A smart warehouse

Abstract

The present invention relates to an intelligent warehouse, comprising a stacker track, a stacker, and shelves arranged on one side or both sides of the stacker track, the stacker comprising a stacker seat, a stacker frame and a cargo platform lifting mechanism are arranged on the stacker seat, a liftable cargo platform is slidably connected to the stacker frame, a lower conveying mechanism and a liftable upper clamping mechanism are arranged on the cargo platform, a buffer area is connected to the stacker seat, and the buffer area comprises a multi-layer buffer conveyor belt; the advantage is that the cargo platform of the stacker has a bidirectional synchronous clamping system located on the upper layer and a conveying mechanism located on the lower layer, the bidirectional synchronous clamping system can realize the picking and placing of soft-packaged goods within a certain size range between the lifting cargo platform and the shelves of the aisle stacker, and at the same time, the double-layer mechanism of the cargo platform can realize the movement of goods in four directions of X+, X‑, Y+ and Y‑, the stacker has multiple cache positions, and for particularly long aisles, storage and retrieval integration can be realized, thereby improving efficiency.

Description

Technical Field

[0001] The present invention relates to the field of warehousing technology, and in particular to an intelligent warehouse. Background Art

[0002] Rail-mounted aisle stacker technology is widely used in stereoscopic warehouses. It is a crane that operates in the narrow aisles of high-rise shelves. It can greatly improve the area and space utilization of the warehouse and is the main equipment in automated warehouses.

[0003] At present, the loading platform of aisle stackers can only pick up and place storage boxes, cartons and pallets of fixed sizes. After the loading platform is raised or lowered to the specified shelf height, the loading platform fork extends to move the cargo box of the same width to the loading platform, and then the stacker moves the cargo box along the aisle to the specified position and moves the cargo box down in the same way.

[0004] The above-mentioned prior art has the following disadvantages: the traditional stacker loading platform can only take and place goods of fixed size or goods placed on pallets or storage boxes, and the product packaging must be in a fixed form such as cartons or wooden boxes, or the product must be placed on a carrier, and each model of product and carrier must correspond one to one, and a carrier recovery auxiliary system needs to be added. For soft-packaged goods of varying sizes, such as parcels packaged in woven bags, it is impossible to directly transfer goods between the shelf and the stacker loading platform.

[0005] In addition, traditional stackers have the following defects: there are no cache locations on the stacker or there is only one cache location on each layer, which results in low efficiency in taking goods. For smart warehouses with a large number of products in and out of the warehouse, the normal daily cashier quantity can only be met by increasing the number of stackers.

[0006] Based on this, this case is brought forward. Summary of the invention

[0007] The purpose of the present invention is to provide an intelligent warehouse to realize the transfer of soft-package goods of non-fixed size between the shelves of the three-dimensional warehouse and the lifting platform of the stacker, and to improve the storage and retrieval efficiency of the goods.

[0008] In order to achieve the above object, the technical solution of the present invention is as follows:

[0009] The stacker comprises a stacker track, a stacker, and shelves arranged on one side or both sides of the stacker track, the stacker comprises a stacker seat, a stacker frame and a cargo platform lifting mechanism are arranged on the stacker seat, a liftable cargo platform is slidably connected to the stacker frame, a lower conveying mechanism and a liftable upper clamping mechanism are arranged on the cargo platform, the lower conveying mechanism comprises a conveying belt which can be driven in both directions, a buffer area is connected to the stacker seat, the buffer area comprises multiple layers of buffer conveyor belts, both ends of the buffer area in the conveying direction of the buffer conveyor belt are open and each layer of the buffer conveyor belt can be driven in both directions independently, the upper clamping mechanism realizes the transportation of goods between the shelf and the cargo platform, and the conveying conveyor belt and the buffer conveyor belt cooperate to realize the transportation of goods between the cargo platform and the buffer area.

[0010] Furthermore, the docking device includes a docking area, a lifting device and a conveyor line. The docking area includes a storage entry area and a storage exit area with the same structure as the buffer area. Both the storage entry and storage exit areas include multiple layers of independently bidirectionally driven storage area conveyor belts. Both ends of the storage entry and storage exit areas are open in the conveying direction of the storage area conveyor belt. The storage area conveyor belt and the buffer conveyor belt cooperate to realize the transportation of goods between the docking area and the buffer area. The docking device also includes a docking area track and a translation drive part perpendicular to the conveying direction of the storage area conveyor belt. The storage entry area and the storage exit area are arranged side by side along the direction of the docking area track. The docking area realizes translation on the docking area track through the translation drive part.

[0011] The conveyor line includes an outbound conveyor line and an inbound conveyor line arranged on the upper and lower layers; the lifting device includes a lifting arm and a hoist for raising and lowering the lifting arm, the lifting arm includes an intermediate conveyor belt that can be driven in both directions, and the intermediate conveyor belt is used to transport goods between the docking area and the conveyor line.

[0012] Furthermore, the cargo platform includes a cargo platform frame slidably connected to the stacker frame, the upper clamping mechanism includes a welding frame slidably connected to the cargo platform frame and a welding frame lifting drive mechanism for controlling the lifting of the welding frame, the welding frame is connected to a screw rod one through a bearing and is provided with a first driving part for driving the screw rod one, the screw rod one is connected to two screw rod nuts one in opposite rotation directions, a bidirectional telescopic manipulator is fixed to the screw rod nut one, and the two bidirectional telescopic manipulators are arranged opposite to each other; the conveying conveyor belts are provided with a plurality of smoothing strip devices between two adjacent conveying conveyor belts, and the cargo platform frame is provided with a smoothing strip lifting drive mechanism.

