A three-dimensional dense warehouse system and its operation method

Abstract

The present invention discloses a three-dimensional dense warehouse system and its operation method. The three-dimensional dense warehouse system includes a through-type three-dimensional warehouse for storing materials, an auxiliary lifting device and a ground bull lifting AGV forklift; the auxiliary lifting device is used to lift the goods to be processed in the warehouse to a certain height or lower the goods to be processed out of the warehouse to the ground, and the ground bull lifting AGV forklift is used to transport the goods to be processed from the auxiliary lifting device to the storage position of the through-type three-dimensional warehouse, and the distance between the outer sides of the two forks of the ground bull lifting AGV forklift is smaller than the maximum distance between the two sides of the U-shaped fork. In the three-dimensional dense warehouse system of the present invention, the ingenious cooperation of the auxiliary lifting device and the ground bull lifting AGV forklift can realize the operation of the three-dimensional dense warehouse; the ground bull lifting AGV forklift has a small turning radius, which reduces the redundant space required for operation, that is, increases the warehouse capacity. Due to its operation characteristics, it does not need counterweight, which reduces the load on the working surface.

Description

Technical Field

[0001] The invention relates to the technical field of three-dimensional dense warehouses, and in particular to a three-dimensional dense warehouse system and an operation method thereof. Background Art

[0002] As an important part of modern logistics system, the three-dimensional warehouse can realize the rationalization of warehouse high-rise, automatic access and simple operation by using three-dimensional warehouse equipment. With the increasing popularity of automated three-dimensional warehouse shelves in the market, in order to improve the functions of three-dimensional warehouses and further expand the market of three-dimensional warehouses, the shelf industry has also begun to continuously launch various types of three-dimensional warehouses. Among them, the through-type three-dimensional warehouse has become a mainstream form of current three-dimensional warehouses due to its high space utilization rate, forklifts and other operating vehicles can directly drive in (its shelves are called drive-in shelves), and low consumption of other storage equipment (only working at both ends of the shelves).

[0003] At present, through-type stereoscopic warehouses generally use floor plates to cooperate with warehousing and transportation work. In order to facilitate the operation of vehicles to fork goods and to ensure that the floor plates can meet the storage needs of heavier goods, the floor plates generally use Sichuan-shaped plates. Since the through-type stereoscopic warehouse has no horizontal fixed frame, the horizontal direction only uses the floor plate and the side frame of the stereoscopic warehouse to form a supporting surface. In order to ensure that the floor plate does not break under the pressure of the goods, the Sichuan-shaped plate needs to be arranged in a specific direction, that is, the reinforcement ribs at the bottom of the Sichuan-shaped plate are perpendicular to the length direction of the shelf.

[0004] At present, all through-type warehouses are operated with forklifts. Due to the structural characteristics of forklifts, their counterweights are relatively large, which leads to the current through-type warehouses being generally arranged on the ground floor (if arranged upstairs, the floor load is too large, and there is a safety risk). At the same time, their overall length is relatively large, and the turning radius is relatively large. In order to ensure the operating convenience of forklifts, it is necessary to set up aisles and other spaces with large redundancy, which greatly affects the storage capacity of the through-type warehouses. In addition, the cost of forklifts is relatively high, especially at a time when the degree of warehouse automation is getting higher and higher, which greatly increases the cost of realizing automation of through-type warehouses.

[0005] Therefore, it is of great practical significance to develop a through-type three-dimensional warehouse system with large storage capacity, low cost, small working surface load and convenient layout. Summary of the invention

[0006] Due to the above-mentioned defects in the prior art, the present invention provides a through-type stereoscopic warehouse system with large storage capacity, low cost, small working surface load and convenient layout, so as to overcome the defects of the existing through-type stereoscopic warehouse system such as small storage capacity, high automation transformation cost and excessive working surface load.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A three-dimensional intensive warehouse system, including a through-type three-dimensional warehouse for storing materials, an auxiliary lifting device and a ground-bull lifting AGV forklift;

[0009] The auxiliary lifting device is used to lift the goods to be processed in the warehouse to a certain height or to lower the goods to be processed out of the warehouse to the ground, and includes a base, a lifting mechanism and a cargo pick-up / drop-down platform. The lifting mechanism is fixedly arranged on one side of the base, and the cargo pick-up / drop-down platform is connected to the lifting mechanism to be lifted up and down under the drive of the lifting mechanism. The cargo pick-up / drop-down platform includes a fork and a connecting structure connected to the fork. A groove matching the fork is arranged on the ground directly below the fork, so that when the fork is lowered to the lowest position, the upper surface of the fork is flush with or lower than the upper surface of the ground, and the fork is U-shaped.

