WO2022236652A1

WO2022236652A1 - Automated warehousing system for random centralized storage, and carrying and transferring method for storing and picking up goods

Info

Publication number: WO2022236652A1
Application number: PCT/CN2021/092954
Authority: WO
Inventors: 黄国城
Original assignee: 黄国城
Priority date: 2021-05-11
Filing date: 2021-05-11
Publication date: 2022-11-17

Abstract

An automated warehousing system for random centralized storage, and a carrying and transferring method for storing and picking up goods. According to the system, a carrying and transferring system that moves along the X axis, the Y axis and the Z axis randomly puts a pallet and goods thereon into an empty grid tier of a tiered grid frame, wherein the pallet is provided with a recognizable and readable label that stores goods information for a central control unit to read and record, so as to perform goods warehousing management and goods storage and picking-up processes for random centralized storage.

Description

Automated random storage and storage system and access and cargo transfer method

technical field

The invention relates to an access system and an access method for stored goods.

Background technique

Arrangement by category is the basic method of traditional warehouse goods collection and distribution management, but the disadvantage is that although the management system specifies and records the storage point where the goods are sorted by category in the warehouse, it cannot absolutely prevent the warehouse staff from storing the goods in the wrong storage point The problem. The warehouse allocates space according to the category of items. When a certain type of goods is received less or taken out more, there will be many vacancies in the space of this category, but it cannot be placed for other categories of goods. Or when a certain type of goods is received more and the original storage space is insufficient, there is no suitable place for the overflowed goods to be stored. Obviously, the system and method of sorting requires more warehouse space, but it cannot use the space efficiently.

The storage and retrieval method of goods also leads to a huge warehouse space that cannot be effectively utilized. The current storage system uses cranes and forklifts (or stackers) as the main tools for picking and placing goods, especially for extremely heavy or bulky goods.

As shown in Figure 1, when the crane 1 is used to pick and place the goods 2, the hoisted goods 2 move in the space above the storage workshop, so the height of the storage workshop needs to be increased. The general factory building height is 6 meters, and the factory building using the crane needs to be increased to 10 meters or 12 meters. As shown in Figure 2, when a forklift 3 is used to pick and place goods 2, the storage plant must reserve a spacious passage 4 for the operation and rotation of the forklift, and the passage area of the storage plant is usually larger than the area for storing goods.

Contents of the invention

In order to solve the above problems, the object of the present invention is to provide an automatic random collective storage system, which can perform random collective storage of goods warehouse management and storage and retrieval process.

Another object of the present invention is to provide an inventory transfer method using the above-mentioned automatic random collective storage system.

The third object of the present invention is to provide a method for picking up and moving goods using the above-mentioned automatic random collective storage system.

In order to achieve the above object, the present invention provides an automatic random storage system, comprising:

A plurality of layered grid frames, a collection area and a collection area reading device, a load transfer system, a switching area and a switching area reading device, and a central control unit; the central control unit directs, controls, commands , manage the storage area, the reading equipment in the storage area, the transfer system, the exchange area and the operation of the reading equipment in the exchange area;

The compartment frame includes several compartments inside, each compartment can place a tray, and the tray carries a cargo; each tray contains a readable label, and the readable label contains a label Information, the label information records the information of the goods carried by the pallet;

In the storage area, a predetermined number of storage sites and conveying channels are set up, and the storage sites and transport channels are recorded by the central control unit; each storage site is placed on a layer of grid frames;

The collection area reading device detects the readable labels of all the pallets in the collection area, and sends the label information of the readable labels to the central control unit; the central control unit records each The storage site where the label information is located, the layer frame, and the location of the layer;