[0013] Furthermore, the stacker seat is of a plate structure, the buffer area is fixed on the stacker seat, the stacker track includes a double ground rail and a double overhead rail, bottom running wheels for walking on the double ground rails are installed on both sides of the stacker seat, and top running wheels for walking on the double overhead rails are installed on the top of the stacker frame.

[0014] Furthermore, the number of the cargo platform is one and it is arranged at one end of the buffer area away from the docking device.

[0015] Furthermore, there are two cargo platforms, which are respectively located at the two ends of the conveying direction of the buffer conveyor belt. The stacker frame is a column arranged at each open end of the buffer area, and the height of the column above the buffer area is not less than the height of the cargo platform.

[0016] Furthermore, the stacker seat is of a beam structure, the stacker track includes a single ground rail and a single overhead rail, the stacker seat is provided with bottom running wheels for running on the single ground rail, the top of the stacker frame is provided with top running wheels for running on the single overhead rail, the cache area is pulled by the stacker seat and universal wheels for running on the ground are installed at the bottom; the stacker frame is of a single column structure and is arranged at one end of the cache area away from the docking device.

[0017] Furthermore, the stacker track is linear and has multiple tracks, the multiple stacker tracks are arranged in parallel, the docking device is arranged at one end of one of the stacker tracks, the other end of the stacker track is provided with a track changing trolley track perpendicular to the stacker track, and the track changing trolley is provided on the track changing trolley track; the track changing trolley is provided with a temporary stacker track, and the stacker can move onto the track changing trolley through the temporary stacker track.

[0018] Furthermore, the stacker track is of a curved type, and the curved stacker track comprises a plurality of parallel straight track segments and a curved track segment connecting two adjacent straight track segments, and the docking device is arranged at the starting end or the end of the curve.

[0019] Furthermore, the stacker track is linear and has multiple tracks, the multiple stacker tracks are arranged in parallel, the docking device is arranged at one end of one of the stacker tracks, and the other end of the stacker track is provided with a track changing track perpendicular to the stacker track, and the stacker seat is provided with a lifting walking wheel for walking on the track changing track.

[0020] Furthermore, each layer of the warehouse conveyor belt and each layer of the cache conveyor belt are provided with telescopic blocking blocks at both ends of the conveying direction, and each layer of the warehouse conveyor belt and each layer of the cache conveyor belt are divided into multiple cargo positions in the conveying direction, and each cargo position is provided with a detection sensor.

[0021] The advantages of the present invention are:

[0022] 1. The cargo platform of the stacker has a two-way synchronous clamping system on the upper layer and a conveying mechanism on the lower layer. The two-way synchronous clamping system can realize the picking and placing of soft-packaged goods within a certain size range between the lifting cargo platform of the aisle stacker and the shelf. At the same time, the double-layer mechanism of the cargo platform can realize the movement of goods in four directions: X+, X-, Y+ and Y-.

[0023] 2. The stacker has multiple cache locations. For particularly long aisles, it can realize storage and retrieval integration. In the process of walking from one end of the aisle to the other, it can store and retrieve goods at the same time, which saves the walking time of the stacker and improves efficiency.

[0024] 3. For stacker equipment with built-in buffering devices and multiple buffering positions at each layer, a docking device roughly the same as the buffering area is set up. During the storage time of the stacker, the goods on the conveyor line are placed into the docking area one by one through the elevator. When the stacker completes the storage work and returns to the origin, it is connected to the docking area to complete the transportation work synchronously at one time, thereby improving work efficiency;

[0025] 4. For the stacker equipped with two symmetrical lifting platforms, when entering the warehouse, one side of the platform is used to fork the goods from the platform to the cargo warehouse, while the other side is used to transfer the goods from the buffer area to the platform; when leaving the warehouse, one side of the platform is used to drag the goods from the cargo warehouse to the platform, while the other side is used to transfer the goods from the platform to the buffer area, which further improves the work efficiency;

[0026] 5. A single stacker crane can take care of 2 or more aisles, reducing the demand for the number of stackers in traditional smart warehouses and saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a top view schematic diagram of the smart warehouse in Example 1;

[0028] Figure 2 This is a schematic diagram of a portion of the three-dimensional structure of the intelligent warehouse in Example 1;

[0029] Figure 3 Schematic diagram of the three-dimensional structure of the stacker in Example 1;

[0030] Figure 4 for Figure 3 A schematic diagram of the main view;

[0031] Figure 5 for Figure 3 Schematic diagram of top view;

[0032] Figure 6 Schematic diagram of the three-dimensional structure of the cargo platform in Example 1;

[0033] Figure 7 Schematic diagram of the three-dimensional structure of the cargo platform frame in Example 1;

[0034] Figure 8 Schematic diagram of the three-dimensional structure of the welding frame in Example 1;

[0035] Fig. 9 for Figure 8A top view of a

[0036] Fig.10 It is a front view schematic diagram of the conveyor belt transmission system in Example 1;

[0037] Fig.11 for Fig.10 Schematic diagram of top view;

[0038] Fig.12 Schematic diagram of the structure of the bidirectional telescopic manipulator in Example 1;

[0039] Fig.13 This is a schematic diagram of the working state of the bidirectional telescopic manipulator in Example 1;

[0040] Fig.14 for Figure 3 A magnified schematic diagram of part A in FIG.