[0010] The AGV forklift is used to transport incoming goods from the auxiliary lifting device to the target storage location in the through-type stereoscopic warehouse or to transport outgoing goods from the storage location in the through-type stereoscopic warehouse to the auxiliary lifting device. The distance between the outer sides of the two fork arms of the AGV forklift is smaller than the maximum distance between the two sides of the U-shaped fork. The auxiliary lifting device is a prior art, which can be a lifting device for realizing the coordinated transportation of AGV and transport forklift as described in CN208516884U. Of course, other devices that can achieve similar functions can also be applicable.

[0011] The three-dimensional dense warehouse system of the present invention adopts the ingenious cooperation of the auxiliary lifting device and the ground bull lifting AGV forklift to realize the operation of the three-dimensional dense warehouse. First, the auxiliary lifting device assists the floor plate to rise to a certain height so that the ground bull lifting AGV forklift can drive under it, that is, the fork arm of the ground bull lifting AGV forklift is in contact with the reinforcing rib structure of the floor plate at this time, and then the ground bull lifting AGV forklift is used to lift the floor plate and drive into the through-type three-dimensional warehouse to place the floor plate at the target position. Compared with the lifting forklift adopted in the prior art, the ground bull lifting AGV forklift of the present invention has a small turning radius, which can greatly reduce the redundant space required for operation, that is, increase the warehouse capacity. At the same time, due to its operating characteristics, it does not require a counterweight module, which greatly reduces the weight and can greatly reduce the load on the working surface. It can be more convenient to arrange the three-dimensional dense warehouse. At the same time, the ground bull lifting forklift has a low cost and an even lower modification cost. The ground bull lifting forklift adopted in the present invention has the same structure as the existing ground bull forklift, and the only difference is that the adjustment range of its fork arm lifting is larger, and the stability of its fork arm lifting process is good.

[0012] As the preferred technical solution:

[0013] A three-dimensional intensive library system as described above, the through-type three-dimensional library adopts a scattered storage location design, a combination design of scattered storage locations and batch storage locations, or a batch storage location design. Of course, when adopting the scattered storage location design, the storage capacity increase is not significant, but its vacancy rate is low and each storage location can store different materials; when adopting the combination design of scattered storage locations and batch storage locations, the increase in storage capacity is relatively obvious, but the vacancy rate is slightly higher than that of the scattered storage location design; when adopting the full batch storage location design, the storage capacity increases the most, but its vacancy rate is also relatively high;

[0014] The straddle-type lifting AGV forklift is provided with a laser navigation module, and the accurate navigation of the AGV forklift can be realized by using the laser navigation module.

[0015] A three-dimensional intensive library system as described above, the auxiliary lifting device is arranged at the inlet / outlet of the through-type three-dimensional library. This design can prevent external forklifts from entering the library. That is, the straddle-type lifting AGV forklift is used inside the library, and the required passage space is small, which can maximize the utilization of the storage locations inside the library. Of course, if the through-type three-dimensional library all adopts the channel-shaped floor board as the floor board, the auxiliary lifting device can also be arranged at the intersection of the transverse and longitudinal channels inside the through-type three-dimensional library. When the auxiliary lifting device is arranged at this place, it is best for the external forklift to use the same forklift as the forklift inside the library, which can reduce the types of equipment required, lower the procurement / maintenance costs, facilitate later scheduling, and improve the space utilization rate. Of course, those skilled in the art can also reasonably arrange the auxiliary lifting device according to the actual situation on site. The above only gives some feasible technical solutions.

[0016] A three-dimensional intensive library system as described above, the floor board adopted by the through-type three-dimensional library is a channel-shaped floor board, and the distance between the two fork arms of the straddle-type lifting AGV forklift and the width of the fork arms match the channel-shaped floor board;

[0017] The straddle-type lifting AGV forklift is also used to transport the goods to be processed for warehousing from the starting position to the auxiliary lifting device or transport the goods to be processed for outbound from the auxiliary lifting device to the target position.

