Intelligent stereoscopic warehousing system based on data driving

Abstract

The present application relates to the technical field of stacking machine, in particular to an intelligent stereoscopic warehousing system based on data driving.The intelligent stereoscopic warehousing system based on data driving includes a protection assembly arranged in the receiving cavity of the upper fork body, the shade cloth is arranged in the shape of Z on the upper fork body to form a tension type flexible cloth belt structure; the upper fork body and the corresponding hook tail assembly are matched to release the shade cloth in the opposite direction of the extension direction of the upper fork body and shield outside the receiving cavity, or the shade cloth is rewound to reset in the receiving cavity. The present application overcomes the defects of the existing double extension position fork mechanism without automatic protection and easy to cause frequent faults due to foreign matter, provides an intelligent stereoscopic warehousing system based on data driving, through the follow-up type protection structure, the shade cloth is automatically unfolded when the double extension position fork mechanism is extended and is automatically received when it is reset, the upper part of the transmission area of the middle fork body and the lower fork body is fully closed and protected, foreign matter is prevented from entering, and the failure rate of the intelligent stereoscopic warehousing system is reduced.

Description

Technical Field

[0001] This invention relates to the field of automated warehouse technology, specifically a data-driven intelligent automated warehouse system. Background Technology

[0002] The data-driven intelligent automated warehouse palletizing system based on modern steel structures mainly includes automated racking, stacker cranes, seven-axis palletizing robots, pallet conveyor units, hydraulic lifting platforms, and robotic end effectors. It undertakes core functions such as pallet buffering, empty pallet buffering, and palletizing. Through seamless automatic integration with AGVs, it achieves automatic pallet entry and exit and automatic palletizing. It collects real-time data on the warehouse's operating environment through intelligent data acquisition methods such as visual recognition and tag recognition. After high-speed data analysis, it issues the next operational instructions, enabling the data-driven intelligent automated warehousing system to operate and comprehensively improving the automation level of the entire material flow process.

[0003] The stacker crane adopts a double-extend fork mechanism, namely a double-extend stacker crane. One double-extend stacker crane is set in the middle of two rows of three-dimensional racks. In the two rows of three-dimensional racks, the double-extend fork mechanism can extend to one side of the rack or to the other side of the rack to perform pallet storage, retrieval and transfer operations.

[0004] The double-extension fork mechanism is existing technology, mainly consisting of an upper fork, a middle fork, and a lower fork stacked sequentially. Through its internal transmission components, the upper fork and the middle fork can be driven to extend to one side simultaneously, and after extension, the openings at the top of the middle fork and the lower fork are exposed.

[0005] The existing equipment has the following drawbacks: After the double-extension fork mechanism in the intelligent automated storage and retrieval system extends, the openings at the top of the middle and lower forks will be exposed. Dust, fallen bolts, packaging bags, and other debris will fall into the middle and lower forks through the openings. The debris will get stuck in the transmission components, affecting the normal use of the double-extension fork mechanism, resulting in a higher probability of stacker crane failure, which in turn increases the probability of failure of the intelligent automated storage and retrieval system.

[0006] Therefore, there is an urgent need for an intelligent three-dimensional warehousing system with automatic isolation and protection functions for stacker cranes. Summary of the Invention