The carrying system includes an X-axis moving device, a Y-axis moving device, at least one Z-axis moving device, and a bidirectional stretching mechanism; the X-axis and the Y-axis are defined as horizontal axes, and the Z-axis defines It is a vertical axis; the X-axis moving equipment and the Y-axis moving equipment are set up in the space above the storage area; the Y-axis moving equipment moves back and forth along the X-axis moving equipment, and the Z-axis moving equipment moves along the The Y-axis moving equipment reciprocates; the Z-axis moving equipment includes a vertical lifting mechanism, and the bidirectional stretching mechanism is installed on the Z-axis moving equipment and is controlled by the vertical lifting mechanism to reciprocate along the Z-axis movement; the bidirectional double-stretching mechanism includes a bidirectional fork, and the bidirectional double-stretching mechanism controls the horizontal telescopic displacement of the bidirectional fork; the central control unit controls the moving stroke and the fixed position of the carrying system; the X-axis movement equipment and the The Y-axis moving equipment controls the entry and exit and movement of the Z-axis movement equipment in the conveying channel of the storage area; the two-way fork controls the movement of the pallet in and out of the compartment;

In the exchange area, the pallet and the goods on it coming from the storage area and the pallet and the goods on it to be stored in the storage area are placed in the exchange area; the reading device in the exchange area reads The label of each pallet in the exchange area can be read, and the label information is sent to the central control unit for record; when the pallet moves out of the exchange area, the central control unit clears the relevant record.

Preferably, the readable tag is an RFID tag.

Preferably, the readable label is one of barcode, two-dimensional code, three-dimensional code, color, image, text, symbol or a combination of at least two.

Preferably, the Y-axis moving device is equipped with several Z-axis moving devices, and each of the Z-axis moving devices is equipped with a bidirectional double-stretching mechanism.

Preferably, the storage stations are installed side by side on a ground rail system; the ground rail system controls the linear movement of the storage stations, so that a layer frame designated by the central control unit can face a conveyor aisle.

The present invention also provides an inventory loading and transferring method for an automated random storage system, including:

Step 1, the central control unit randomly designates a space layer in the layer grid frame in the storage area;

Step 2, the central control unit commands the transfer system to move the two-way double expansion mechanism from a standby position to the exchange area; in the exchange area, use the two-way fork to lift a pallet and the goods on it;

Step 3, the central control unit commands the X-axis moving device, the Y-axis moving device to displace the Z-axis moving device according to the designated storage site and the location information of the layer frame The storage station and the conveying channel facing the layer frame, and stop at the position corresponding to the layer frame;

Step 4, the central control unit commands the Z-axis moving device to lift the bidirectional double-expanding mechanism to the height corresponding to the space floor according to the designated height of the space layer; the central control unit orders the bidirectional double-expanding mechanism The two-way fork performs a horizontal double extension action, and the pallet and the goods on it are transported to the space layer and placed on the space layer;

Step 5: The collection area reading device detects and reads the readable label of the tray in step 4, and sends the label information of the readable label to the central control unit; the central control unit records the label The storage site where the information is located, the frame of the layer, and the location information of the layer;

Step 6, the central control unit commands the bi-directional fork of the bi-directional doubling mechanism to execute a horizontal doubling action, making it detached from the pallet and returning to the Z-axis moving device; and

Step seven, the central control unit commands the X-axis moving device and the Y-axis moving device to withdraw the Z-axis moving device from the storage area to the ready position.

The present invention further provides an inventory loading and transferring method for an automated random storage system, comprising:

Step 1, the central control unit compares and searches each tag information record in the storage area according to a picking order, and obtains the location information of the storage unit where the tag information is located, the shelf frame and the shelf;

Step 2, the central control unit commands the X-axis moving device, the Y-axis moving device to move the Z-axis moving device to the conveying channel corresponding to the position information according to the obtained position information, and The position of the frame stops;

Step 3: The central control unit commands the Z-axis moving device to lift the bidirectional stretching mechanism to the height corresponding to the lattice level according to the height of the lattice layer in step 1; the central control unit commands the bidirectional stretching mechanism The two-way fork executes the horizontal double extension action, so that the two-way fork enters the pallet in the compartment;

Step 4, the central control unit commands the bidirectional fork of the bidirectional extending mechanism to perform lifting and horizontal retracting actions, and move the pallet and the goods on it into the Z-axis moving device;

Step 5, when the tray moves out of the compartment, the central control unit clears the relevant records of the compartment, making the compartment a blank level;

Step 6, the central control unit instructs the transfer system to transfer the pallet and the goods on it to the exchange area;

Step 7, the reading device in the exchange area reads the readable label of the pallet, and sends the label information to the central control unit for recording; when the pallet and the goods on it are taken away by a pick-up device and removed from the When exchanging the area, the central control unit clears the relevant records of the exchanging area.