[0018] A three-dimensional intensive library system as described above, the floor board adopted by the through-type three-dimensional library is a grid-shaped floor board;

[0019] The three-dimensional intensive library system further includes a fork-type counterbalanced forklift (other forklifts that can transport the grid-shaped floor board can also be applicable to the present invention. Only one feasible technical solution is given here). The fork-type counterbalanced forklift is used to transport the goods to be processed for warehousing from the starting position to the auxiliary lifting device or transport the goods to be processed for outbound from the auxiliary lifting device to the target position. Since the auxiliary lifting device is arranged at the inlet or outlet of the through-type three-dimensional library, that is, the fork-type counterbalanced forklift operates outside the through-type three-dimensional library, it does not affect the space inside the library.

[0020] Although the present invention only lists two types of platform boards, namely, the field-shaped platform board and the Sichuan-shaped platform board, the present invention can actually also be applied to other types of platform boards, such as six-legged boards or nine-legged boards. Of course, due to the characteristics of the six-legged boards or nine-legged boards, they do not require auxiliary lifting devices, and they can use a ground-bull-type lifting AGV forklift to complete transportation / lifting and other actions. Of course, since this type of platform board has the risk of deformation / collapse due to long-term storage, it needs to be used in conjunction with the WMS intelligent warehouse transfer software.

[0021] The present invention also provides a method for operating the three-dimensional dense warehouse as described above, comprising the following steps:

[0022] (1) Transport the cargo to be processed from the starting position to the auxiliary lifting device, and place the cargo to be processed on the cargo fork. If the platform under the cargo to be processed is a "C"-shaped platform, the insertion direction of the "C"-shaped platform is perpendicular to the opening direction of the cargo fork;

[0023] (2) The auxiliary lifting device operates, and the cargo fork drives the cargo to be operated to a certain height, and the certain height is greater than the distance between the fork arm and the ground when the fork arm of the ground-type lifting AGV forklift is in the lowest state;

[0024] (3) The fork arm of the AGV forklift enters under the cargo to be handled along the opening direction of the fork, and the floor plate is located above the fork arm of the AGV forklift;

[0025] (4) The fork arm of the AGV forklift is raised to lift the cargo to be processed to the specified height;

[0026] (5) The AGV forklift transports the goods to be processed to the target location of the goods to be processed in the through-type three-dimensional warehouse. The fork arm of the AGV forklift drops until the floor plate contacts the shelf support to complete the storage of the goods to be processed. The outbound operation process of the goods to be processed is basically the opposite of the above-mentioned storage operation process. The above-mentioned operation method is simple to operate, and the AGV forklift can be used to realize the inbound and outbound operations of the floor plate. The AGV forklift has a compact structure and low cost, and has great application prospects.

[0027] As the preferred technical solution:

[0028] In the above-mentioned operation method, the platform plate under the cargo to be operated is a "Chuan"-shaped platform plate;

[0029] The forklift that transports the cargo to be processed from the starting position to the auxiliary lifting device is a ground-bull lifting AGV forklift;

[0030] The forking process of the ground bull lifting AGV forklift is as follows:

[0031] After the fork arm of the AGV forklift is inserted into the socket of the Sichuan-shaped floor plate, the fork arm of the AGV forklift rises, and the cargo to be operated is separated from the ground. That is, the three-dimensional dense warehouse uses the same type of operating vehicles for operation, which can not only greatly reduce the cost of logistics maintenance, but also make it more convenient to arrange the scheduling plan of the operating vehicles, thereby improving the utilization rate of the operating vehicles and reducing the operating cost of the three-dimensional dense warehouse.

[0032] In the above-mentioned operation method, the ground bull lift AGV forklift is divided into two groups, one group is responsible for transporting the goods to be operated from the starting position to the auxiliary lifting device, and the other group is responsible for transporting the goods to be operated from the auxiliary lifting device to the target position of the goods to be operated in the through-type stereoscopic warehouse. This is a feasible technical solution of the present invention, and of course, those skilled in the art can dispatch the ground bull lift AGV forklift according to actual conditions.

[0033] In the operation method described above, the AGV forklift responsible for transporting the goods to be operated from the starting position to the auxiliary lifting device and the AGV forklift responsible for transporting the goods to be operated from the auxiliary lifting device to the target position of the goods to be operated in the through-type stereoscopic warehouse can be the same vehicle or different vehicles.

