Access device and access method

Abstract

The present invention discloses a storage and retrieval device, which includes a bracket, a support arm, a sensing device, and a control device. The support arm is horizontally arranged, and a plurality of support arms are arranged. The bracket is provided with a height adjustment mechanism and a rotation mechanism, and each support arm is arranged on the rotation mechanism, and the rotation mechanism is connected to the height adjustment mechanism; the sensing device is arranged on the bracket, and the sensing device is used to set the height of the support arm; and the control device is used to adjust the working state of the sensing device. In the present invention, when storing materials, the support arm is rotated to the gap between the materials at the target height through the rotation mechanism, and the height adjustment mechanism lifts the support arm together with the materials, so as to place the materials to be stored; when taking out the materials, the support arm is moved to the target height through the height adjustment mechanism, and the support arm is rotated to the gap between the materials, and the height adjustment mechanism lifts the support arm together with the materials above the support arm, so as to extract the materials to be taken out, improve work efficiency, and reduce labor costs.

Description

Technical Field

[0001] The present invention relates to the field of warehousing, and in particular to a storage and retrieval device and a storage and retrieval method. Background Art

[0002] In factories, increasing attention is paid to improving space utilization. Workers need to perform multiple complex activities in a limited space. Without auxiliary tools, higher spaces are difficult to utilize, or the utilization of space is at the expense of increased labor costs. In fact, it is still impossible to flexibly utilize space resources according to demand.

[0003] At present, mattresses are usually stored and placed vertically in a cart for temporary storage, or manually transported and stacked horizontally on a metal rack. However, vertical mattresses may cause bulging, material misalignment, and other problems; although manual stacking on a metal rack can improve space utilization, it greatly increases the complexity of mattress storage and access, reduces work efficiency, and increases labor costs and time costs. Summary of the invention

[0004] In order to solve at least one of the above technical problems, the present invention provides an access device and an access method, and the technical solutions adopted are as follows:

[0005] The present invention provides a storage and access device, which includes a bracket, a support arm, a sensing device, and a control device. The support arm is horizontally arranged, and the bracket is provided with a height adjustment mechanism and a rotation mechanism. The support arm is arranged on the rotation mechanism, and the rotation mechanism is used to adjust the angle of the support arm, and the rotation mechanism is connected to the height adjustment mechanism; the sensing device is arranged on the bracket, and the sensing device is used to set the height of the support arm; the control device is arranged on the bracket, and the control device is electrically connected to the sensing device, and the control device is used to adjust the working state of the sensing device. The embodiments of the present invention have at least the following beneficial effects: In the present invention, when storing materials, the target height is set by the sensing device, the support arm is moved to the target height by the height adjustment mechanism, and the support arm is rotated into the gap between the materials at the target height by the rotation mechanism, and the height adjustment mechanism lifts the support arm together with the materials, thereby placing the materials to be stored, and the height of the support arm drops to the top of the materials below, and rotates out of the range of the materials; when taking out materials, the target height is set to the top height of the materials to be taken out by the sensing device, the support arm is moved to the target height by the height adjustment mechanism, and the support arm is rotated into the gap between the materials, and the height adjustment mechanism lifts the support arm together with the materials above the support arm, thereby extracting the materials to be taken out, and the height of the support arm drops to the top of the materials below, and rotates out of the range of the materials, completing the storage and retrieval work, improving work efficiency, and reducing labor costs.

[0006] In certain embodiments of the present invention, an insertion structure is provided at the end of the support arm, a first end of the insertion structure is connected to the end of the support arm, and a second end of the insertion structure is used to be inserted into a gap between materials.

[0007] In certain embodiments of the present invention, a lifting mechanism is provided at the end of the support arm, the insertion structure is connected to the lifting mechanism, and the lifting mechanism is used to adjust the relative height between the insertion structure and the support arm.

[0008] In certain embodiments of the present invention, a positioning assembly is provided on the bracket, and the positioning assembly is disposed above the support arm. The positioning assembly is used to abut against the material above the support arm to limit the position of the material above the support arm.

