High-density storage system and method for accessing goods based on beam-type storage racks

Abstract

The invention relates to a high-density warehousing system based on a beam type warehousing goods shelf and a goods storing and taking method. The system comprises the beam type warehousing goods shelf, a goods pallet installed on the beam type warehousing goods shelf, a robot forklift and a robot navigation and positioning device. The robot forklift is a non-track type robot forklift for transverse goods storing and taking, a transverse goods storing and taking device is a transverse goods storing and taking device with double laser heads, the beam type warehousing goods shelf is a goods storing and taking double-positioning warehousing shelf, and the goods pallet is a single-side double-hole hooking type goods pallet. According to the system, turning storing and taking are replaced with transverse storing and taking in the goods storing and taking processes through the robot forklift for transverse goods storing and taking, so that the area of a warehousing gallery is effectively saved, and the requirement for the minimization of the area of the gallery of the high-density warehousing system is met; transverse moving of wheels is replaced with transverse moving of the transverse goods storing and taking device of the robot forklift, so that the problem that as wheels can not move transversely, the efficiency of transverse deviation correction in aloft work is low is solved.

Description

technical field [0001] The invention relates to the technical field of storage systems, in particular to a high-density storage system based on beam-type storage shelves and a method for storing and withdrawing goods. Background technique [0002] The beam-type storage rack takes the pallet as the access unit, and is connected by columns at both ends, cross braces, diagonal braces, and bolts. The loading requirements of the high-density storage system for the shelf are: the horizontal gap between the goods is not more than 2 cm, the vertical gap between the goods is not more than 3 cm, and the shelf height is at least 3 meters; The width of the roadway puts forward requirements: the width of the roadway should be slightly larger than the width of the robot forklift body, so as to minimize the auxiliary space of the roadway and increase the storage density. [0003] In order to meet the requirements of the above-mentioned high-density storage system for the longitudinal gap ...

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Problems solved by technology

[0003] In order to meet the requirements of the above-mentioned high-density storage system for the longitudinal gap between the goods, it is not convenient to use the traditional fork-type extraction method when picking up the goods, because the fork device extending into the shelf must occupy the space in the shelf, thereby reducing the load. Storage density in the vertical or horizontal direction of the beam-type storage rack; in order to meet the requirements of the above-mentioned high-density storage system for the horizontal gap between the goods, it is required that the storage of the goods cannot be tilted at an angle exceeding 2 cm in the horizontal plane. Once the tilt occurs , the space next to it will be occupied due to the inclination of the goods

In practice, the inclination of cargo storage is often due to the inclination of the car body itself. The reason for the inclination of the car body is that the shelves on both sides of the roadway are not parallel to the two-dimensional code navigation path on the roadway, or because the shelves are inclined, or because the two-dimensional The code is crooked, or the two-dimensional code navigation belt is crooked. The above reasons cause the body of the robot to be not parallel to the shelf during operation. Due to the inclination of the robot body itself, the robot forklift will store the goods on the shelf. The goods are often placed crookedly; in order to meet the above high-altitude operation requirements of the robot forklift in the high-density storage system, it is required to solve the lateral deviation correction of the vehicle body caused by the inability of the wheels to move laterally when the vehicle body tilts laterally due to mechanical errors during high-altitude operations. The problem of inefficiency

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