[0034] In the above-mentioned operation method, the floor plate under the cargo to be operated is a field-shaped floor plate;

[0035] The forklift that transports the cargo to be handled from the starting position to the auxiliary lifting device is a fork-tooth counterbalanced forklift. Other forklifts that can be used to transport the field platform plate can also be used in the present invention.

[0036] The present invention also provides a feasible alternative solution, which is applicable to users who already have stacking AGV vehicles, that is, the stacking AGV vehicle is an existing device. The specific solution is to use the stacking AGV vehicle to replace the ground bull AGV forklift to complete the upper and lower storage operations, and at the same time use the ground bull AGV forklift to transport the incoming goods to be processed from the starting position to the auxiliary lifting device or to transport the outgoing goods to be processed from the auxiliary lifting device to the target position. This solution uses the "Chuan"-shaped platform plate as the warehouse selection platform plate. Since it uses the ground bull AGV forklift to insert the platform plate on the ground, the platform plate is a "Chuan"-shaped platform plate. Of course, other types of platform plates that can be used for ground bull forklifts can also be used for the present invention. The consideration of using the "Chuan"-shaped platform plate here is mainly to consider the durability and applicability of the platform plate. This solution can reduce the number of configurations of the ground bull AGV forklift accordingly, and at the same time, the lifting height of the ground bull AGV forklift does not need to be increased.

[0037] The operation method includes the following steps:

[0038] (1) The ground-type AGV forklift picks up the goods to be processed on the ground. A "C"-shaped floor plate is arranged under the goods to be processed. After the fork arm of the ground-type AGV forklift is inserted into the socket of the "C"-shaped floor plate, the fork arm of the ground-type AGV forklift rises, and the goods to be processed are separated from the ground;

[0039] (2) The ground bull AGV forklift transports the goods to be processed to the auxiliary lifting device and places the goods to be processed on the forks;

[0040] (3) The auxiliary lifting device operates, and the fork drives the cargo to be handled to a certain height, and the certain height is greater than the maximum height of the stacking AGV in the retracted state;

[0041] (4) The ground bull AGV forklift withdraws from under the cargo to be processed, and the stacking AGV drives under the cargo to be processed and its position matches the through-hole position of the fork. At this time, the platform plate is located above the stacking AGV;

[0042] (5) The lifting plate of the stacking AGV is raised to lift the cargo to be processed to the specified height;

[0043] (6) The stacker AGV transports the goods to be processed to the target location of the goods to be processed in the through-type three-dimensional warehouse. The top plate of the stacker AGV descends until the "C"-shaped platform plate contacts the shelf support, and the goods to be processed are put into storage. The outbound operation process of the goods to be processed is basically the opposite of the above-mentioned storage operation process.

[0044] The above technical solution is only a feasible technical solution of the present invention, and the protection scope of the present invention is not limited thereto. Those skilled in the art can reasonably adjust the specific design according to actual needs.

[0045] The above invention has the following advantages or beneficial effects:

[0046] (1) The three-dimensional dense storage system of the present invention can realize the operation of the three-dimensional dense storage by using the ingenious cooperation of the auxiliary lifting device and the ground bull lifting AGV forklift. First, the ground bull lifting AGV forklift is used to transport the floor plate to the auxiliary lifting device. The auxiliary lifting device assists the floor plate to rise to a certain height so that the ground bull lifting AGV forklift can drive under it, that is, the fork arm of the ground bull lifting AGV forklift is in contact with the reinforcing rib structure of the Sichuan-shaped floor plate at this time, and then the ground bull lifting AGV forklift is used to lift the floor plate and drive into the through-type three-dimensional storage to place the floor plate at the target position;

[0047] (2) The three-dimensional dense storage system of the present invention uses a pallet jack type lifting AGV forklift. Compared with the existing lifting forklifts, it has a smaller turning radius, which can greatly reduce the redundant space required for operation, that is, increase the storage capacity. At the same time, due to its operation characteristics, it does not require a counterweight module, greatly reducing the weight, being able to greatly reduce the load on the operation surface, and being able to arrange the three-dimensional dense storage more conveniently. At the same time, the pallet jack type lifting forklift has a lower cost and an even lower transformation cost;

[0048] (3) The operation method of the three-dimensional dense storage system of the present invention is simple. Using a pallet jack type lifting AGV forklift can realize the inbound and outbound operations of the channel pallet. Using the same type of operation vehicle for operation can not only greatly reduce the cost of logistics maintenance, but also arrange the scheduling plan of the operation vehicle more conveniently, thereby improving the utilization rate of the operation vehicle and reducing the operation cost of the three-dimensional dense storage, and has great application prospects. Description of the Drawings

[0049] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, the present invention and its features, appearance and advantages will become more obvious. The same reference numerals indicate the same parts in all the drawings. The drawings are not drawn to scale, and the focus is on showing the gist of the present invention.