[0009] In certain embodiments of the present invention, the positioning assembly includes a clamping structure and a first telescopic structure, wherein the first telescopic structure is connected to the bracket, and the clamping structure is connected to the first telescopic structure, and the clamping structure is used to abut against the opposite side of the material.

[0010] In certain embodiments of the present invention, the positioning assembly includes a second telescopic structure, a first positioning arm, and a second positioning arm, the second telescopic structure is arranged on the bracket, the first positioning arm is arranged on the second telescopic structure, the second positioning arm is arranged on the second telescopic structure, the first positioning arm is angled with the second positioning arm, and the first positioning arm and the second positioning arm are used to abut against the angle of the material.

[0011] The present invention provides a storage and access method, comprising: measuring the size of a material, and evaluating whether the size of the material meets the storage and access requirements;

[0012] The target height is measured by a sensing device, when the target height is greater than a first critical value, the support arm stops executing, when the target height is less than a second critical value, the support arm stops executing, when the target height is between the first critical value and the second critical value, the support arm starts working;

[0013] After the support arm is lifted to the target height, the support arm is inserted between the stacked materials by rotating and lifting the height, so that the material to be stored is placed between the stacked materials, or the material to be taken out is taken out from the stacked materials below; after the material is stored and taken out, the distance between each support arm and the material below is measured by the sensing device. When the distance between each support arm and the material below is not equal, the support arm stops executing, and when the distance between each support arm and the material below is equal, the support arm starts working;

[0014] The support arm drops down to the top of the material below and then rotates out of the way of the material.

[0015] The embodiments of the present invention have at least the following beneficial effects: In the present invention, firstly, it is evaluated whether the size of the material is suitable for the size of the storage and retrieval device. When the material meets the storage and retrieval requirements, the target height is measured by the sensor, and the target height needs to be within the movable range of the support arm, so that the storage and retrieval work is completed by the support arm, and the material above the storage and retrieval position is stacked on the top of the material below by the support arm under the premise of ensuring the placement safety. The storage and retrieval process is convenient, and the storage and retrieval safety is high, avoiding the danger of stacked materials falling.

[0016] In some embodiments of the present invention, the step of measuring the size of the material and evaluating whether the size of the material meets the storage and access requirements includes:

[0017] Measure the length, width and the first distance between the angle of the material and the center of the material;

[0018] measuring the length of the access device, measuring the width of the access device, and measuring a second distance between the angle of the access device and the center of the access device;

[0019] Evaluate whether the width of the material is smaller than the width of the access device, evaluate whether the length of the material is smaller than the length of the access device, evaluate whether the first distance is smaller than the second distance, and evaluate whether the second distance is smaller than the sum of the first distance and the length of the support arm.

[0020] In some embodiments of the present invention, the step of evaluating whether the second distance is less than the sum of the first distance and the length of the support arm comprises:

[0021] A safety distance is set, and it is evaluated whether the second distance is less than the sum of the first distance, the support arm length, and the safety distance.

[0022] In certain embodiments of the present invention, after the material is stored or retrieved, the distance between each support arm and the material below is measured by a sensing device. When the distance between each support arm and the material below is not equal, the support arm stops working. When the distance between each support arm and the material below is equal, the support arm starts working, including:

[0023] The error value is set, and when the distance between each support arm and the material below exceeds the error value, the support arm stops executing, and when the distance between each support arm and the material below is within the error value, the support arm starts working. Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1is a front view of the access device of the present invention;

[0026] Figure 2 is a top view of the storage and access device of the present invention in a natural state;

[0027] Figure 3 is a top view of the storage and access device of the present invention in working state;

[0028] Figure 4 is a front view of a first embodiment of a storage and access device of the present invention;

[0029] Figure 5 is a top view of a first embodiment of a storage and access device of the present invention;

[0030] Figure 6 is a front view of a second embodiment of a storage and access device of the present invention;

[0031] Figure 7 1 is a top view of a second embodiment of a storage and access device according to the present invention.