The beneficial effects of the present invention are:

The present invention provides an automated random storage system and a method for accessing and transferring goods. Each pallet in the automated random storage system is equipped with a readable label, which records the information of the goods carried in detail. There is no need to classify the goods in advance, and there is no need to make a classification plan for the storage area, the storage site and the shelf frame. Instead, the pallet (and the goods on it) are placed in an empty shelf randomly designated by the central control unit. Can. In other words, the storage area and the compartment frame and the compartment store pallets (and the goods on them) at random, and finally the reading equipment reads each reading label and transmits the label information (that is, the goods information) to the central control unit, the central control unit records each pallet, its layer frame and the location information of the layer, that is, completes the storage management of the goods, and will not miss any stored goods. Afterwards, when picking up the goods, the position of the goods can be easily found according to the goods information recorded by the central control unit, the storage site, the shelf frame and the shelf. Each layer of grid frame and grid layer can be fully utilized, so that the utilization rate of the entire storage space is greatly improved.

The transfer system of the mobile sky rail mode meets the transportation requirements of the X-axis, Y-axis, and Z-axis of automated storage, and specifically reduces the vertical space occupation ratio of the transfer system when it operates in the storage area, and specifically reduces the transportation The horizontal space occupancy ratio of the channel in the storage area makes the maximum space utilization of the storage area be used to store the layer frame.

In the above-mentioned inventory method, if the Y-axis transportation equipment is equipped with several Z-axis transportation equipment, the central control unit can control the loading and transportation system in batches to transfer several pallets (and the goods on them) from different It is taken out from the exchange area, and then the stock is stored in different layers of spaces to achieve the purpose of multi-carrying stock.

Description of drawings

Fig. 1 is a schematic side view of a known storage management system that uses cranes to pick and place goods.

Fig. 2 is a top view schematic diagram of picking and placing goods by a forklift in a known warehouse management system.

Fig. 3 is a schematic top view of the configuration of the storage system of the present invention.

Fig. 4 is a schematic front view of pallets and goods placed in the shelf frame and shelf of the storage system of the present invention.

Fig. 5 is a schematic side view of the carrying system of the present invention.

Fig. 6 is a schematic top view of the two-way stretching mechanism and its two-way fork action of the present invention.

Fig. 7A is a schematic diagram of the top view of the second step of stocking in the storage system of the present invention.

Fig. 7B is a schematic diagram of the top view of the third step of stocking in the storage system of the present invention.

Fig. 7C is one of the side view action schematic diagrams of step 4 of the storage system of the present invention.

Fig. 7D is the second schematic diagram of the side view action of the fourth step of stocking in the storage system of the present invention.

Fig. 7E is a side view schematic diagram of the sixth step of stocking in the storage system of the present invention.

FIG. 7F is a schematic diagram of top-down actions of the seventh step of stocking in the storage system of the present invention.

Fig. 8A is a schematic diagram of the top view of the second step of picking up goods in the storage system of the present invention.

Fig. 8B is a side-view schematic diagram of the third step of picking up goods in the storage system of the present invention.

Fig. 8C is a side-view action schematic diagram of step 4 of picking up goods in the storage system of the present invention.

FIG. 8D is a schematic diagram of the top view of the sixth step of picking up goods in the storage system of the present invention.

Fig. 9 is one of the schematic top views of the second embodiment of the storage system of the present invention.

Fig. 10 is the second schematic top view of the second embodiment of the storage system of the present invention.

Fig. 11 is one of the schematic side views of the second embodiment of the storage system of the present invention.