[0007] The purpose of this invention is to provide a data-driven intelligent three-dimensional warehousing system to solve the problems raised in the prior art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a data-driven intelligent three-dimensional warehousing system, comprising parallel three-dimensional racks for placing pallets, a stacker crane body between two rows of three-dimensional racks for translating along the length of the three-dimensional racks, a row of pallet conveyor units on the outside of the three-dimensional racks, and a pallet-dispensing robot on the side of the pallet conveyor units away from the three-dimensional racks; a weighing and lifting platform at the end of the three-dimensional racks, the stacker crane body, the pallet conveyor units, the pallet-dispensing robot, and the weighing and lifting platform cooperating to perform automated operations; wherein, the stacker crane body includes: The double-extension fork mechanism moves vertically up and down on the stacker body and includes an upper fork, a middle fork, and a lower fork stacked sequentially. The upper fork and the middle fork extend to one end of the lower fork at the same time, or return to their original positions. The top of the upper fork has a through-hole for receiving cavity along its length. Several hook-tail components are provided, symmetrically distributed at both ends of the lower fork body; The splicing components are provided in two sets, distributed at both ends of the upper fork body corresponding to the storage cavity; the hook tail component is locked or disengaged from the splicing components by lifting and lowering. A masking fabric, with one of the splicing components connected to each of its two ends; The protective component is set inside the storage cavity of the upper fork body, and the cover cloth is laid on it in a zigzag shape to form a tensioned telescopic cloth belt structure; it cooperates with the extended upper fork body and the corresponding hook tail component to release the cover cloth in the opposite direction of the extension direction of the upper fork body and extend it to the outside of the storage cavity for blocking, or to roll up the cover cloth and return it to the storage cavity.

[0009] Furthermore, the protective assembly also includes tracks one and two disposed within the storage cavity and distributed along the length of the storage cavity, and rollers one, two, three and four distributed along the width of the storage cavity. Track one is symmetrically disposed on both sides of the storage cavity, and track two is symmetrically disposed on both sides of the storage cavity. The two ends of roller one slide on the corresponding track one, and the two ends of roller two slide on the corresponding track two. The third roller is located at one end of the track one at the same height as the first roller; the fourth roller is located at the other end of the track one at the same height as the second roller. The covering cloth is sequentially wrapped around the outer walls of roller three, roller one, roller two and roller four.

[0010] Furthermore, the number of the hook-tail components is no less than four, and they are respectively installed at the four end corners of the lower fork body.

[0011] Furthermore, the splicing assembly includes a long strip-shaped horizontal plate and a concave plate arranged along the width direction of the masking cloth. One of the concave plates is installed at each end of the storage cavity. The opening of the concave plate faces outward and is adapted to the horizontal plate to accommodate and position the horizontal plate. A cloth-passing opening is provided at the corresponding recess of the concave plate along its length direction. The end of the masking cloth passes through the cloth-passing opening at the corresponding end and is fixedly connected to the horizontal plate on that side. The horizontal plate is provided with several snap-fit ​​components for cooperating with the hook-tail assembly, and each snap-fit ​​component corresponds to a hook-tail assembly.

[0012] Furthermore, the snap-fit ​​component includes a spring and a plug. The horizontal plate is provided with a vertical through hole and two sliding grooves symmetrically distributed on both sides of the through hole. The plug is connected to the sliding groove by a spring. The bottom of the plug is provided with an inclined surface, which moves back and forth between the through hole and the sliding groove.

[0013] Furthermore, the hook assembly includes a telescopic component, a support block, an upper stop block, and a lower stop block, with the telescopic component located at the end of the lower fork body; The upper stop block is located at one end of the telescopic member near the upper fork body; the upper stop block and the lower stop block are oppositely arranged on the driving end of the telescopic member, and the lower stop block slides along the axial direction of the telescopic member; the support block is fixedly arranged on the driving end of the telescopic member on the side of the lower stop block away from the upper stop block, which is used to limit the sliding range of the lower stop block. When the lower stop block is in contact with the support block, a slot is formed between the upper stop block and the lower stop block for inserting the plug.

[0014] Furthermore, the upper and lower blocks have the same structure, with a closed bowl-shaped cross-section. Both include a major diameter surface, a minor diameter surface, and an arc surface, and the major diameter surface and the minor diameter surface are connected by a ring of arc surface. The minor diameter surface of the upper stop block faces upward, and the major diameter surfaces of the upper stop block and the lower stop block are arranged opposite each other.

[0015] Furthermore, the vertical cross-section of the storage cavity has a gradually changing shape, being higher in the middle and narrower at both ends, with space reserved in the middle for folding the cover cloth.