[0032] Reference numerals:

[0033] 101. bracket; 102. support arm; 103. height adjustment mechanism; 104. sensing device;

[0034] 201. Clamping structure; 202. First telescopic structure;

[0035] 301. First positioning arm; 302. Second positioning arm; 303. Second telescopic structure. DETAILED DESCRIPTION

[0036] This section will combine Figures 1 to 7 Embodiments of the present invention are described in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0037] In the description of the present invention, it should be understood that if the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. The features defined as "first" and "second" are used to distinguish the feature names, rather than having special meanings. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] like Figure 1 As shown, an embodiment of the present invention provides a storage and retrieval device, which includes a bracket 101 and a support arm 102. The support arm 102 is arranged on the bracket 101. Since the support arm 102 needs to be raised or lowered in height to raise or lower the height of the material, the bracket 101 needs to have a certain height. Specifically, the bracket 101 includes a plurality of columns, each of which is vertically arranged on the ground. When the storage and retrieval device is used to store and retrieve a mattress, four columns are arranged, and the four columns are respectively located near the four corners of the mattress. The columns have a certain protective effect on the four corners of the mattress to prevent the four corners of the mattress from being bumped and affecting the product quality.

[0040] like Figures 2 to 3 As shown, in some examples, the support arm 102 is horizontally arranged on the column. Furthermore, the number of the support arms 102 corresponds to the number of the columns. When there are four columns and they are located near the angle of the mattress, the support arm 102 supports the mattress at the angle of the mattress to raise or lower the height of the mattress. A height adjustment mechanism 103 is arranged on the bracket 101. The height adjustment mechanism 103 is used to raise or lower the height of the support arm. When the bracket 101 includes a column, the height adjustment mechanism 103 is arranged on the column, and each support arm 102 corresponds to one height adjustment mechanism 103.

[0041] Alternatively, the bracket 101 does not include a column, the support arm 102 is arranged on the bracket 101, the number of the support arms 102 is set according to actual conditions, and the height adjustment mechanism 103 is arranged on the bracket 101, the height adjustment mechanism 103 drives the support arm 102 to change its height, and an access port is provided on the bracket 101. When the access device is used to access the mattress, the mattress enters or moves out of the access device from the access port.

[0042] Specifically, the height adjustment mechanism 103 includes a sprocket and a chain, the sprocket is arranged at the top and bottom of the column, the support arm 102 is arranged on the chain, and the height adjustment mechanism 103 raises or lowers the height of the support arm 102 through the chain drive. It can be understood that the height adjustment range of the support arm 102 is within the effective range of the chain drive.

[0043] Furthermore, a rotating mechanism is provided on the bracket 101, and the rotating mechanism is used to adjust the angle of the support arm 102. When materials need to be stored, the support arm 102 is rotated to the inside of the material gap of the storage position through the rotating mechanism, and then the materials above the storage position are lifted through the height adjustment mechanism 103, so that the materials to be stored are placed; when materials need to be taken out, the support arm 102 is rotated to the top of the materials to be taken out through the rotating mechanism, and then the materials above are lifted through the height adjustment mechanism 103, so as to facilitate the extraction of the materials to be taken out; when there is no need to store or retrieve materials, the support arm 102 is in a natural state, and the support arm 102 is rotated out of the range of the materials through the rotating mechanism to ensure that the center of gravity of the material pile with a certain height is stable.

[0044] It is understandable that the support arm 102 is disposed on the rotating mechanism, and the rotating mechanism is disposed on the height adjustment mechanism 103. When the height adjustment mechanism 103 includes a sprocket and a chain, the rotating mechanism is disposed on the chain. The structure and principle of the rotating mechanism are conventional technical means in the art and will not be described in detail here.