[0041] Fig.15 for Figure 3 A magnified schematic diagram of part B in FIG.

[0042] Fig.16 This is a schematic diagram of the state of the stacker in Example 1 when it is located in the X1 lane;

[0043] Fig.17 This is a schematic diagram of the state of the stacker when it moves onto the track-changing trolley in Example 1;

[0044] Fig.18 This is a schematic diagram of the state when the track-changing trolley drives the stacker to the X2 lane in Example 1;

[0045] Fig.19 This is a schematic diagram of the state of the stacker in Example 1 when it is located in the X2 lane;

[0046] Fig. 20 Schematic diagram of the three-dimensional structure of the stacker in Example 2;

[0047] Fig.21 for Fig. 20 A schematic diagram of the main view;

[0048] Fig. 22 A schematic diagram of the three-dimensional structure of a warehouse using the stacker of Example 2;

[0049] Fig.23 is a schematic diagram of the three-dimensional structure of the stacker in Example 3;

[0050] Fig.24 for Fig.23 A schematic diagram of the main view;

[0051] Fig.25 It is a schematic diagram of the structure of a warehouse in which the stacker track is curved in Example 4;

[0052] Fig.26 This is a schematic diagram of the warehouse structure in Example 5;

[0053] Description of symbols

[0054] 100. Cargo platform frame, 101. C-shaped groove, 102. Guide rail 2;

[0055] 200. upper clamping mechanism, 201. welding frame, 202. guide wheel, 203 slider, 204. first driving part, 205. guide rail 1, 206. mounting plate, 207. screw rod 1, 208. screw rod nut 1, 209. screw rod 2, 210. second driving part, 211. screw rod nut 2, 212 bidirectional telescopic manipulator, 212a fork-pull, 212b fork-push;

[0056] 300. lower conveying mechanism, 301. conveying conveyor belt, 302. smooth strip device, 303. synchronous belt, 304. smooth strip lifting drive mechanism, 305. third driving part, 306. driving shaft, 307. driven shaft, 308. synchronous wheel;

[0057] 401 double ground rail, 402 double overhead rail, 403 single overhead rail, 404 single ground rail, 405 track for track change trolley, 406 track change trolley, 407 temporary track for stacker, track change track 408;

[0058] 500 cache area, 501 cache conveyor belt, 502 telescopic blocking block, 503 detection sensor, 504 universal wheel;

[0059] 600 stacker seat, 601 bottom running wheel, 602 top running wheel, 603 cargo platform lifting mechanism, 604 stacker frame, 605 three-sided embracing guide wheel, 606 single-sided supporting guide wheel, 607 clamping slider, lifting running wheel 608;

[0060] 700 docking device, 701 storage area, 702 storage area, 703 storage area conveyor belt, 704 elevator, 705 intermediate conveyor belt, 706 docking area track, 707 translation drive unit, 708 storage area conveyor line, 709 storage area conveyor line, 710 conveying direction conversion device;

[0061] 800 racks, 900 stackers, X1 aisle 1, X2 aisle 2. DETAILED DESCRIPTION

[0062] The present invention is further described in detail below in conjunction with embodiments, and the X direction, Y direction, and Z direction in the text are based on the coordinate system in the accompanying drawings.

[0063] Example 1

[0064] This embodiment proposes an intelligent warehouse with a single-position stacker, such as Figure 1 , which is a schematic diagram of the layout of the warehouse, includes Lane 1 X1 and Lane 2 X2, and shelves 800 are arranged on both sides of each lane. The smart warehouse also includes a stacker 900, a docking device 700 and a track-changing trolley 406, which are described in detail as follows.

[0065] like Figures 3 to 5 As shown, the stacker 900 of this embodiment includes a stacker base 600, a stacker frame 604, a translation mechanism, a cargo platform lifting mechanism 603, a cargo platform and a buffer area 500. The stacker base 600 of this embodiment is a plate-type structure, and the translation mechanism is installed on the stacker base 600, including a bottom running wheel 601, a top running wheel 602 and a reduction motor driving the bottom running wheel 601. Figure 3 As shown in FIG. 1 , since the stacker 900 of this embodiment is provided with a buffer area 500, it is heavier than the conventional stacker and needs to be provided with a total of four tracks in the lane, namely, Figure 2 The double ground rails 401 and the double overhead rails 402 are used to improve the walking stability of the stacker 900. Figure 2 The double ground rails 401 are raised by angle steel, and the stacker seat 600 is not placed on the bottom running wheels 601, but the bottom running wheels 601 are placed on both sides of the stacker seat 600, so that the stacker seat 600 can sink. This design can reduce the requirements for the warehouse floor and save space in the height direction.

[0066] The cargo platform lifting mechanism 603 is used to drive the cargo platform to move up and down along the stacker frame 604. Figure 3 As shown, the cargo platform lifting mechanism 603 is installed at the front end of the stacker machine seat 600, and the steel cable is driven by the motor for traction, and the cargo platform is slidably connected with the stacker machine frame 604, so that the cargo platform can slide up and down along the stacker machine frame 604. Figure 3 As shown in , the stacker frame 604 of this embodiment is a four-column structure, which is two more than the traditional stacker, so that the lifting and lowering of the cargo platform on the frame has four tracks, and there is no problem that the traditional stacker needs to increase the rigidity due to the cantilever. The sliding connection between the cargo platform and the stacker frame 604 of this embodiment is realized in the following form: the four columns of the stacker frame 604 are all connected to the slideway, and one side of the cargo platform is provided with a three-sided embracing guide wheel 605 that can slide on the slideway, and the other side is provided with a single-sided supporting guide wheel 606 that can slide on the slideway to prevent the lifting process from getting stuck, such as Fig.14 and 15 shown.