[0016] Furthermore, the upper fork body is provided with two sets of power components, which are used to drive the two ends of the first roller to slide on the corresponding first track and the two ends of the second roller to slide on the corresponding second track.

[0017] Furthermore, the telescopic component employs a multi-section electric push rod, and the hook-tail assembly is lower than the lower surface of the middle fork body when fully retracted.

[0018] Compared with the prior art, the beneficial effects of the present invention are: This invention overcomes the shortcomings of existing intelligent automated storage and retrieval systems, such as the lack of automatic protection for the double-extension fork mechanism, which is prone to debris ingress and frequent malfunctions. It provides a data-driven intelligent automated storage and retrieval system that, by adding a follow-up protective structure, automatically unfolds the cover when the double-extension fork mechanism extends and automatically retracts it when it resets. This achieves full-enclosed protection above the transmission area of ​​the middle and lower forks, preventing debris intrusion, reducing the stacker crane failure rate, and thus reducing the failure rate of the intelligent automated storage and retrieval system. Attached Figure Description

[0019] Figure 1 A top view of the entire invention; Figure 2 This is a schematic diagram of the weighing lifting platform in this invention; Figure 3 This is a top view of the pallet conveyor in this invention; Figure 4 This is a schematic diagram of the truncated structure of the present invention; Figure 5 This is a schematic diagram of the structure of the double-extension fork mechanism in this invention; Figure 6 This is a cross-sectional view of the double-extended fork mechanism in the reset state of the present invention; Figure 7 This invention is for Figure 3 Enlarged view of point A in the middle; Figure 8 This invention is for Figure 3 Enlarged view of point B in the middle; Figure 9 This is a cross-sectional view of a double-extension fork mechanism in one embodiment of the present invention during the process of extending to one end; Figure 10 This is a cross-sectional view of a double-extendable fork mechanism in one embodiment of the present invention when it extends to one end; Figure 11 This invention is for Figure 7 Enlarged view of point C in the middle; Figure 12 This is a cross-sectional view of the double-extend fork mechanism in one embodiment of the present invention when it extends to the other end; Figure 13 for Figure 9 Enlarged view of point D in the middle.

[0020] In the diagram: 1. Stacker crane body; 2. Storage cavity; 3. Tail hook assembly; 4. Splicing assembly; 5. Protective assembly; 10. Double-extended fork mechanism; 11. Upper fork body; 12. Middle fork body; 13. Lower fork body; 101. Automated racking system; 103. Pallet conveyor unit; 104. Palletizing robot; 105. Weighing and lifting platform; 30. Telescopic component; 31. Support block; 32. Upper stop block; 33. Lower stop block; 34. Slot; 35. Long diameter surface; 36. Short diameter surface; 37. Curved surface; 40. Horizontal plate; 41. Concave plate; 42. Fabric opening; 43. Snap-fit ​​component; 44. Through hole; 45. Slide groove; 46. Inclined surface; 431. Spring; 432. Insert block; 50. Covering cloth; 51. Track 1; 52. Track 2; 53. Roller 1; 54. Roller 2; 55. Roller 3; 56. Roller 4. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] See Figures 1-13 This invention provides a technical solution: a data-driven intelligent three-dimensional warehousing system. The system includes parallel rows of three-dimensional racks 101 for placing pallets. A stacker crane body 1 is located between the two rows of racks 101 for lateral movement along the length of the racks 101. A row of pallet conveyor units 103 is located outside the racks 101, and a pallet-dispensing robot 104 is located on the side of the pallet conveyor units 103 away from the racks 101. A weighing and lifting platform 105 is located at the end of the racks 101. The stacker crane body 1, the pallet conveyor units 103, the pallet-dispensing robot 104, and the weighing and lifting platform 105 cooperate to perform automated operations. in, Figures 1-3 A pallet conveyor unit 103 includes several pallet conveyors placed side by side, which can drive pallets placed on the pallet conveyors to move vertically toward or away from the automated racking 101.