[0045] In some examples, a positioning assembly is provided on the bracket 101. When the storage and retrieval work starts, since the support arm 102 needs to rotate into the material gap, the materials stacked above the gap are affected by the rotation of the support arm 102, which is easy to cause displacement, resulting in unstable center of gravity, and thus creating a safety hazard; when the storage and retrieval action is completed, the support arm 102 drops to the top of the materials below. At this time, there are materials above and below the support arm 102, and the materials above and below are in close contact with the support arm 102. The materials are easily affected by the rotation of the support arm 102, which is not conducive to material storage and may even create a safety hazard.

[0046] The positioning assembly abuts against the side wall of the material above the support arm 102. When the material above the support arm 102 has a tendency to move horizontally, the positioning assembly provides a reverse force to the material above the support arm 102, thereby preventing the material from moving horizontally and limiting the position of the material above the support arm 102. It can be understood that the positioning assembly is disposed above the support arm 102.

[0047] like Figures 4 to 5 As shown, in the first embodiment, the positioning assembly includes a clamping structure 201 and a first telescopic structure 202. The clamping structure 201 can abut against the opposite side of the material above the support arm 102, thereby limiting the position of the material above the support arm 102. Further, the clamping structures 201 are arranged in pairs, and the clamping structures 201 are arranged on the height adjustment mechanism 103. The height adjustment mechanism 103 can adjust the height of the clamping structure 201 while adjusting the height of the support arm 102, so that the height of the clamping structure 201 corresponds to the material above the support arm 102.

[0048] Furthermore, the contact area between the clamping structure 201 and the side of the material is relatively large, which improves the limiting effect while preventing the local position of the material from being subjected to excessive pressure, thereby damaging the material.

[0049] Specifically, a first telescopic structure 202 is provided between the clamping structure 201 and the height adjustment mechanism 103, and the first telescopic structure 202 is used to change the horizontal position of the clamping structure 201. When the clamping structure 201 needs to abut against the material to work, the length of the first telescopic structure 202 increases; when the clamping structure 201 needs to be separated from the material after completing the work, the length of the first telescopic structure 202 decreases. It is understandable that the first telescopic structure 202 can be set as a hydraulic rod, one end of the hydraulic rod is connected to the height adjustment mechanism 103, and the other end is used to connect the clamping structure 201. The hydraulic rod moves smoothly during the extension and shortening process, which is convenient for the staff to observe the specific position of the clamping structure 201, so as to adjust the length of the hydraulic rod in time.

[0050] like Figure 6 to Figure 7 As shown, in the second embodiment, the positioning assembly includes a second telescopic structure 303, a first positioning arm 301, and a second positioning arm 302. The first positioning arm 301 and the second positioning arm 302 are angled and arranged at the angle of the material. It can be understood that the angle formed by the first positioning arm 301 and the second positioning arm 302 corresponds to the angle at the angle of the material, ensuring that the contact area between the first positioning arm 301 and the second positioning arm 302 and the material is large enough, thereby limiting the position of the material above the support arm 102. Further, the first positioning arm 301 and the second positioning arm 302 are arranged at one end of the second telescopic structure 303, and the other end of the second telescopic structure 303 is arranged on the bracket 101.

[0051] It is understandable that as the support arm 102 is lifted or lowered, the first positioning arm 301 and the second positioning arm 302 also need to be lifted or lowered to ensure that the first positioning arm 301 and the second positioning arm 302 are always above the support arm 102, thereby limiting the position of the material above the support arm 102. Therefore, the second telescopic structure 303 is arranged on the height adjustment mechanism 103.

[0052] Specifically, the second telescopic structure 303 can be set as a hydraulic rod, and the end of the hydraulic rod is connected to the height adjustment mechanism 103. During the material storage and retrieval process, the length of the hydraulic rod increases, so that the first positioning arm 301 and the second positioning arm 302 can abut against the angle of the material; when the storage and retrieval work is completed, the first positioning arm 301 and the second positioning arm 302 need to be separated from the material, and the length of the hydraulic rod decreases.