[0067] The buffer area 500 of the stacker 900 has a total of 8 layers. Figure 3As described in, each layer is provided with a bidirectionally driven buffer conveyor belt 501 that can be independently operated. The buffer conveyor belt 501 is distributed along the X direction, and telescopic blocking blocks 502 are provided at both ends of the conveying direction. Each layer of the buffer conveyor belt 501 is divided into three storage positions along the X direction, and a detection sensor 503 is provided on each storage position. Figure 3 As shown, since the buffer area 500 of this embodiment is open at both ends of the buffer conveyor belt 501, loading at one end and unloading at the other end can be achieved through the buffer conveyor belt 501. When only goods are loaded, the telescopic blocking block 502 at the loading end shrinks and gives way, and the telescopic blocking block 502 at the unloading end extends to stop; when only goods are unloaded, the telescopic blocking block 502 at the unloading end shrinks and gives way, and the telescopic blocking block 502 at the loading end extends to stop; when loading at one end and unloading at the other end at the same time, the telescopic blocking blocks 502 at both ends shrink and give way at the same time; when the loading and unloading process is not performed, the telescopic blocking block 502 extends to stop at both ends. The detection sensor 503 is used to confirm whether the goods are delivered in place to ensure the accuracy of each loading and unloading. Since goods can be loaded and unloaded from both ends of the buffer area 500, compared with traditional stackers, when goods are put into the warehouse, there is no need to load them one by one from the loading platform, but they can directly enter from the end of the buffer area 500 away from the loading platform (goods outside the warehouse can be put into the buffer area 500 by using a lifting platform with a conveyor belt device, or a new lifting and warehousing device can be designed based on the structure of the buffer area 500, such as the docking device 700 disclosed below), which improves work efficiency.

[0068] like Figure 6 As shown, this embodiment proposes a cargo platform for transporting non-fixed-size soft-packaged goods on a stacker in a three-dimensional warehouse, including a cargo platform frame 100, a lower conveying mechanism 300, and an upper clamping mechanism 200. The cargo platform frame 100 is used for sliding connection with the stacker frame 604. Figure 8 As shown, the upper clamping mechanism 200 includes a U-shaped welding frame 201 and a welding frame lifting driving mechanism for controlling the lifting of the welding frame 201. The middle part of the welding frame 201 is connected to a screw rod 207 through a bearing and is provided with a first driving part 204 for driving the screw rod 207. The screw rod 207 is arranged along the X direction. The first driving part 204 adopts a servo motor with a reducer and is installed in the middle of the screw rod 207. Two screw rod nuts 208 with opposite rotation directions are connected to the screw rod 207 on both sides of the first driving part 204. A bidirectional telescopic manipulator 212 that is telescopic along the Y direction is fixed to the screw rod nut 208 through a mounting plate 206. Through the screw rod 207, the two bidirectional telescopic manipulators 212 are synchronously approached or separated, and the clamping and releasing actions are realized.

[0069] The bidirectional synchronous clamping drive system can realize the picking and placing of soft-packaged goods within a certain size range between the lifting platform of the aisle stacker and the shelf 800. At the same time, compared with the traditional method, this function can well ensure that the position of the materials can always be placed in the center during the operation between the warehouse and the loading platform, especially for soft-packaged goods, which are difficult to ensure in the traditional way. Fig. 9 As shown, in order to make the approaching or moving away movement and the bidirectional telescopic movement of the bidirectional telescopic manipulator 212 more stable, in this embodiment, guide rails 205 parallel to the screw rod 207 are provided at both ends of the welding frame 201 in the Y direction, and the bidirectional telescopic manipulator 212 is slidably connected to the guide rail 205 via a mounting plate 206, that is, each bidirectional telescopic manipulator 212 is connected to the welding frame 201 via three mounting plates 206.

[0070] like Figures 7 to 9 As shown, a linear guide mechanism is provided between the welding frame 201 and the cargo platform frame 100, that is, a guide wheel 202 and a slider 203 are provided on both sides of the welding frame 201 in the X direction, and a C-shaped groove 101 matched with the guide wheel 202 and a guide rail 102 matched with the slider 203 are provided on the cargo platform frame 100. Such a design can reduce the precision requirements of the lifting action for machining. The welding frame lifting drive mechanism of this embodiment includes a screw rod 209 and a second driving part 210 for driving the screw rod 209. The second driving part 210 adopts a motor and is fixed on the cargo platform frame 100. The screw rod 209 is connected to the cargo platform frame 100 through a bearing. The screw rod 209 is provided with a screw nut 211 fixed to the welding frame 201. The length of the screw rod 209 of this embodiment needs to be less than the height of the cargo platform frame 100 to avoid interference between the upper clamping mechanism 200 and the lower conveying mechanism 300.