[0023] The tray-feeding robot 104 is existing technology. The tray-feeding robot 104 includes a six-axis robotic arm, a robot ground rail, a sliding platform, and a fitting end effector. The sliding platform is arranged along the length of the automated rack 101. The bottom of the six-axis robotic arm is fixed to the sliding platform, and the fitting end effector is fixed to the operating end of the six-axis robotic arm. A 2D camera and a 3D camera are configured on the operating end of the six-axis robotic arm. The robot arm span is selected based on a three-dimensional simulation of the actual scene to ensure that the reachable radius meets the process requirements and that there is a suitable angle and arm posture during operation. The data-driven intelligent automated storage and retrieval system control module drives the AGV trolley to place the pallet on the weighing and lifting platform 105. After weighing, the stacker crane body 1 removes the pallet from the weighing and lifting platform 105 and transfers it to the corresponding location on the automated rack 101, completing the warehousing process. When it is necessary to palletize the goods on the pallet, the stacker crane body 1 removes the pallet from the automated rack 101 and transfers it to the pallet conveyor unit 103. The six-axis robotic arm moves to the pallet to be palletized, performs visual recognition and other data collection, and then drives the six-axis robotic arm to palletize based on the collected data. After palletizing is completed, the pallet conveyor transports the pallet closer to the automated rack 101, and then the stacker crane body 1 puts the pallet back into storage and resets it, completing one palletizing operation. Intelligent control improves the operating efficiency of the intelligent automated storage and retrieval system.

[0024] The stacker crane body 1 includes: The double-extension fork mechanism 10 moves vertically up and down on the stacker body 1. It includes an upper fork 11, a middle fork 12 and a lower fork 13 stacked vertically. The upper fork 11 and the middle fork 12 extend or return to one end of the lower fork 13 at the same time. The top of the upper fork 11 has a through-hole storage cavity 2 along its length. Several hook-tail components 3 are provided, symmetrically distributed at both ends of the lower fork body 13; The splicing component 4 is provided in two sets, distributed on the upper fork body 11 at both ends corresponding to the storage cavity 2; the hook tail component 3 is locked or disengaged from the splicing component 4 by lifting and lowering. The masking fabric 50 has one splicing component 4 connected to each of its two ends; The protective component 5 is disposed in the storage cavity 2 of the upper fork body 11, and the cover cloth 50 is laid on it in a zigzag shape to form a tensioned telescopic cloth belt structure; it cooperates with the extended upper fork body 11 and the corresponding hook assembly 3 to release the cover cloth 50 in the opposite direction of the extension direction of the upper fork body 11 and extend it to the outside of the storage cavity 2 for covering, or to roll up the cover cloth 50 and return it to the storage cavity 2.

[0025] It needs to be explained that, Figure 4-13 The two ends of the cover cloth 50 are located at different heights at both ends of the storage cavity 2, and are respectively fixedly connected to the splicing component 4 at the same end; when the upper fork body 11 is reset, the cover cloth 50 is completely stored in the storage cavity 2, and the hook tail component 3 retracts to be completely lower than the lower surface of the middle fork body 12, without interfering with the normal movement of the double extension fork mechanism 10. Before the upper fork 11 extends to one end of the lower fork 13, the hook assembly 3 at the other end rises and locks with the splicing assembly 4 located directly above it; when the upper fork 11 extends to one end of the lower fork 13, the cover cloth 50 extends out of the storage cavity 2 to cover the upper part of the middle fork 12 and the lower fork 13. This invention overcomes the shortcomings of existing double-extension fork mechanisms 10, which lack automatic protection and are prone to debris entry leading to frequent failures. It provides a data-driven intelligent three-dimensional warehousing system. Through a follow-up protective structure, the cover automatically unfolds when the double-extension fork mechanism 10 extends and automatically retracts when it resets, achieving full-enclosed protection above the transmission area of ​​the middle fork 12 and the lower fork 13, preventing debris intrusion, reducing the failure rate of the stacker crane, and thus reducing the failure rate of the intelligent three-dimensional warehousing system.