Fig. 12 is the second schematic side view of the second embodiment of the storage system of the present invention.

reference sign

10: shelf frame; 11: shelf; 12: pallet; 13: cargo; 14: readable label; 20: collection area; 22: collection station; 23: conveying channel; 24: collection area reading Equipment; 30: Carrying system; 31: X-axis moving equipment; 32: Y-axis moving equipment; 33: Z-axis moving equipment; 35: Bi-directional double extension mechanism; 36: Bi-directional fork; 40: Exchange area; 41 : reading equipment in the exchange area; 50: ground rail system.

Detailed ways

In order to illustrate the central idea of the present invention expressed in the column of the above-mentioned content of the invention, it is expressed in specific embodiments. Various objects in the embodiments are drawn according to proportions, sizes, deformations or displacements suitable for illustration, rather than drawn according to the proportions of actual components, and are described first. And in the following description, the same and symmetrically arranged elements are denoted by the same reference numerals. The directional terms used in the following description are expressed according to the direction of view, and should not be construed as limiting the present invention.

As shown in Fig. 3 to Fig. 6, the automated random collection and storage storage system of the present invention includes a plurality of layer lattice frames 10, a collection storage area 20 and collection area reading equipment 24, a load transfer system 30, an exchange area 40 and exchange District reading equipment 41, and a central control unit (not shown). The central control unit directs, controls, orders, and manages the operation and returned information of the above devices and equipment.

The layer grid frame 10 includes several grid layers 11 inside, and a pallet 12 can be placed in each grid layer 11, and the pallet 12 carries a cargo 13; the pallet 12 adopts a pallet 12 that can be matched with a forklift truck today Invention is not limited. The pallet 12 may be a plate pallet, a box pallet, or a column pallet. According to the way of entering the fork of the forklift, the pallet 12 can be a two-way entering fork type or a four-way entering fork type. Pallets 12 (and their loads 13 ) are moved into and out of the level frame 10 by the operation of the carrier system 30 . Each pallet 12 includes a readable label 14 , and the readable label 14 includes label information, and the label information records the information of the goods carried by the pallet 12 . The readable label 14 can be an RFID (Radio Frequency Identification, radio frequency identification) tag (Tag), or a barcode, a two-dimensional code, a three-dimensional code, a color, an image, a text, a symbol, etc. or at least two or more types compound. The goods information includes but is not limited to product name, product number, producer, specification, production time, quantity, unit price, total price, tax amount, transfer or delivery time, etc.

The accumulation area 20 sets up a predetermined number of accumulation sites 22 (described in FIG. 7C ) and conveying channels 23, and the collecting and storing sites 22 and the conveying channels 23 are recorded by the central control unit. Each collection and storage site 22 is placed for a layer of grid frame 10 . The collection and storage sites 22 can be arranged in parallel or in a matrix. The collection area reading device 24 detects the readable labels 14 of all the trays 12 in the collection area 20, and transmits the label information of the readable labels 14 to the central control unit; the central The control unit records the location of the storage site 22, the layer frame 10, and the layer 11 where each tag information is located.

The carrying system 30 includes an X-axis moving device 31 , a Y-axis moving device 32 , a Z-axis moving device 33 , and a bidirectional stretching mechanism 35 . In the present invention, the X-axis and the Y-axis are defined as horizontal axes, and the Z-axis is defined as a vertical axis. The X-axis moving equipment 31 and the Y-axis moving equipment 32 are erected in the space above the storage area 20, and belong to mobile sky track equipment. The Y-axis moving device 32 can reciprocate along the X-axis moving device 31 , and the Z-axis moving device 33 can reciprocate along the Y-axis moving device 32 . The Z-axis moving device 33 is a vertical columnar mechanism module, which includes a vertical lifting mechanism (not shown). The Z axis reciprocates. The bidirectional stretching mechanism 35 includes a bidirectional fork 36 , and the bidirectional stretching mechanism 35 controls the horizontal telescopic displacement of the bidirectional fork 36 . The central control unit controls the moving stroke and fixed position of the carrying system 30; the X-axis moving device 31 and the Y-axis moving device 32 control the conveying of the Z-axis moving device 33 in the storage area 20 The entry and exit and movement in the channel 23; the two-way fork 36 controls the entry and exit movement of the tray 12 in the compartment 11. In the illustration, the Y-axis moving device 32 can be equipped with several Z-axis moving devices 33 , and each of the Z-axis moving devices 33 is equipped with a bi-directional doubling mechanism 35 .