[0071] The lower conveying mechanism 300 includes a conveyor belt 301 and a conveyor belt transmission system. The conveyor belt 301 can move goods from the stacker buffer area 500 to the cargo platform or from the cargo platform to the buffer area 500 in both directions. Compared with relying on a manipulator to push the material to move, it not only saves space, but also makes it easier to accurately and easily move back and forth between two positions for materials with high friction and easy deformation. Fig.10 and 11As shown, the conveyor belt transmission system of this embodiment includes a third driving unit 305 and a driving shaft 306 arranged above the cargo platform frame 100. The third driving unit 305 adopts a motor with a reducer, and the driving shaft 306 is connected to the cargo platform frame 100 through a bearing. The third driving unit 305 is used to drive the driving shaft 306 to rotate (the transmission between the two can be through gears, or through the synchronous wheel 308 and the synchronous belt 303 shown in the figure). A driven shaft 307 is provided on the conveyor belt 301, and the conveyor belt 301 is driven to rotate by the driven shaft 307. Both ends of the driving shaft 306 and the driven shaft 307 are provided with synchronous wheels 308. The synchronous wheels 308 on the driving shaft 306 and the synchronous wheels 308 on the driven shaft 307 are driven by the synchronous belt 303. The synchronous belt 303, synchronous wheel 308 and driving shaft 306 of this embodiment are arranged along the frame of the cargo platform 100, and the driving mechanism is arranged above the cargo platform frame 100, which can make the transmission area more concise and reduce interference.

[0072] Furthermore, the conveyor belt 301 of this embodiment is divided into multiple strips, and a smooth strip device 302 is provided between two adjacent conveyor belts 301. The smooth strip device 302 is used to reduce the friction between the goods and the lifting platform. At the same time, since the conveying direction of the conveyor belt 301 and the telescopic direction of the two-way telescopic manipulator 212 are generally not in the same direction, this embodiment is also provided with a smooth strip lifting drive mechanism 304 on the top of the platform frame 100. For example, in the device of this embodiment, the transmission belt is transported along the X direction, and the two-way telescopic manipulator 212 is telescopic along the Y direction, that is, the friction between the goods and the platform includes friction in the X-axis and Y-axis directions. When the goods are transferred along the Y axis, the smooth strip rises to prevent the conveyor belt from being rubbed laterally; when the goods are transferred along the X axis, the smooth strip falls, and the goods are completely in contact with the conveyor belt and are transported by the conveyor belt. Compared with the design of the traditional stacker lifting platform that changes the conveying direction by rotating the fork, the structure of this embodiment is simpler.

[0073] The bidirectional telescopic manipulator 212 of this embodiment is a prior art, a three-stage structure (it can be more stages or a two-stage structure), and a built-in driving device to achieve bidirectional telescopic. The first stage of the bidirectional telescopic manipulator 212 is used to achieve fixation with the welding frame 201, and the second and third stages are used for bidirectional movement in the Y-axis direction. At the same time, a fork is provided at both ends of the bidirectional telescopic manipulator 212 in the Y direction. The fork is connected to the bidirectional telescopic manipulator 212 through a bearing, and is controlled by the built-in motor of the bidirectional telescopic manipulator 212 to achieve rotation. Whenever the bidirectional telescopic manipulator 212 is telescoped to a specified position, the fork rotates 90 degrees. When the bidirectional telescopic manipulator 212 performs the next action (lifting or shrinking), the goods are pulled or pushed to the corresponding position by the fork.

[0074] The stacker 900 of this embodiment is used to store and retrieve goods on the shelf 800, including the following process:

[0075] The stacker 900 puts the goods on the shelf 800 into the buffer area 500: Assuming that the goods to be taken by the stacker 900 are A0, the stacker 900 moves to the designated position, and the cargo platform lifting mechanism 603 lifts the cargo platform to the designated height. The smooth bar lifting drive mechanism 304 works, and the smooth bar rises; at the same time, the welding rack lifting drive mechanism works, and the welding rack 201 is lowered to the working position; the two bidirectional telescopic manipulators 212 work synchronously and extend in the Y+ direction to the position, such as Fig.13 As shown; the first driving part 204 drives the two-way telescopic manipulators 212 on both sides to synchronously clamp the cargo A0 through the screw rod 207 and the screw nut 208; the fork-pull 212a rotates 90 degrees to reach the blocking position; the two-way telescopic manipulator 212 works, moves the cargo A0 along the smooth strip in the Y-direction, and enters the cargo platform; the fork-pull 212a rotates and retracts, and at the same time, the two-way telescopic manipulators 212 on both sides are released; the welding frame lifting drive mechanism works to drive the welding frame 201 to rise and return to the avoidance position; the smooth strip lifting drive mechanism 304 drives the smooth strip device 302 to descend, and the cargo A0 is placed on the conveyor belt 301; the cargo platform lifting mechanism 603 lifts the cargo platform to be flush with a certain layer of the buffer area 500, and the conveyor belt 301 and the buffer conveyor belt 501 work synchronously to transfer the cargo from the cargo platform to the buffer area 500 along the X+ direction.

[0076] The stacker 900 stores the goods in the buffer into the shelf 800: Assuming that the goods to be stored and retrieved by the stacker 900 are A1, A1 moves in the X-direction through the buffer conveyor belt 501 in the buffer area 500, and at the same time, the cargo platform conveyor belt 301 works to dock the goods A1 in the buffer area 500 and transfer A1 from the buffer area 500 to the cargo platform; at the same time, the stacker 900 walks to the specified position, and then the cargo platform is lifted to the specified height with the goods A1; the smooth bar lifting drive mechanism 304 works, and the smooth bar rises; the welding rack rises The descending drive mechanism drives it to descend to the working position; the first driving part 204 drives the two-way telescopic manipulators 212 on both sides to synchronously clamp the cargo A1 through the screw rod 207 and the screw nut 208; at the same time, the fork-push 212b rotates 90 degrees to reach the blocking position; the two-way telescopic manipulator 212 works and extends A1 to the Y+ direction to reach the position; A1 is pushed to the cargo position, and the two-way telescopic manipulator 212 synchronously moves to both sides to release A1, and at the same time, the fork-push 212b resets; the two-way telescopic manipulator 212 works and retracts to the original position.