[0026] In one embodiment, the protective component 5 further includes a first track 51 and a second track 52 disposed within the storage cavity 2 and distributed along the length direction of the storage cavity 2, and a first roller 53, a second roller 54, a third roller 55, and a fourth roller 56 distributed along the width direction of the storage cavity 2. The first track 51 is symmetrically disposed on both sides of the storage cavity 2, and the second track 52 is symmetrically disposed on both sides of the storage cavity 2. The two ends of the first roller 53 slide on the corresponding first track 51, and the two ends of the second roller 54 slide on the corresponding second track 52. The roller 3 55 is located at one end of the track 1 51 at the same height as the roller 1 53; the roller 4 56 is located at the other end of the track 1 51 at the same height as the roller 2 54; The cover fabric 50 is sequentially wrapped around the outer walls of roller 3 55, roller 1 53, roller 2 54 and roller 4 56 to form a tensioned telescopic fabric belt structure, ensuring smooth unfolding and storage without wrinkles.

[0027] In one embodiment, the number of hook-tail components 3 is not less than four, which are respectively installed at the four end corners of the lower fork body 13 to ensure that the mating cover cloth 50 is subjected to uniform force and locked stably.

[0028] In one embodiment, the splicing assembly 4 includes a long strip-shaped horizontal plate 40 and a concave plate 41 arranged along the width direction of the cover fabric 50. One of the concave plates 41 is respectively installed at each end of the storage cavity 2. The opening of the concave plate 41 faces outward and is adapted to the horizontal plate 40 for accommodating and positioning the horizontal plate 40. A fabric through-hole 42 is provided at the corresponding recess on the concave plate 41 along its length direction. The end of the cover fabric 50 passes through the fabric through-hole 42 at the corresponding end and is fixedly connected to the horizontal plate 40 on that side. The horizontal plate 40 is provided with a number of snap-fit ​​parts 43 for cooperating with the hook tail assembly 3. The snap-fit ​​parts 43 correspond one-to-one with the hook tail assembly 3 to achieve quick self-locking docking.

[0029] In one embodiment, the snap-fit ​​member 43 includes a spring 431 and a plug 432. The horizontal plate 40 is provided with a vertical through hole 44 and two sliding grooves 45 symmetrically distributed on both sides of the through hole 44. The plug 432 is connected in the sliding groove 45 by the spring 431. The bottom of the plug 432 is provided with an inclined surface 46, which moves back and forth between the through hole 44 and the sliding groove 45.

[0030] With this design, when in use, 1. Reset standby: The double-extended fork mechanism 10 is fully retracted, the cover cloth 50 is stored in the storage cavity 2, the cross plate 40 on the same side is inserted into the concave plate 41, and the hook tail assembly 3 is retracted to below the upper surface of the lower fork body 13, with no external interference. 2. Preparation before extension: As the upper fork body 11 extends to the left, the right hook tail assembly 3 extends upward and finally reaches the through hole 44 and locks with the snap fastener 43. 3. Deployment of protection: The upper fork 11 extends to the left: the concave plate 41 on the right side of the upper fork 11 separates from the cross plate 40, the hook tail assembly 3 on the right side of the upper fork 11 and the cross plate 40 are fixed, and the shield cloth 50 is pulled in the opposite direction to unfold from the right end of the storage cavity 2. At the same time, in order to provide the unfolded shield cloth 50, the power component two drives the roller two 54 to slide to the right along the track two 52, causing the shield cloth 50 to extend out of the storage cavity 2 from the right end. The shield cloth 50 unfolds from the right end of the storage cavity 2, covering the top opening of the middle fork 12 and the lower fork 13 throughout the process. 4. Reset and storage: The upper fork 11 resets to the right, and the concave plate 41 on the right side of the upper fork 11 is reconnected with the horizontal plate 40. At the same time, the second drive roller 54 slides to the left along the second track 52 to retract the cover cloth 50. The hook assembly 3 unlocks, descends and resets, and the cover cloth 50 is completely stored in the storage cavity 2, returning to the standby state. When the upper fork 11 extends to the right, it moves in the opposite direction, which will not be described in detail here.