[0050] Figure 1 It is a layout diagram of the three-dimensional dense storage with the largest storage capacity in the prior art;

[0051] Figure 2 It is a layout diagram of the three-dimensional dense storage in Embodiments 1 and 4;

[0052] Figure 3 It is a layout diagram of the three-dimensional dense storage in Embodiments 2 and 5;

[0053] Figure 4 It is a layout diagram of the three-dimensional dense storage in Embodiments 3 and 6;

[0054] Figure 5 It is a schematic diagram of the direction of the upper and lower forks of the goods to be operated (the dashed box in the figure represents the reinforcing ribs at the bottom of the channel pallet);

[0055] Among them, 1 - auxiliary lifting device. Detailed Embodiments

[0056] The following further describes the structure in the present invention with reference to the drawings and specific embodiments, but it is not a limitation of the present invention.

[0057] Comparative Example 1

[0058] A three-dimensional dense storage system uses as Figure 1The conventional large storage location design (maximizing space utilization) shown has up to 12 - 13 boards per aisle, only two vertical and horizontal channels, and 550 storage locations.

[0059] Example 1

[0060] A three - dimensional dense storage system includes a through - type three - dimensional warehouse for storing materials (its overall floor area is the same as that of Comparative Example 1, adopting the scattered storage location design as shown, with 560 storage locations, and each storage location can store different materials separately, and the storage locations are 100% available), an auxiliary lifting device as described in CN208516884 U, and a straddle - type lifting AGV forklift; Figure 2 The auxiliary lifting device includes a base, a lifting mechanism, and a loading / unloading platform. The lifting mechanism is fixedly arranged on one side of the base. The loading / unloading platform is connected to the lifting mechanism to move up and down under the drive of the lifting mechanism. The loading / unloading platform includes a fork and a connecting structure connected to the fork. A groove matching the fork is provided on the ground directly below the fork, so that when the fork descends to the lowest position, the upper surface of the fork is flush with the upper surface of the ground. The fork is U - shaped, as shown in

[0061] The auxiliary lifting device 1 is arranged at the inlet / outlet of the through - type three - dimensional warehouse; Figure 2

[0062] The straddle - type lifting AGV forklift is provided with a laser navigation module. The distance between the two fork arms of the straddle - type lifting AGV forklift and the width of the fork arms match the three - channel floor board. The distance between the outer sides of the two fork arms of the straddle - type lifting AGV forklift is less than the maximum distance between the two sides of the U - shaped fork.

[0063] The operation method of the above three - dimensional dense storage system includes the following steps:

[0064] (1) The straddle - type lifting AGV forklift forks the goods to be operated on the ground. A three - channel floor board is arranged below the goods to be operated. After the fork arms of the straddle - type lifting AGV forklift are inserted into the insertion holes of the three - channel floor board, the fork arms of the straddle - type lifting AGV forklift rise, and the goods to be operated are separated from the ground;

[0065] (2) The straddle - type lifting AGV forklift transports the goods to be operated to the auxiliary lifting device and places the goods to be operated on the fork. At this time, the direction of the insertion holes of the three - channel floor board is perpendicular to the opening direction of the fork;

[0066] (3) The auxiliary lifting device operates, and the fork drives the goods to be operated to rise a certain height, and the certain height is greater than the distance between the fork arms and the ground in the lowest state of the fork arms of the straddle - type lifting AGV forklift;

[0067] ​(4) The straddle stacker AGV forklift adjusts its position and withdraws from under the goods to be operated. The fork arms of the straddle stacker AGV forklift enter under the goods to be operated along the opening direction of the forks. At this time, the pallet is located above the fork arms of the straddle stacker AGV forklift. The direction of the goods to be operated on the upper and lower forks is as Figure 5 shown;