[0053] In some examples, in order to ensure that the first positioning arm 301 and the second positioning arm 302 are completely separated from the material, the second telescopic structure 303 is rotatably connected to the height adjustment mechanism 103. When the material needs to be positioned, the first positioning arm 301 and the second positioning arm 302 are rotated to the angle where the material is formed; when the positioning is completed, the first positioning arm 301 and the second positioning arm 302 are moved away from the material by rotating.

[0054] In some examples, in order to ensure the strength of the support arm 102, the support arm 102 has a certain thickness, which is not conducive to the support arm 102 being inserted into the gap between the materials, and therefore, an insertion structure is provided at the end of the support arm 102. Specifically, the first end of the insertion structure is connected to the end of the support arm 102, and the second end of the insertion structure is used to insert into the gap between the materials. It can be understood that the second end of the insertion structure has a smaller cross-sectional area, and the cross-sectional area of ​​the insertion structure gradually decreases from the first end to the second end.

[0055] In some examples, a lifting mechanism is provided at the end of the support arm 102, and the lifting mechanism is used to drive the insertion structure to rise or fall. When the support arm 102 needs to be inserted into the gap between materials, the insertion structure first enters the gap between the materials, and the lifting mechanism drives the height of the materials to rise. When the height of the bottom of the material is close to the height of the top of the support arm 102, the support arm 102 can be inserted into the gap between the materials. When the insertion structure completes the work, the insertion structure is reset to a lower position under the drive of the lifting mechanism. The structure and principle of the lifting mechanism are conventional technical means in this field and will not be repeated here.

[0056] The support 101 is provided with a sensing device 104. In the initial stage of the storage and retrieval work, the sensing device 104 is used to determine the target height of the support arm 102, so that the support arm 102 is raised or lowered to the gap between the materials. Further, when the storage and retrieval work is completed, the support arm 102 needs to move to the top of the material below. At this time, the sensing device 104 is used to measure the distance from each support arm 102 to the material below, so as to determine whether the material above the support arm 102 can be safely stacked.

[0057] Specifically, the sensing device 104 includes a laser sensor, which can rotate relative to the bracket 101 to change the laser emission direction. When the laser sensor is used to determine the target height of the support arm 102, the laser is emitted in the horizontal direction, and the staff determines the target height of the support arm 102 by the position of the laser point on the material; when the sensing device 104 is used to measure the distance between each support arm 102 and the material below, the laser is emitted in the vertical direction to perform laser ranging.

[0058] It is understandable that the number of laser sensors is equal to the number of support arms 102 , and the laser sensors are disposed on the support arms 102 , or the laser sensors are separated from the support arms 102 and independently disposed on the bracket 101 .

[0059] A control device is provided on the bracket 101, and the control device is electrically connected to the sensing device 104. The working state of the laser sensor 104 can be controlled by adjusting the control device. When the laser sensor is used to determine the target height of the support arm 102, the laser sensor 104 can emit laser horizontally after receiving the command; when the laser sensor is used to measure the distance between each support arm 102 and the material below, the laser sensor 104 can emit laser vertically after receiving the command.

[0060] The embodiment of the present invention provides a storage and access method, which applies the above storage and access device to measure the size of the material and evaluate whether the material size meets the storage and access requirements.

[0061] Since the floor area of ​​the bracket 101 is fixed and the storage size of the bracket 101 is also fixed, it is necessary to first ensure that the storage size of the material is smaller than the storage size of the bracket 101; secondly, since the length of the support arm 102 is fixed, it is necessary to ensure that each support arm 102 can be located at the bottom of the material together, so as to lift the material and perform storage and retrieval work.

[0062] The sensing device 104 is controlled by the control device to measure the target height. When the target height is greater than a first critical value, the support arm 102 stops executing. When the target height is less than a second critical value, the support arm 102 stops executing. When the target height is between the first critical value and the second critical value, the support arm 102 starts working.