[0031] In particular, if the length of the cover cloth 50 is not long enough, the upper fork 11 and the middle fork 12 may not be fully unfolded to accommodate the length of the cover cloth 50.

[0032] In particular, if the length of the cover fabric 50 is not long enough, the length of the upper fork 11 can be extended during manufacturing so that the length of the upper fork 11 is greater than the length of the middle fork 12, or greater than the length of the lower fork 13.

[0033] The dual-extension fork mechanism features full-process automatic protection, effectively preventing the intrusion of debris and significantly reducing the probability of stacker crane failure. It is suitable for industrial automated warehouse scenarios such as steel structure smart factories and has high practical value and promising prospects for promotion.

[0034] In one embodiment, the hook assembly 3 includes a telescopic member 30, a support block 31, an upper stop block 32, and a lower stop block 33, wherein the telescopic member 30 is located at the end of the lower fork body 13; The upper stop block 32 is located at one end of the telescopic member 30 near the upper fork body 11; the upper stop block 32 and the lower stop block 33 are oppositely arranged on the driving end of the telescopic member 30, and the lower stop block 33 slides along the axial direction of the telescopic member 30; the support block 31 is fixedly arranged on the driving end of the telescopic member 30 on the side of the lower stop block 33 away from the upper stop block 32, and is used to limit the sliding range of the lower stop block 33. When the lower stop block 33 is in contact with the support block 31, a slot 34 is formed between the upper stop block 32 and the lower stop block 33 for the insertion block 432 to be inserted and locked.

[0035] In one embodiment, the upper stop block 32 and the lower stop block 33 have the same structure and a closed bowl-shaped cross section. Both include a major diameter surface 35, a minor diameter surface 36 and an arc surface 37. The major diameter surface 35 and the minor diameter surface 36 are connected by a ring of arc surface 37. The short diameter surface 36 of the upper stop block 32 faces upward, and the long diameter surfaces 35 of the upper stop block 32 and the lower stop block 33 are arranged opposite each other to form a wedge-shaped guide slot 34 that is adapted to the insertion block 432, thereby improving the docking accuracy and locking strength.

[0036] With this design, the locking process of the right hook tail component 3 is as follows: the telescopic part 30 extends upward into the through hole 44, causing the upper stop block 32 to abut against the inclined surface 46 and push the insert block 432 into the slide groove 45. The spring 431 is compressed until the upper stop block 32 has completely passed the insert block 432. The insert block 432 is then inserted into the slot 34, and the locking is completed. After locking, the telescopic part 30 cannot continue to extend and can only remain stationary. Unlocking process of hook-tail assembly 3: The telescopic component 30 continues to extend upward, so that the long diameter surface 35 of the lower stop block 33 abuts against the inclined surface 46 and pushes the insert block 432 into the slide groove 45. After the long diameter surface 35 of the lower stop block 33 completely passes the insert block 432, the insert block 432 abuts against the arc surface 37 of the lower stop block 33. Then the telescopic component 30 retracts downward. At this time, the springs 431 and the insert block 432 on both sides of the lower stop block 33 exert a certain squeezing and clamping force on the lower stop block 33, so that the speed at which the lower stop block 33 descends is much less than the speed at which the upper stop block 32 descends. When the upper stop block 32 and the lower stop block 33 are in contact, the telescopic component 30 continues to retract downward. The insert block 432 passes through the arc surface 37 of the lower stop block 33 and the arc surface 37 of the upper stop block 32 in sequence, and finally reaches the top of the upper stop block 32. At this time, it is unlocked.