[0068] (5) The fork arms of the straddle stacker AGV forklift rise to lift the goods to be operated to the specified height;

[0069] (6) The straddle stacker AGV forklift transports the goods to be operated to the target position of the goods to be operated in the through-type automated storage and retrieval system. The fork arms of the straddle stacker AGV forklift descend until the pallet contacts the shelf support, and the warehousing of the goods to be operated is completed;

[0070] In addition, the straddle stacker AGV forklift can be divided into two groups. One group is responsible for transporting the goods to be operated from the starting position to the auxiliary lifting device, and the other group is responsible for transporting the goods to be operated from the auxiliary lifting device to the target position of the goods to be operated in the through-type automated storage and retrieval system to further improve the overall operation efficiency. Of course, the above warehousing work can also be completed by using the same straddle stacker AGV forklift. The outbound operation process of the goods to be operated is basically the opposite of the above inbound operation process.

[0071] Embodiment 2

[0072] An automated storage and retrieval system is basically the same as that in Embodiment 1, except that the through-type automated storage and retrieval system adopts a combined design of scattered storage locations and batch storage locations as shown in Figure 3 shown, with 720 storage locations and a storage location utilization rate ≥ 98%.

[0073] Embodiment 3

[0074] An automated storage and retrieval system is basically the same as that in Embodiment 1, except that the through-type automated storage and retrieval system adopts a combined design of scattered storage locations and batch storage locations as shown in Figure 4 shown, with 840 storage locations and a storage location utilization rate ≥ 95%.

[0075] Embodiment 4

[0076] An automated storage and retrieval system is basically the same as that in Embodiment 1, except that a fork-type counterbalanced forklift is used to replace the straddle stacker AGV forklift originally used to transport the goods to be operated for inbound from the starting position to the auxiliary lifting device or to transport the goods to be operated for outbound from the auxiliary lifting device to the target position. The pallet applicable to it is a cross-shaped pallet;

[0077] The operation method of the above automated storage and retrieval system includes the following steps:

[0078] (1) A fork-tine counterbalanced forklift picks up the cargo to be processed on the ground. A field-shaped floor plate is arranged below the cargo to be processed. After the fork of the fork-tine counterbalanced forklift is inserted into the socket of the field-shaped floor plate, the fork rises and the cargo to be processed is separated from the ground;

[0079] (2) The fork-tooth counterbalanced forklift transports the cargo to be processed to the auxiliary lifting device and places the cargo on the forks;

[0080] (3) The auxiliary lifting device operates, and the cargo fork drives the cargo to be operated to a certain height, which is greater than the distance between the fork arm and the ground when the fork arm of the ground-type lifting AGV forklift is in the lowest state;

[0081] (4) The fork-tooth counterbalanced forklift withdraws from under the cargo to be processed, and the fork arm of the ground bull lift AGV forklift enters under the cargo to be processed along the opening direction of the fork. At this time, the platform is located above the fork arm of the ground bull lift AGV forklift;

[0082] (5) The fork arm of the AGV forklift is raised to lift the cargo to be processed to the specified height;

[0083] (6) The AGV forklift transports the goods to be processed to the target location of the goods to be processed in the through-type stereoscopic warehouse. The fork arm of the AGV forklift descends until the field-shaped floor plate contacts the shelf support, completing the warehousing of the goods to be processed.

[0084] Example 5

[0085] A three-dimensional dense storage system, which is basically the same as Example 4, except that the through-type three-dimensional storage adopts Figure 3 The combination design of scattered storage locations and batch storage locations shown has 720 storage locations and a storage location utilization rate of ≥98%.

[0086] Example 6

[0087] A three-dimensional dense storage system, which is basically the same as Example 4, except that the through-type three-dimensional storage adopts Figure 4 The combination design of scattered storage locations and batch storage locations shown has 840 storage locations and a storage location utilization rate of ≥95%.

[0088] Those skilled in the art should understand that those skilled in the art can implement variations by combining the prior art and the above embodiments, which will not be described in detail here. Such variations do not affect the essential content of the present invention, and will not be described in detail here.