[0077] In order to facilitate the loading and unloading of goods in the buffer area 500, this embodiment also provides a docking device 700, such as Figure 1 and 2As shown, the docking device 700 includes a conveyor line, a lifting device and a docking area in sequence along the X direction. The docking area includes an inbound area 701 and an outbound area 702 arranged side by side along the Y direction. The structures of the inbound and outbound areas 701 and 702 are the same as the cache, and both include eight layers of independently bidirectionally driven warehouse conveyor belts 703, which convey along the X direction. Figure 2 As shown, each layer of the storage area conveyor belt 703 is divided into three storage positions, and each storage position is provided with a detection sensor 503. The storage entry and exit areas 701 and 702 are open at both ends of the storage area conveyor belt 703 in the transmission direction, which is convenient for the input and output of goods. Each layer of the storage area conveyor belt 703 is provided with a telescopic blocking block 502 at both ends of the transmission direction. The detection sensors 503 and the telescopic blocking blocks 502 of the docking area and the buffer area 500 are used in the same principle and are not described here. This embodiment also includes a translation drive unit 707 and a docking area track 706 arranged along the Y direction. The docking area track 706 is installed on the ground, and the docking area can slide on the docking area track 706. The translation drive unit 707 uses an electric cylinder to provide power for the translation of the docking area.

[0078] The conveyor line includes an outbound conveyor line 708 and an inbound conveyor line 709 arranged in the upper and lower layers, and the outbound and inbound conveyor lines 709 are arranged along the Y direction. The lifting device includes a lifting arm and a lifting machine 704 for lifting and lowering the lifting arm. The lifting arm includes a bidirectionally drivable intermediate conveyor belt 705, which is arranged along the X direction. The intermediate conveyor belt 705 is used to transfer goods between the docking area and the conveyor line. Since the conveyor line is transported in the Y direction and the intermediate conveyor belt 705 is transported in the X direction, a conveying direction conversion device 710 is provided at the docking end of the conveyor line and the lifting arm. Figure 1 As shown in , the number of storage area conveyor belts 703 on each layer of the outbound storage area 702, the number of storage area conveyor belts 703 on each layer of the inbound storage area 701, and the number of intermediate conveyor belts 705 are all the same.

[0079] The warehousing process of the docking area in this embodiment is as follows:

[0080] After the product is packaged, it flows into the corresponding lane by scanning the code, and is conveyed to the storage conveyor line 709 along the assembly line, and stops at the end conveying direction conversion device 710 along the Y-direction; at this time, the storage area 701 of the docking area is located at the working position or translated to the working position along the Y+ direction. The elevator 704 works, and the lifting arm is raised and lowered to be flush with the conveying direction conversion device 710 on the storage conveyor line 709; the transmission function is turned on, and the goods A1 is lifted by the conveyor belt along the X-direction; the lifting arm is raised and lowered to the same height as the first-layer conveyor belt of the storage area 701, and the transmission function is turned on, and the goods A1 is conveyed along the X-axis direction to the first storage position on the first layer of the storage area 701. Similarly, elevator 704 continues to transport the next package of goods A2, A1 arrives at the second storage location on the first floor of the incoming storage area 701, and A2 arrives at the first storage location on the first floor of the incoming storage area 701; similarly, elevator 704 continues to transport the next package of goods A3, A1 arrives at the third storage location on the first floor of the incoming storage area 701, A2 arrives at the second storage location on the first floor of the incoming storage area 701; A3 arrives at the first storage location on the first floor of the incoming storage area 701. And so on, until all eight floors are filled.

[0081] When the goods that need to be stored are placed in the storage area 701, the stacker 900 can use this time to place the goods in its own buffer area 500 on the shelf 800, and wait until the stacker 900 completes the storage work and returns to the origin, and connects with the storage area 701 in the docking area. Through the cooperation of the warehouse conveyor belt 703 and the buffer conveyor belt 501, the storage area 701 transports the goods on it to the buffer area 500 synchronously at one time, thereby improving the efficiency of warehousing.

[0082] The outbound process of the docking area in this embodiment is as follows:

[0083] At this time, the outbound area 702 is located at the working position or is translated to the working position along the Y-direction. The buffer area 500 is loaded with the goods to be shipped and returns to the origin, docking with the outbound area 702. The goods are transported to the outbound area 702 along the X+ direction. The elevator 704 works, and the lifting arm sequentially transports all the goods one by one to the outbound conveyor line 708, and then transports them to the shipping area through the assembly line.

[0084] The double sky rail 402 and the double ground rail 401 of this embodiment are both linear and distributed in each lane. Figure 1 For example, in order to save equipment costs, it is necessary to transfer the stacker 900 in the first lane X1 to the second lane X2. For this purpose, this embodiment proposes a track-changing trolley 406 to achieve the transfer of the stacker 900. To ensure the movement of the track-changing trolley 406, a track-changing trolley track 405 is arranged in the warehouse. Figure 1As shown in , the docking device 700 is arranged at one end of one of the stacker tracks, and the other end of the stacker track is provided with a track change trolley track 405 perpendicular to the stacker track. The track change trolley 406 is provided with a stacker temporary track 407 which is in the same height as the double ground track 401, and the stacker 900 can move onto the track change trolley 406 through the stacker temporary track 407. Figures 16 to 19 It is a schematic diagram of the process of the stacker 900 moving from the first lane X1 to the second lane X2 via the track-changing trolley 406. The top running wheels 602 of this embodiment are four single guide wheels to adapt to the change of the running direction during the track change.

