形式，轨道坡度可采用不同的设置范围。在存储大型重载货物或存储汽车时，轨道坡度可在<5‰、>1‰范围内选择，而在一般小型物品例如塑料储物箱体之类的储存装置中，这个坡度可以加大到10％以上，导向部和承载体之间，可以采用滑动副机构，直接让具有耐磨的光滑地面的承载体在同样光滑耐磨的有大坡度的斜坡滑槽内滑向升降井道方向。
采用斜坡式的取通道后，待取承载体可在取通道内自行滑向交换台，简化了驱动机构，降低了造价。
实施例9如图49所示。这是本发明在多层式立体检修车间中的一种应用方案。每层检修层可完成一道检修工序，布置在每层的两条存通道中的承载体1，是带围板和门的检修工位台，工位台的外侧与人员通道23相邻，工位台中间放置待检修的部件。在取通道的两端，均设置了包含四根导轨柱17的升降井道。在工位台停止移动时，员工可从人员通道进出工位台。当一个工位完成了本区位的检修工序，需要进行其他工序时，在存通道和取通道的搬运器(图略)的共同操作下，将工位台从存通道移入后面的取通道，并在驱动系统作用下移向一个升降井道，并进入升降井道的交换台4，跟随交换台4到其他工序检修层，并进入该层的存通道，完成后续检修工作。
与通常的流水线作业方式难以适应各个部件进行多工序的检修所需时间不确定的特点相比，本实施例可以让任意工位台在完成了本层检修工序后，可立即快速转入下一个工序，从而提供检修作业效率，并利用升降井道串联多层工序作业层，形成节约占地面积的立体化车间。
显然，若环境场地面积容许，也可以将各层工序场地布置到单一层面，相互纵横灵活串联。
虽然在各种实施例中已经示出了本文的原理，但是许多特别适用于 特定环境和操作要求的结构、布置、比例、元件、材料和部件的修改可以在不脱离本披露的原则和范围内使用。以上修改和其他改变或修正将被包含在本文的范围之内。
前述具体说明已参照各种实施例进行了描述。然而，本领域技术人员将认识到，可以在不脱离本披露的范围的情况下进行各种修正和改变。因此，对于本披露的考虑将是说明性的而非限制性的意义上的，并且所有这些修改都将被包含在其范围内。同样，有关于各种实施例的优点、其他优点和问题的解决方案已如上所述。然而，益处、优点、问题的解决方案以及任何能产生这些的要素，或使其变得更明确的解决方案都不应被解释为关键的、必需的或必要的。本文中所用的术语“包括”和其任何其他变体，皆属于非排他性包含，这样包括要素列表的过程、方法、文章或设备不仅包括这些要素，还包括未明确列出的或不属于该过程、方法、系统、文章或设备的其他要素。此外，本文中所使用的术语“耦合”和其任何其他变体都是指物理连接、电连接、磁连接、光连接、通信连接、功能连接和/或任何其他连接。
具有本领域技术的人将认识到，在不脱离本发明的基本原理的情况下，可以对上述实施例的细节进行许多改变。因此，本发明的范围应根据以下权利要求确定。

Claims (13)

  1. 物品存取系统，其特征在于，包括：
    至少一层物品存放层，在同一层物品存放层内，布置了至少两条平行排列的通道，其中包括至少一条取通道和至少一条存通道；取通道与至少一条存通道相邻；在通道内设有与通道平行延伸的引导部；存通道内的引导部上排列了多个可被驱动系统沿引导部移位的用于存放物体的承载体；取通道内的引导部上的承载体可被驱动系统沿引导部移位；在引导部上的相邻的承载体可相互挤靠，并且，其中被移动的承载体可推动相邻的承载体同时移动；
    搬运器，搬运器可将存通道内的引导部上的承载体移至取通道内的引导部上；
    至少一个与通道相连的可停放承载体的交换台，取通道内的驱动系统可驱动承载体沿引导部向交换台边移动；交换台上的承载体可被驱动系统移入存通道；取通道内的承载体可被驱动系统移入交换台。
  2. 根据权利要求1所述的物品存取系统，其特征在于，所述取通道内的驱动系统，包括沿着取通道固定设置的可驱动承载体向交换台边移位的承载体驱动和制动系统。
  3. 根据权利要求2所述的物品存取系统，其特征在于，
    所述引导部支撑所述承载体的两侧，两侧被引导部支撑的承载体的底部下方，有平行于引导部的贯通的底通道；