The exchange area 40, the pallet 12 and the goods 13 on it from the storage area 20 and the pallet 12 and the goods 13 on it to be stored in the storage area 20 are placed in the exchange area 40; The exchange area recognition device 41 reads the readable label 14 of each tray 12 in the exchange area 40, and sends the label information to the central control unit for recording; when the tray 12 moves out of the exchange area 40, the The central control unit clears the relevant records.

The configuration of the reading device 24 in the storage area and the reading device 41 in the exchange area depends on the detection requirements and the readable label 14, so as to realize the purpose of automatic reading and automatic processing of information. For example: the readable label 14 is an RFID Tag, and the reading device adopts an RFID reader. The readable label 14 is a one-dimensional code, and the reading device adopts a barcode scanner; the readable label 14 is a two-dimensional code, a three-dimensional code, images, characters, symbols, and the reading device uses an image sensor (CCD, CMOS) . The readable label 14 is a color, and the reading device adopts a color sensor.

As shown in Figures 7A to 7D, the inventory carrying method of the automatic random storage storage system of the present invention includes:

Step 1, the central control unit randomly designates a space layer 11 in the layer grid frame 10;

Step 2 (as shown in FIG. 7A ), the central control orders the transfer system 30 to move the two-way double-stretching mechanism 35 from a standby position to the exchange area 40; in the exchange area 40, the two-way fork 36 enters Lifting a pallet 12 (and the goods 13 on it) to be put into storage;

Step 3 (as shown in FIG. 7B ), the central control unit commands the X-axis moving device 31 and the Y-axis moving device 32 to displace the Z-axis moving device 33 according to the designated location information of the layer frame 10 To the conveying channel 23 corresponding to the layer frame 10, and stop at the position corresponding to the layer frame 10;

Step 4 (as shown in Figures 7C and 7D), the central control unit commands the Z-axis moving device 33 to lift the bidirectional expansion mechanism 35 to the height corresponding to the space layer 11 according to the specified height of the space layer 11 The central control unit commands the bidirectional fork 36 of the bidirectional stretching mechanism 35 to perform a horizontal stretching action, and the pallet 12 (and the goods 13 on it) will be transported to the space layer 11 and placed in the space layer 11;

Step five, the collection area reading device 24 detects and reads the readable label 14 of the tray 12 in step four, and transmits the label information of the readable label 14 to the central control unit; the central control unit The unit records the location information of the storage site 22 where the label information is located, the layer frame 10, and the layer 11;

Step 6 (as shown in FIG. 7E ), the central control unit commands the two-way fork 36 of the two-way expansion mechanism 35 to perform a horizontal expansion and contraction action, so that it is separated from the tray 12 and returns to the Z-axis moving device 33; and

Step 7 (as shown in FIG. 7F ), the central control unit commands the X-axis moving device 31 and the Y-axis moving device 32 to withdraw the Z-axis moving device 33 from the storage area 20 to the ready position.

As shown in Fig. 8A to Fig. 8D, the picking-up and moving method of the automatic random storage storage system of the present invention includes:

Step 1, the central control unit compares and searches each tag information record in the storage area 20 according to a pick-up order, and obtains the storage site 22, the layer frame 10, and the layer 11 where the tag information is located. location information for

Step 2 (as shown in FIG. 8A ), the central control unit commands the X-axis moving device 31 and the Y-axis moving device 32 to move the Z-axis moving device 33 to the level frame 10 according to the obtained position information. Corresponding conveying channel 23, and stop at the position corresponding to the layer grid frame 10;