[0085] Example 2

[0086] The principle of this embodiment is roughly the same as that of the first embodiment, except that the structure of the stacker carriage 600, the stacker frame 604, and the stacker track is as follows: Figure 20 to Figure 22 As shown, the stacker seat 600 in this embodiment is a beam structure, and the translation mechanism is installed on the stacker seat 600, including a bottom running wheel 601, a top running wheel 602 and a reduction motor driving the bottom running wheel 601. At the same time, a single ground rail 404 and a single ceiling rail 403 are set in the warehouse (including the stacker temporary track 407 on the track change trolley 406 is also set as a single ground rail 404), and the bottom running wheel 601 and the top running wheel 602 run on the single ground rail 404 and the single ceiling rail 403 respectively. The buffer area 500 is connected to the stacker seat 600, and a universal wheel 504 for walking on the ground is installed at the bottom. When the stacker seat 600 walks, the buffer area 500 is towed. The single ground rail 404 and the single overhead rail 403 increase the walking stability of the stacker. At the same time, since the buffer area 500 has a large load, it is independently supported on the ground and only powered by the stacker seat 600, which can reduce the requirements on the track structure strength.

[0087] The rack of this embodiment is a single column structure, a slide rail is provided on the column of the stacker rack 604, and a clamping slider 607 cooperating with the slide rail is fixed to the cargo platform frame 100. The cargo platform lifting mechanism 603 of this embodiment enables the cargo platform to move up and down on the slide rail by pulling the chain.

[0088] Example 3

[0089] The principle of this embodiment is roughly the same as that of the first embodiment, except that the first embodiment is a single-station stacker, while the present embodiment is a double-station stacker, that is, it has two cargo platforms. Fig.23 and 24As shown, the stacker seat 600 of this embodiment is also a plate-type structure, and the stacker seat 600 is installed with the same buffer area 500 as in Example 1. The difference is that the stacker frame 604 of this embodiment is two columns arranged on both sides of each open end of the buffer area 500, and the cargo platform is slidably connected to the two columns through three-sided surrounding guide wheels 605. In order to facilitate the docking of the buffer area 500 and the docking area, the height of the column of this embodiment above the buffer area 500 is not less than the height of the cargo platform, so that the maximum rising height of the cargo platform is not less than the sum of the height of the cargo platform and the height of the buffer area 500.

[0090] The coordination process between the stacker 900 and the docking area in this embodiment is as follows:

[0091] S1. When the stacker approaches the outgoing area 702 or the incoming area 701, the cargo platform on the docking area side rises above the buffer area 500 to make room for docking; S2. The buffer area 500 docks with the outgoing area 702 or the incoming area 701; S3. The warehouse conveyor belt 703 cooperates with the cache conveyor belt 501 to transport the goods.

[0092] Example 4

[0093] The principle of this embodiment is roughly the same as that of the second embodiment, except that the stacker track of the second embodiment is a straight line, while the stacker track of this embodiment is a curved line. Fig.25 As shown, the curved stacker track includes a plurality of parallel straight track segments and a curved track segment connecting two adjacent straight track segments, the straight track segment is used to be arranged in the lane, the curved track segment is used to change lanes, and the docking device 700 is arranged at the starting end or the end of the curve. The curved stacker track can save the track change trolley 406, making the layout of the track in the warehouse more concise, which is conducive to reducing equipment costs.

[0094] Example 5

[0095] The principle of this embodiment is roughly the same as that of the first embodiment, except that in the first embodiment, the stacker uses a track-changing trolley 406 to move from the first lane X1 to the second lane X2, while in the second embodiment, the stacker uses a track-changing trolley 406 to move from the first lane X1 to the second lane X2. Fig.26As shown, a pure track-type track change method is adopted. Specifically, the stacker track is linear and has multiple tracks, and the multiple tracks are arranged in parallel. The docking device 700 is arranged at one end of one of the stacker tracks, and the other end of the stacker track is provided with a track change track 408 perpendicular to the stacker track. The stacker seat is provided with a lifting wheel 608 for walking on the track change track, and the lifting wheel 608 can be lifted and lowered by a telescopic mechanism such as a hydraulic cylinder. When the stacker is walking on the stacker track, the lifting wheels 608 are in a retracted state, which can ensure that when the stacker walks to the track-changing track 408, the lifting wheels 608 do not interfere with the track-changing track 408; when the stacker completely walks on the track-changing track 408, the lifting wheels 608 extend to the track-changing track 408 and lift the entire stacker (in this embodiment, no overhead rail is provided above the track-changing track to prevent the top running wheels from interfering with the overhead rail when the stacker is lifted), so that the stacker can walk on the track-changing track 408, and the bottom running wheels 601 do not interfere with the stacker track.

[0096] The above embodiments are only used to explain the concept of the present invention, rather than to limit the protection of the rights of the present invention. Any non-substantial changes to the present invention using this concept shall fall within the protection scope of the present invention.