[0063] The target height that the support arm 102 needs to reach during the access operation is determined by the sensing device 104. When the target height is between the first critical value and the second critical value, the support arm 102 starts to work. The installation height of the sensing device 104 is prone to errors, and the working angle of the sensing device 104 is also prone to errors, causing the target height to exceed the range of motion of the support arm 102. At this time, the support arm 102 may cause mechanical failure or even danger when adjusting its position according to the current target height. When the target height is greater than the first critical value, the support arm 102 stops executing, and when the target height is less than the second critical value, the support arm 102 stops executing. Specifically, when the height adjustment mechanism 103 includes a sprocket and a chain, the first critical value is the difference between the height of the bracket 101 and the radius of the sprocket, and the second critical value is the radius of the sprocket.

[0064] After the support arm 102 is raised to the target height, the support arm 102 is inserted between the stacked materials by rotating and raising the height, so that the material to be stored is placed between the stacked materials, or the material is taken out.

[0065] During the storage and retrieval process, the support arm 102 is lifted to the target height at the gap between the materials, and driven by the rotating mechanism, the support arm 102 enters the gap between the materials, and the end position of the support arm 102 is within the range of the materials, so that the support arm 102 can carry the materials for lifting. After the lifting is completed, a storage and retrieval space is formed between the support arm 102 and the materials below, and the support arm 102 stops running, and the materials can be stored or taken out.

[0066] After material storage and retrieval, the distance between each support arm 102 and the material below is measured by the sensing device 104. When the distance between each support arm 102 and the material below is not equal, the support arm 102 stops executing. When the distance between each support arm 102 and the material below is equal, the support arm 102 starts working.

[0067] After the material storage and retrieval action is completed, the material above the support arm 102 needs to be stacked on the material below the support arm 102. During the material stacking process, the support arm 102 needs to first determine whether the top of the material below the support arm 102 is flat. When the top of the material below the support arm 102 is approximately horizontal, the support arm 102 can perform the stacking action; when the top of the material below the support arm 102 is not in a horizontal state, the support arm 102 stops working, and the support arm 102 continues to work after the staff processes the top of the material below the support arm 102 to an approximately horizontal state.

[0068] Specifically, the number of sensing devices 104 is equal to the number of support arms 102. The control device controls the sensing devices 104 to measure the distance between each support arm 102 and the material below. When the distance between each support arm 102 and the material below is equal, the top of the material below is in a horizontal state, and the support arm 102 starts to move downward; when the distance between the support arm 102 and the material below is not exactly equal, the top of the material below is not in a horizontal state, and the support arm 102 stops moving.

[0069] The support arm 102 drops to the top of the material below and then rotates out of the range of the material.

[0070] After the top of the material below the support arm 102 is in a horizontal state, the support arm 102 moves downward to the top of the material below, and then the support arm 102 is rotated out of the range of the material through the rotating mechanism, the stacking of the materials within the range of the storage and retrieval device is completed, and the storage and retrieval process ends.

[0071] In some examples, when evaluating whether the material size meets the storage and access requirements, it is necessary to specifically evaluate whether the length, width, and the first distance between the material's angle and the material's center meet the storage and access requirements. The staff measures the material size and compares it with the basic size of the storage and access device.

[0072] At the same time, the length and width of the access device and the second distance from the center of the access device at an angle to the access device are measured. The width of the material is compared with the width of the access device; the length of the material is compared with the length of the access device; the first distance is compared with the second distance; and the second distance is compared with the sum of the first distance and the length of the support arm 102.

[0073] When the width of the material is smaller than the width of the access device, the length of the material is smaller than the length of the access device, the first distance is smaller than the second distance, and the second distance is smaller than the sum of the first distance and the length of the support arm 102, the size of the material meets the access requirements.

[0074] In some examples, in order to further ensure that the support arm 102 can provide effective support for the materials to be stored and retrieved, a safety distance is set, and it is evaluated whether the second distance is less than the sum of the first distance, the length of the support arm 102, and the safety distance, that is, when the materials to be stored and retrieved are supported by the support arm 102, the effective support length of the support arm 102 within the range of the materials to be stored and retrieved is at least equal to the safety distance. The safety distance is set according to the needs of the staff. When the safety distance is large, the materials are supported more strongly during the operation of the storage and retrieval device; when the safety distance is small, materials with a wider range of sizes can be stored.