[0089] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. An operating method of a three-dimensional dense warehouse system, characterized in that: The three-dimensional dense warehouse system includes a through-type three-dimensional warehouse for storing materials, an auxiliary lifting device and a ground-bull lifting AGV forklift; The auxiliary lifting device is used to lift the goods to be processed in the warehouse to a certain height or to lower the goods to be processed out of the warehouse to the ground, and includes a base, a lifting mechanism and a cargo pick-up and placement platform. The lifting mechanism is fixedly arranged on one side of the base, and the cargo pick-up and placement platform is connected to the lifting mechanism to be lifted up and down under the drive of the lifting mechanism. The cargo pick-up and placement platform includes a fork and a connecting structure connected to the fork. A groove matching the fork is arranged on the ground directly below the fork, so that when the fork is lowered to the lowest position, the upper surface of the fork is flush with or lower than the upper surface of the ground, and the fork is U-shaped; The ground bull lifting AGV forklift is used to transport incoming goods to be processed from the auxiliary lifting device to the target storage location in the through-type stereoscopic warehouse, or to transport outgoing goods to be processed from the storage location in the through-type stereoscopic warehouse to the auxiliary lifting device, and the distance between the outer sides of the two forks of the ground bull lifting AGV forklift is less than the maximum distance between the two sides of the U-shaped fork; The operation method comprises the following steps: (1) Transport the cargo to be operated from the starting position to the auxiliary lifting device, place the cargo to be operated on the cargo fork, and the platform under the cargo to be operated is a "Chuan"-shaped platform. At this time, the insertion direction of the "Chuan"-shaped platform is perpendicular to the opening direction of the cargo fork; (2) When the auxiliary lifting device is in operation, the cargo fork drives the cargo to be operated to a certain height, and the certain height is greater than the distance between the fork arm and the ground when the fork arm of the ground-type lifting AGV forklift is in the lowest state; (3) The fork arm of the AGV forklift enters under the cargo to be handled along the opening direction of the fork. At this time, the floor plate is located above the fork arm of the AGV forklift; (4) The fork arm of the AGV forklift is raised to lift the cargo to be processed to the specified height; (5) The AGV forklift transports the goods to be processed to the target location of the goods to be processed in the through-type stereoscopic warehouse. The fork arm of the AGV forklift descends until the platform plate contacts the shelf support to complete the warehousing of the goods to be processed.

2. The operating method of a three-dimensional dense storage system according to claim 1 is characterized in that: The through-type three-dimensional warehouse adopts scattered storage location design, scattered storage location and batch storage location combination design or batch storage location design; The ground-bull lifting AGV forklift is provided with a laser navigation module.

3. The operating method of a three-dimensional dense storage system according to claim 1 is characterized in that: The auxiliary lifting device is arranged at the entrance or exit of the through-type stereoscopic warehouse.

4. The operating method of a three-dimensional dense storage system according to claim 1 is characterized in that: The platform plate used in the through-type stereoscopic warehouse is a "Chuan"-shaped platform plate, and the distance between the two forks and the width of the forks of the ground bull lifting AGV forklift match the "Chuan"-shaped platform plate; The ground bull lift AGV forklift is also used to transport the incoming goods to be processed from the starting position to the auxiliary lifting device or to transport the outgoing goods to be processed from the auxiliary lifting device to the target position.

5. The operating method of a three-dimensional dense storage system according to claim 1 is characterized in that: The floor plate under the goods to be handled is a "Chuan"-shaped floor plate; The forklift that transports the cargo to be processed from the starting position to the auxiliary lifting device is a ground-bull lifting AGV forklift; The forking process of the ground bull lifting AGV forklift is as follows: The fork arm of the ground bull lift AGV forklift is inserted into the socket of the Sichuan-shaped floor plate, and then the fork arm of the ground bull lift AGV forklift rises, and the cargo to be operated is out of contact with the ground.

6. The operating method of a three-dimensional dense storage system according to claim 5, characterized in that: The AGV forklift is divided into two groups, one group is responsible for transporting the goods to be worked from the starting position to the auxiliary lifting device, and the other group is responsible for transporting the goods to be worked from the auxiliary lifting device to the target position of the goods to be worked in the through-type stereoscopic warehouse.

7. The operating method of a three-dimensional dense storage system according to claim 5, characterized in that: The AGV forklift responsible for transporting the goods to be worked from the starting position to the auxiliary lifting device and the AGV forklift responsible for transporting the goods to be worked from the auxiliary lifting device to the target position of the goods to be worked in the through-type stereoscopic warehouse can be the same vehicle or different vehicles.

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