Claims

1. An intelligent warehouse, comprising a stacker track, a stacker, shelves arranged on one side or both sides of the stacker track, and a docking device for loading and unloading goods to the stacker, wherein the stacker comprises a stacker seat, on which a stacker frame and a cargo platform lifting mechanism are arranged, and a liftable cargo platform is slidably connected to the stacker frame, characterized in that: The cargo platform is provided with a lower conveying mechanism and an upper clamping mechanism that can be raised or lowered, the lower conveying mechanism includes a conveying belt that can be driven in both directions, the stacker seat is connected with a buffer area, the buffer area includes multiple layers of buffer conveyor belts, the buffer areas are located at both ends of the buffer conveyor belt in the conveying direction, both ends are open and each layer of buffer conveyor belt can be driven in both directions independently, the upper clamping mechanism realizes the transportation of goods between the shelf and the cargo platform, and the conveying conveyor belt and the buffer conveyor belt cooperate to realize the transportation of goods between the cargo platform and the buffer area; The docking device includes a docking area, a lifting device and a conveyor line. The docking area includes a storage entry area and a storage exit area with the same structure as the buffer area. Both the storage entry and storage exit areas include multiple layers of independently bidirectionally driven storage area conveyor belts. Both ends of the storage entry and storage exit areas are open in the conveying direction of the storage area conveyor belt. The storage area conveyor belt and the buffer conveyor belt cooperate to realize the transportation of goods between the docking area and the buffer area. The docking device also includes a docking area track and a translation drive part perpendicular to the conveying direction of the storage area conveyor belt. The storage entry area and the storage exit area are arranged side by side along the direction of the docking area track. The docking area realizes translation on the docking area track through the translation drive part. The conveyor line includes an outbound conveyor line and an inbound conveyor line arranged at the upper and lower layers; the lifting device includes a lifting arm and a hoist for lifting and lowering the lifting arm, the lifting arm includes a bidirectionally drivable intermediate conveyor belt, and the intermediate conveyor belt is used to transport the goods between the docking area and the conveyor line; The cargo platform comprises a cargo platform frame slidably connected to the stacker frame, the upper clamping mechanism comprises a welding frame slidably connected to the cargo platform frame and a welding frame lifting driving mechanism for controlling the lifting of the welding frame, the welding frame is connected to a screw rod 1 through a bearing and is provided with a first driving part for driving the screw rod 1, the screw rod 1 is connected to two screw rod nuts 1 in opposite directions, the screw rod nut 1 is fixedly connected to a bidirectional telescopic manipulator, and the two bidirectional telescopic manipulators are arranged oppositely; the conveyor belts are multiple, a smooth bar device is provided between two adjacent conveyor belts, and the cargo platform frame is provided with a smooth bar lifting driving mechanism; The two ends of the bidirectional telescopic manipulator in the telescopic direction are provided with a fork and a built-in motor for rotating the fork. Whenever the bidirectional telescopic manipulator is telescoped to a specified position, the fork rotates 90 degrees. When the bidirectional telescopic manipulator performs the next action, the goods are pulled or pushed to the corresponding position by the fork.

2. The intelligent warehouse according to claim 1, characterized in that: The stacker seat is of plate structure, the buffer area is fixed on the stacker seat, the stacker track includes double ground rails and double overhead rails, bottom running wheels for running on the double ground rails are installed on both sides of the stacker seat, and top running wheels for running on the double overhead rails are installed on the top of the stacker frame.

3. An intelligent warehouse as claimed in claim 2, characterized in that: The number of the cargo platform is one and the cargo platform is arranged at one end of the buffer area away from the docking device.

4. The intelligent warehouse according to claim 2, characterized in that: There are two cargo platforms, which are respectively located at the two ends of the conveying direction of the buffer conveyor belt. The stacker frame is a column arranged at each open end of the buffer area, and the height of the column above the buffer area is not less than the height of the cargo platform.

5. The intelligent warehouse according to claim 1, characterized in that: The stacker seat is of a beam structure, the stacker track includes a single ground rail and a single overhead rail, the stacker seat is provided with bottom running wheels for running on the single ground rail, the top of the stacker frame is provided with top running wheels for running on the single overhead rail, the buffer area is pulled by the stacker seat and a universal wheel for running on the ground is provided at the bottom; the stacker frame is of a single column structure and is arranged at one end of the buffer area away from the docking device.

6. An intelligent warehouse according to any one of claims 1 to 5, characterized in that: The stacker track is linear and has multiple tracks. The multiple stacker tracks are arranged in parallel. The docking device is arranged at one end of one of the stacker tracks. The other end of the stacker track is provided with a track-changing trolley track perpendicular to the stacker track. The track-changing trolley track is provided with a track-changing trolley; the track-changing trolley is provided with a temporary stacker track, and the stacker can move onto the track-changing trolley through the temporary stacker track.

7. An intelligent warehouse according to any one of claims 1 to 5, characterized in that: The stacker track is of a curved type, and the curved stacker track comprises a plurality of parallel straight-segment tracks and a curved-segment track connecting two adjacent straight-segment tracks, and the docking device is arranged at the starting end or the end of the curve.

8. An intelligent warehouse as claimed in any one of claims 1 to 5, characterized in that: The stacker track is linear and has multiple tracks. The multiple stacker tracks are arranged in parallel. The docking device is arranged at one end of one of the stacker tracks. The other end of the stacker track is provided with a track change track perpendicular to the stacker track. The stacker seat is provided with lifting walking wheels for walking on the track change track.

9. The intelligent warehouse according to claim 1, characterized in that: Each layer of warehouse conveyor belt and each layer of cache conveyor belt are provided with telescopic blocking blocks at both ends of the conveying direction. Each layer of warehouse conveyor belt and each layer of cache conveyor belt are divided into multiple cargo positions in the conveying direction, and each cargo position is provided with a detection sensor.

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