    每条存通道和每条取通道，至少布置了一台搬运器，搬运器可沿取通道或存通道移位；
    存通道内的搬运器可在存通道内的各承载体的底部下方的底通道穿行；
    取通道内的搬运器可在取通道内的承载体的底部下方的底通道穿行；
    搬运器设有可做起升和下落动作的起升机构；
    当存通道内的搬运器移至位于存通道的引导部上的承载体下方的底通道内后，搬运器的起升机构可升起该承载体，使该承载体向上脱离存通道内的引导部；
    搬运器设有侧向传接机构；
    当存通道内的搬运器的起升机构升起一个承载体后，搬运器的侧向 传接机构可使该承载体向侧方的取通道方向移位；
    取通道内的搬运器的处于升起状态的起升机构和侧向传接机构，可承托并接收从侧方相邻的存通道内的搬运器移送过来的承载体，并可由起升机构将其下落到取通道内的引导部上。
  4. 根据权利要求3所述的物品存取系统，其特征在于，
    所述交换台内设有引导部；
    所述取通道内的引导部可与交换台内的引导部对接连通；
    至少一条所述存通道与交换台的侧方相邻；
    存通道中与交换台侧向对正的区域设有避让区；
    避让区内设有可做起升和下落动作的起升机构和侧向传接机构；
    当避让区内的起升机构处于下落状态时，由避让区内的引导部承托的承载体可被驱动系统沿引导部移出避让区；
    交换台内设有可做起升和下落动作的起升机构和侧向传接机构；
    交换台内的起升机构可升起引导部上的承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向侧方相邻的存通道内处于空置状态的避让区移送；
    处于空置状态的避让区内的已升起的起升机构和侧向传接机构可承托并接收由交换台移送过来的承载体，并可使该承载体下落到避让区内的引导部上；
    当空置的交换台内的起升机构处于下落状态时，取通道内的引导部上的承载体可被驱动系统沿引导部移至交换台内。
  5. 根据权利要求3所述的物品存取系统，其特征在于，
    所述交换台内设有引导部；
    至少一条所述存通道内的引导部可与交换台内的引导部对接连通；
    所述取通道的侧方与交换台相邻；
    取通道中与交换台侧向对正的区域设有转存区；
    交换台内设有可做起升和下落动作的起升机构和侧向传接机构；
    当交换台内的起升机构处于下落状态时，由交换台内的引导部承托的承载体可被驱动系统沿引导部移至存通道内；
    转存区内设有可做起升和下落动作的起升机构和侧向传接机构；
    转存区内的起升机构可升起引导部上的承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向处于空置状态的交换台移送；
    空置的交换台内的已升起的起升机构和侧向传接机构可承托并接收由转存区移送过来的承载体，并由起升机构将该承载体下落到交换台内的引导部上。
  6. 根据权利要求5所述的物品存取系统，其特征在于，
    在所述交换台的侧方布置了至少一条所述存通道，并且，其中至少一条存通道与交换台相邻；
    交换台侧方的存通道内与交换台侧向对正的区域设有避让区；
    避让区内设有可做起升和下落动作的起升机构和侧向传接机构；
    当避让区内的起升机构处于下落状态时，由避让区内的引导部承托的承载体可被驱动系统沿引导部移出避让区；
    交换台内的起升机构可升起引导部上的承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向侧方相邻的存通道内处于空置状态的避让区移送；
    处于空置状态的避让区内的已升起的起升机构和侧向传接机构可承托并接收由侧方移送过来的承载体，并可使该承载体下落到避让区内的引导部上。
  7. 根据权利要求3所述的物品存取系统，其特征在于，
    包括与所述取通道侧方并排相邻的第一存通道；
    包括与第一存通道侧方并排相邻的第二存通道；
    所述交换台位于第一存通道的延伸处；
    交换台的两侧分别与取通道和第二存通道相邻；