Step 3 (as shown in FIG. 8B ), the central control unit commands the Z-axis moving device 33 to lift the bidirectional stretching mechanism 35 to the height corresponding to the lattice layer 11 according to the designated height of the lattice layer 11; The central control unit commands the two-way fork 36 of the two-way expansion mechanism 35 to perform a horizontal expansion action, so that the two-way fork 36 enters the pallet 12 in the compartment 11;

Step 4 (as shown in FIG. 8C ), the central control unit commands the bidirectional fork 36 of the bidirectional expansion mechanism 35 to perform lifting and horizontal scaling operations, and the pallet 12 (and the goods 13 on it) into the fork Move to the Z-axis moving device 33;

Step 5, when the tray 12 moves out of the shelf 11, the central control unit clears the relevant records of the shelf 11, making the shelf 11 a blank floor 11;

Step 6 (as shown in FIG. 8D ), the central control unit orders the transfer system 30 to transfer the pallet 12 (and the goods 13 on it) to the exchange area 40;

Step 7, the reading device 41 in the exchange area reads the readable label 14 of the pallet 12, and transmits the label information to the central control unit for recording; (not shown in the figure) when taking away and moving out of the exchange area 40 , the central control unit clears the relevant records of the exchange area 40 .

In the above embodiments, each layer of grid frame 10 in the storage area 20 faces a conveying channel 23, and the carrying system 30 is provided with 2 (or more than 2) Z axes on the Y-axis carrying equipment. Axis moving devices 33 , each Z-axis moving device 33 is equipped with a two-way double-stretching mechanism 35 . Several Z-axis transport devices 33 cooperate with several conveying channels 23 to achieve the purpose of batch multi-load transfer, storage and retrieval.

In FIG. 9 and FIG. 12 , the storage stations 22 are arranged side by side or in a matrix and installed on the ground rail system 50 . The ground rail system 50 assists the linear movement of the storage site 22 and the layer frame 10 on it. By moving the storage site 22 sequentially, a designated layer frame 10 can face a conveying channel 23 for the The carrier system 30 is used to smoothly store or pick up goods in the shelf frame 10 .

Claims

An automatic random storage storage system, characterized in that it includes:

A plurality of layered grid frames, a collection area and a collection area reading device, a load transfer system, a switching area and a switching area reading device, and a central control unit; the central control unit directs, controls, commands , manage the storage area, the reading equipment in the storage area, the transfer system, the exchange area and the operation of the reading equipment in the exchange area;

The compartment frame includes several compartments inside, each compartment can place a tray, and the tray carries a cargo; each tray contains a readable label, and the readable label contains a label Information, the label information records the information of the goods carried by the pallet;

In the storage area, a predetermined number of storage sites and conveying channels are set up, and the storage sites and transport channels are recorded by the central control unit; each storage site is placed on a layer of grid frames;

The collection area reading device detects the readable labels of all the pallets in the collection area, and sends the label information of the readable labels to the central control unit; the central control unit records each The storage site where the label information is located, the layer frame, and the location of the layer;

The carrying system includes an X-axis moving device, a Y-axis moving device, at least one Z-axis moving device, and a bidirectional stretching mechanism; the X-axis and the Y-axis are defined as horizontal axes, and the Z-axis defines It is a vertical axis; the X-axis moving equipment and the Y-axis moving equipment are set up in the space above the storage area; the Y-axis moving equipment moves back and forth along the X-axis moving equipment, and the Z-axis moving equipment moves along the The Y-axis moving equipment reciprocates; the Z-axis moving equipment includes a vertical lifting mechanism, and the bidirectional stretching mechanism is installed on the Z-axis moving equipment and is controlled by the vertical lifting mechanism to reciprocate along the Z-axis movement; the bidirectional double-stretching mechanism includes a bidirectional fork, and the bidirectional double-stretching mechanism controls the horizontal telescopic displacement of the bidirectional fork; the central control unit controls the moving stroke and the fixed position of the carrying system; the X-axis movement equipment and the The Y-axis moving equipment controls the entry and exit and movement of the Z-axis movement equipment in the conveying channel of the storage area; the two-way fork controls the movement of the pallet in and out of the compartment;