[0037] In one embodiment, the vertical cross-section of the storage cavity 2 has a gradually changing shape that is high in the middle and narrow at both ends, with a reserved space for folding the cover cloth 50 in the middle; the two ends are adapted to the splicing components for installation, optimizing the storage volume and unfolding smoothness, reducing dust entry, and improving the operational safety of the protective component 5.

[0038] In one embodiment, the upper fork body 11 is provided with two sets of independent power components, which respectively drive roller 1 53 to slide along track 1 51 and roller 2 54 to slide along track 2 52, and cooperate with the hook tail assembly 3 to realize the synchronous extension and retraction of the cover cloth 50, so as to avoid the cover cloth 50 from loosening or being pulled and damaged.

[0039] The power component can be a combination of sprockets and chains, which is existing technology and is not shown in the figure, so it will not be described in detail here.

[0040] In one embodiment, the telescopic component 30 adopts a multi-section electric push rod with a large output stroke to meet the docking requirements of the hook-tail assembly 3 and the splicing assembly 4.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0042] It should be noted that if the embodiments of the invention involve directional indicators (such as up and down), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0043] Furthermore, the meaning of "and / or" throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that satisfies both A and B. Additionally, if the embodiments of the invention involve descriptions such as "first," "second," etc., these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, "several" refers to two or more.

[0044] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the invention.

Claims

1. A data-driven intelligent three-dimensional warehousing system, characterized in that, The system includes a parallel set of three-dimensional racks (101) for placing pallets; a stacker crane body (1) is located between the two rows of three-dimensional racks (101) for lateral movement along the length of the three-dimensional racks (101); a row of pallet conveyor units (103) is located outside the three-dimensional racks (101); a palletizing robot (104) is located on the side of the pallet conveyor units (103) away from the three-dimensional racks (101); a weighing lifting platform (105) is located at the end of the three-dimensional racks (101); the stacker crane body (1), the pallet conveyor units (103), the palletizing robot (104), and the weighing lifting platform (105) cooperate with each other to perform automatic operations; wherein, the stacker crane body (1) includes: The double-extension fork mechanism (10) moves vertically up and down on the stacker body (1), and includes an upper fork (11), a middle fork (12) and a lower fork (13) stacked vertically. The upper fork (11) and the middle fork (12) extend or return to one end of the lower fork (13) at the same time. The top of the upper fork (11) is provided with a through-hole (2) along its length. The hook-tail assembly (3) is provided in several parts, symmetrically distributed at both ends of the lower fork body (13); The splicing component (4) is provided in two sets, distributed on the upper fork body (11) at both ends of the corresponding storage cavity (2); the hook tail component (3) is locked or disengaged from the splicing component (4) by lifting and lowering. A cover fabric (50) with one of the splicing components (4) connected to each end; The protective component (5) is set in the storage cavity (2) of the upper fork body (11), and the cover cloth (50) is laid on it in a zigzag shape to form a tensioned telescopic cloth structure; it cooperates with the extended upper fork body (11) and the corresponding hook assembly (3) to release the cover cloth (50) in the opposite direction of the extension direction of the upper fork body (11) and extend it to the outside of the storage cavity (2) for blocking, or roll up the cover cloth (50) and return it to the storage cavity (2).

2. The data-driven intelligent three-dimensional warehousing system according to claim 1, characterized in that, The protective component (5) further includes a track 1 (51) and a track 2 (52) disposed in the storage cavity (2) and distributed along the length direction of the storage cavity (2), and rollers 1 (53), roller 2 (54), roller 3 (55) and roller 4 (56) distributed along the width direction of the storage cavity (2). The track 1 (51) is symmetrically disposed on both sides of the storage cavity (2), and the track 2 (52) is symmetrically disposed on both sides of the storage cavity (2). The two ends of the roller 1 (53) slide on the corresponding track 1 (51), and the two ends of the roller 2 (54) slide on the corresponding track 2 (52). The roller three (55) is located at one end of the track one (51) at the height corresponding to the roller one (53); the roller four (56) is located at the other end of the track one (51) at the height corresponding to the roller two (54); The covering cloth (50) passes sequentially around the outer walls of roller three (55), roller one (53), roller two (54) and roller four (56).