    在第二存通道中与交换台侧向对正的区域内设有避让区；
    在取通道中与交换台侧向对正的区域内设有转存区；
    在避让区和转存区内，设有起升机构和侧向传接机构；
    当避让区内的起升机构处于下落状态时，由避让区内的引导部承托的承载体可被驱动系统沿引导部移出避让区；
    在交换台内，设置了侧向传接机构；
    交换台内的承载体可由侧向传接机构向避让区移送；
    避让区内的已升起的起升机构和侧向传接机构可承托并接收由交换台移送过来的承载体，再使该承载体下落到避让区内的引导部；
    转存区内的起升机构可升起并承托承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向交换台移送；
    交换台的侧向传接机构可接收由转存区移送过来的承载体。
  8. 根据权利要求3所述的物品存取系统，其特征在于，
    所述交换台包括前端口和后端口；
    所述取通道分为前段取通道和后段取通道；
    交换台的前端口与前段取通道的后端口对接，交换台的后端口与后段取通道的前端口对接；
    交换台内的左右两侧设有引导部；
    交换台内的引导部可与前段取通道和后段取通道内的引导部对接；
    在前段取通道的后部和后段取通道的前部设置了暂存区；在暂存区设有起升机构和侧向传接机构；
    在存通道中与暂存区侧向对正的区域设置了避让区，在避让区中设置了起升机构和侧向传接机构；
    当避让区内的起升机构处于下落状态时，由避让区内的引导部承托的承载体可被驱动系统沿引导部移出避让区；
    暂存区内的起升机构可升起引导部上的承载体，使该承载体脱离引导部，再由侧向传接机构将该承载体向相邻的处于空置状态的避让区移送；
    处于空置状态的避让区内的已升起的起升机构和侧向传接机构可承托并接收由侧方移送过来的承载体，并可使该承载体下落到避让区内的引导部；
    当空置的暂存区内的起升机构处于下落状态时，承载体可被驱动系统沿取通道内的引导部移至暂存区；
    当空置的暂存区内的起升机构处于下落状态时，交换台内的引导部上的承载体可被驱动系统移至这个空置的暂存区内的引导部上；
    当暂存区内的起升机构处于下落状态时，该暂存区内的引导部上的承载体可被驱动系统移至空置的交换区内的引导部上。
  9. 根据权利要求2所述的物品存取系统，其特征在于，
    所述的搬运器横跨至少一条所述存通道和至少一条取通道的物体存放空间的上方，并可沿平行于通道的轨道移动；
    搬运器的构成包括可在取通道与相邻的存通道之间往复横移的提升和转移机构；
    当搬运器的提升和转移机构移至存通道内的一个承载体上方对正位 置后，该提升和转移机构可将该承载体提升到脱离引导部的高度，再横移并向下放置到取通道的引导部上。
  10. 根据权利要求2至9之一所述的物品存取系统，其特征在于，所述承载体驱动和制动系统包括取通道内的具坡向所述交换台方向的坡度的引导部。
  11. 根据权利要求10所述的物品存取系统，其特征在于，所述承载体驱动和制动系统包括：
    限制所述承载体沿所述具有坡度的引导部向所述交换台方向溜行的限速机构；
    设置在邻近交换台处的缓冲制动机构。
  12. 根据权利要求1至9之一所述的物品存取系统，其特征在于，
    所述物品存取系统包括：多层物品存放层，以及物体存取口；
    所述交换台设置在包含导轨的升降井道内，该升降井道连通各层物品存放层和物体存取口；
    在升降井道内运行的交换台可与物品存放层和物体存取口平层对接。
  13. 根据权利要求10所述的物品存取系统，其特征在于，
    所述物品存取系统包括：多层物品存放层，以及物体存取口；
    所述交换台设置在包含导轨的升降井道内，该升降井道连通各层物品存放层和物体存取口；
    在升降井道内运行的交换台可与物品存放层和物体存取口平层对接。
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