In the exchange area, the pallet and the goods on it coming from the storage area and the pallet and the goods on it to be stored in the storage area are placed in the exchange area; the reading device in the exchange area reads The label of each pallet in the exchange area can be read, and the label information is sent to the central control unit for record; when the pallet moves out of the exchange area, the central control unit clears the relevant record.
The automatic random storage warehouse system according to claim 1, wherein the readable label is an RFID label.
The automated random collection storage system according to claim 1, wherein the readable label is a composite of one or at least two of barcodes, two-dimensional codes, three-dimensional codes, colors, images, characters, and symbols.
The automatic random collective storage system according to claim 1, wherein the Y-axis moving device is equipped with several Z-axis moving devices, and each of the Z-axis moving devices is equipped with a bidirectional double-stretching mechanism.
As claimed in claim 1, the automatic random collection and storage storage system is characterized in that, the storage stations are arranged side by side in a series of ground rail systems; the ground rail system controls the linear movement of the collection stations so that the central control unit A tier frame is assigned to face a conveying channel.
An inventory carrying method using the automated random storage system described in claim 1, characterized in that it comprises:

Step 1, the central control unit randomly designates a space layer in the layer grid frame in the storage area;

Step 2, the central control unit instructs the transfer system to move the two-way double-stretching mechanism from a standby position to the exchange area; in the exchange area, the pallet and the goods on it are lifted by the two-way fork ;

Step 3, the central control unit commands the X-axis moving device, the Y-axis moving device to displace the Z-axis moving device according to the designated storage site and the location information of the layer frame The storage station and the conveying channel facing the layer frame, and stop at the position corresponding to the layer frame;

Step 4, the central control unit commands the Z-axis moving device to lift the bidirectional double-expanding mechanism to the height corresponding to the space floor according to the designated height of the space layer; the central control unit orders the bidirectional double-expanding mechanism The two-way fork performs a horizontal double extension action, and the pallet and the goods on it are transported to the space layer and placed on the space layer;

Step 5: The collection area reading device detects and reads the readable label of the tray in step 4, and sends the label information of the readable label to the central control unit; the central control unit records the label The storage site where the information is located, the frame of the layer, and the location information of the layer;

Step 6, the central control unit commands the bi-directional fork of the bi-directional doubling mechanism to perform a horizontal doubling action, making it detached from the pallet and returning to the Z-axis moving device; and

Step seven, the central control unit commands the X-axis moving device and the Y-axis moving device to withdraw the Z-axis moving device from the storage area to the ready position.
A method for picking up and moving goods using the automated random storage system described in claim 1, characterized in that it comprises:

Step 1, the central control unit compares and searches each tag information record in the storage area according to a picking order, and obtains the location information of the storage unit where the tag information is located, the shelf frame and the shelf;

Step 2, the central control unit commands the X-axis moving device, the Y-axis moving device to move the Z-axis moving device to the conveying channel corresponding to the position information according to the obtained position information, and The position of the frame stops;

Step 3: The central control unit commands the Z-axis moving device to lift the bidirectional stretching mechanism to the height corresponding to the lattice level according to the height of the shelf in step 1; the central control unit commands the bidirectional stretching mechanism to The two-way fork executes a horizontal double extension action, so that the two-way fork enters the pallet in the compartment;

Step 4, the central control unit commands the bidirectional fork of the bidirectional extending mechanism to perform lifting and horizontal retracting actions, and move the pallet and the goods on it into the Z-axis moving device;

Step 5, when the tray moves out of the compartment, the central control unit clears the relevant records of the compartment, making the compartment a blank level;

Step 6, the central control unit instructs the transfer system to move the pallet and the goods on it to the exchange area; and

Step 7, the reading device in the exchange area reads the readable label of the pallet, and sends the label information to the central control unit for recording; when the pallet and the goods on it are taken away by a pick-up device and removed from the When exchanging the area, the central control unit clears the relevant records of the exchanging area.