3. The data-driven intelligent three-dimensional warehousing system according to claim 2, characterized in that, The number of hook tail components (3) shall not be less than four, and they shall be installed at the four corner positions of the lower fork body (13).

4. The data-driven intelligent three-dimensional warehousing system according to claim 3, characterized in that, The splicing assembly (4) includes a long strip-shaped horizontal plate (40) and a concave plate (41) arranged along the width direction of the cover cloth (50). The two ends of the storage cavity (2) are respectively equipped with a concave plate (41). The opening of the concave plate (41) faces outward and is adapted to the horizontal plate (40) for accommodating and positioning the horizontal plate (40). The corresponding recess on the concave plate (41) is provided with a fabric insertion port (42) along its length direction. The end of the cover cloth (50) passes through the fabric insertion port (42) at the corresponding end and is fixedly connected to the horizontal plate (40) on that side. The horizontal plate (40) is provided with a number of snap-fit ​​parts (43) for cooperating with the hook tail assembly (3), and the snap-fit ​​parts (43) correspond one-to-one with the hook tail assembly (3).

5. The data-driven intelligent three-dimensional warehousing system according to claim 4, characterized in that, The snap-fit ​​component (43) includes a spring (431) and a plug (432). The horizontal plate (40) has a vertical through hole (44) and two sliding grooves (45) symmetrically distributed on both sides of the through hole (44). The plug (432) is connected to the sliding groove (45) by the spring (431). The bottom of the plug (432) has an inclined surface (46). The inclined surface (46) moves back and forth between the through hole (44) and the sliding groove (45).

6. The data-driven intelligent three-dimensional warehousing system according to claim 5, characterized in that, The hook assembly (3) includes a telescopic component (30), a support block (31), an upper stop block (32), and a lower stop block (33), wherein the telescopic component (30) is located at the end of the lower fork body (13); The upper stop block (32) is located at one end of the telescopic member (30) near the upper fork body (11); the upper stop block (32) and the lower stop block (33) are oppositely arranged on the driving end of the telescopic member (30), and the lower stop block (33) slides along the axial direction of the telescopic member (30). The support block (31) is fixedly arranged on the driving end of the telescopic member (30) on the side of the lower stop block (33) away from the upper stop block (32), which is used to limit the sliding range of the lower stop block (33). When the lower stop block (33) is in contact with the support block (31), a slot (34) is formed between the upper stop block (32) and the lower stop block (33) for the insertion block (432) to be inserted and locked.

7. The data-driven intelligent three-dimensional warehousing system according to claim 6, characterized in that, The upper stop block (32) and the lower stop block (33) have the same structure and the cross section is a sealed bowl shape. Both of them include a long diameter surface (35), a short diameter surface (36) and an arc surface (37). The long diameter surface (35) and the short diameter surface (36) are connected by a ring of arc surface (37). The short diameter surface (36) of the upper stop block (32) faces upward, and the long diameter surfaces (35) of the upper stop block (32) and the lower stop block (33) are arranged opposite to each other.

8. The data-driven intelligent three-dimensional warehousing system according to claim 1, characterized in that, The vertical cross-section of the storage cavity (2) has a gradually changing shape with a high middle section and narrow ends, and a space is reserved in the middle for folding the cover cloth (50).

9. The data-driven intelligent three-dimensional warehousing system according to claim 2, characterized in that, The upper fork (11) is equipped with two independent power components, which drive roller one (53) to slide along track one (51) and roller two (54) to slide along track two (52) respectively.

10. The data-driven intelligent three-dimensional warehousing system according to claim 6, characterized in that, The telescopic component (30) uses a multi-section electric push rod, and the hook tail assembly (3) is lower than the lower surface of the middle fork body (12) when fully retracted.

Images