[0075] In some examples, when evaluating whether the top of the material below the support arm 102 is in a horizontal state, it is difficult for the distance between each support arm 102 and the top of the material below to be equal, and at the same time, the top of the material remains approximately horizontal without affecting the stacking effect of the material. Therefore, the error value is set according to the needs of the staff, and when the distance between each support arm 102 and the material below exceeds the error value, the support arm 102 stops executing; when the distance between each support arm 102 and the material below is within the error value, the top of the material below the support arm 102 remains approximately horizontal, the support arm 102 starts working, and then the stacking of the material is completed.

[0076] In the description of this specification, if the reference terms "one embodiment", "some examples", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0077] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A storage and access method, applied to a storage and access device, the storage and access device comprising a bracket (101), a support arm (102), a sensing device (104) and a control device; the support arm (102) is arranged horizontally, the bracket (101) is provided with a height adjustment mechanism (103) and a rotation mechanism, the support arm (102) is arranged on the rotation mechanism, the rotation mechanism is used to adjust the angle of the support arm (102), and the rotation mechanism is connected to the height adjustment mechanism (103); the sensing device (104) is arranged on the bracket (101), the sensing device (104) is used to set the height of the support arm (102); the control device is arranged on the bracket (101), the control device is electrically connected to the sensing device (104), the control device is used to adjust the working state of the sensing device (104), the height adjustment mechanism (105) comprises a sprocket and a chain, characterized in that: Measure the size of the material and evaluate whether the material size meets the storage and retrieval requirements; Setting the difference between the height of the bracket (101) and the radius of the sprocket to a first critical value, and setting the radius of the sprocket to a second critical value; The target height is measured by a sensing device (104); when the target height is greater than a first critical value, the support arm (102) stops executing; when the target height is less than a second critical value, the support arm (102) stops executing; when the target height is between the first critical value and the second critical value, the support arm (102) starts working; After the support arm (102) is lifted to the target height, the support arm (102) is inserted between the stacked materials by rotating and lifting the height, so that the material to be stored is placed between the stacked materials, or the material to be taken out is taken out from the stacked materials below; after the material is stored or taken out, the distance between each support arm (102) and the material below is measured by the sensing device (104); when the distance between each support arm (102) and the material below is not equal, the support arm (102) stops executing; when the distance between each support arm (102) and the material below is equal, the support arm (102) starts working; The support arm (102) falls to the top of the material below, and then rotates out of the range of the material.

2. The access method according to claim 1, characterized in that: Measuring the size of the material and evaluating whether the material size meets the storage and access requirements includes: Measure the length, width and the first distance between the angle of the material and the center of the material; measuring the length of the access device, measuring the width of the access device, and measuring a second distance between the angle of the access device and the center of the access device; Evaluate whether the width of the material is smaller than the width of the access device, evaluate whether the length of the material is smaller than the length of the access device, evaluate whether the first distance is smaller than the second distance, and evaluate whether the second distance is smaller than the sum of the first distance and the length of the support arm (102).

3. The access method according to claim 2, characterized in that: The step of evaluating whether the second distance is less than the sum of the first distance and the length of the support arm (102) comprises: A safety distance is set, and it is evaluated whether the second distance is smaller than the sum of the first distance, the length of the support arm (102) and the safety distance.

4. The access method according to claim 1, characterized in that: After the material is stored or retrieved, the distance between each support arm (102) and the material below is measured by the sensing device (104). When the distance between each support arm (102) and the material below is not equal, the support arm (102) stops working. When the distance between each support arm (102) and the material below is equal, the support arm (102) starts working, including: An error value is set, and when the distance between each support arm (102) and the material below exceeds the error value, the support arm (102) stops executing, and when the distance between each support arm (102) and the material below is within the error value, the support arm (102) starts working.

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