Cylindrical Stereoscopic Warehouse

Abstract

The present invention belongs to the technical field of intelligent warehousing, and discloses a cylindrical three-dimensional warehouse. The cylindrical three-dimensional warehouse includes a shelf, a circular track and a stacker. The shelf is of a circular structure; the circular track is arranged on the outer circle of the shelf and includes a sky track and a ground track, and the stacker moves along the sky track and the ground track; the stacker includes a vertical frame and a cargo platform. The vertical frame can move circumferentially along the circular track, and the cargo platform can move up and down along the vertical frame. A push-pull seat is arranged on the cargo platform, and the push-pull seat can stretch radially along the shelf to pick up and place the pallets in the storage compartments. The cylindrical three-dimensional warehouse provided by the present invention has a compact structure and higher space utilization rate; the limitation on the size of goods is smaller, and the goods can be stored from multiple directions, which is convenient for the deployment of transport vehicles and improves the flexibility of goods storage and retrieval; moreover, the stacker is arranged between the sky track and the ground track, which can fully ensure the stability of the stacker operation, thereby ensuring the stacking height of the shelf and the stored items and further improving the space utilization rate.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent warehousing, and particularly relates to a cylindrical three-dimensional warehouse. Background Art

[0002] An automated three-dimensional warehouse, also simply referred to as an elevated warehouse, generally uses several layers, a dozen layers or even dozens of layers of shelves to store goods. Since such a warehouse can make full use of space to store goods, it is often vividly called a "three-dimensional warehouse".

[0003] An automated three-dimensional warehouse mainly consists of a three-dimensional shelf, a rail-guided stacker, an inbound and outbound material conveyor system, a dimension detection barcode reading system, a communication system, an automatic control system, a computer management and monitoring system, etc. The automated three-dimensional warehouse can apply the first-class integrated logistics concept, adopt advanced control, bus, communication and information technologies, and perform inbound and outbound operations through the coordinated actions of the above devices.

[0004] In the existing three-dimensional warehouse, the shelf generally adopts a cubic shelf. This shelf structure requires a relatively large area of passageways to allow transport vehicles, handling equipment and staff to pass through and operate. Generally, the storage stacking height is limited, and it is inconvenient to store and retrieve goods, so the space utilization rate is relatively low, and it is difficult to improve the warehousing management level. Summary of the Invention

[0005] The purpose of the present invention is to provide a cylindrical three-dimensional warehouse, which can significantly improve the space utilization rate and operation efficiency of the warehouse.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] A cylindrical three-dimensional warehouse, comprising:

[0008] A shelf, the shelf is of a ring structure, a plurality of storage cells are provided on the outer wall of the shelf, the outside of the storage cell is an opening, and a tray for carrying goods is arranged in the storage cell;

[0009] A ring track, the ring track is arranged on the outer circle of the shelf, the ring track includes a top track and a bottom track, the top track is located at the top of the shelf, the bottom track is located at the bottom of the shelf, and the stacker is arranged between the top track and the bottom track and moves along the top track and the bottom track;

[0010] A stacker, the stacker includes a vertical frame and a load-carrying platform, both ends of the vertical frame are respectively connected to the top track and the bottom track to move along the ring track, the load-carrying platform can move up and down along the vertical frame, and a push-pull seat is arranged on the load-carrying platform, and the push-pull seat can telescopically extend along the radial direction of the shelf to pick up and place the tray in the storage cell.

[0011] As an optional solution for a cylindrical three-dimensional warehouse, a push-pull mechanism is provided on the push-pull seat, and the push-pull mechanism includes a sprocket, a chain tensioned on the two sprockets, a sprocket and a pull hook arranged on the side of the chain. A hook is provided on the side of the pallet, and the pull hook can drive the pallet to move to the outside or inside of the cargo grid by hooking the hook.

[0012] As an optional solution for a cylindrical stereoscopic warehouse, the number of the push-pull mechanisms is two, and the two push-pull mechanisms are respectively arranged on both sides of the push-pull seat;

[0013] Two hooks are arranged on the chain; the bending directions of the two hooks are opposite, one of the hooks is used to drive the pallet to move toward the outside of the cargo grid, and the other hook is used to push the pallet to move toward the inside of the cargo grid.

[0014] As an optional solution for a cylindrical high-rise warehouse, wheels and / or guide structures are provided at the bottom of the pallet.

[0015] As an optional solution for a cylindrical stereoscopic warehouse, the cargo platform further includes a bearing seat and a power unit, the push-pull seat is arranged on the bearing seat, and is pushed to extend and retract by the power unit.

[0016] As an optional solution for a cylindrical stereoscopic warehouse, the bearing seat includes a horizontal portion and a vertical portion, the push-pull seat is located on the horizontal portion, and a slide groove is provided on the vertical portion, and the slide groove can slide up and down along a vertical slide rail provided on one side of the vertical frame;

[0017] A guide rail is arranged between the push-pull seat and the bearing seat.

[0018] As an optional solution for a cylindrical high-rise warehouse, the power unit includes:

[0019] A lever, the lever being fixed to the push-pull seat;

[0020] A turntable is provided with a push rod on the outer side wall of the turntable. The push rod can rotate forward or reversely along with the turntable, and the lever can reciprocate under the back and forth movement of the push rod.

[0021] As an optional solution for a cylindrical stereoscopic warehouse, a travel wheel box and a travel drive mechanism for driving the travel wheel box are provided at one end of the frame, and a brake mechanism is provided at the other end of the frame.

[0022] As an optional solution for a cylindrical stereoscopic warehouse, the brake mechanism includes a mounting block, and the mounting block is provided with cross-arranged vertical guide grooves and transverse guide grooves;

[0023] An upper slider is arranged in the vertical guide groove. The bottom of the upper slider is a slope, and the upper slider can slide up and down along the vertical guide groove.

[0024] A middle slider is arranged in the transverse guide groove. A rectangular hole penetrating up and down is formed in the middle slider. A first roller is arranged in the rectangular hole. The first roller is rotatably connected to the middle slider. The outer ring wall of the first roller is in contact with the bottom slope of the upper slider, and the middle slider can slide horizontally along the transverse guide groove. The middle slider is driven to displace by a push-pull electromagnet arranged on its side.

[0025] A spring is arranged between the upper slider and the mounting block, and the spring pushes the upper slider to abut against the first roller.

[0026] A second roller is arranged at the top of the upper slider. The second roller extends out from the top opening of the vertical guide groove, and the extended second roller can abut against the annular track under the drive of the upper slider.

[0027] As an alternative solution for a cylindrical three-dimensional warehouse, the braking mechanism further includes a lower slider. The lower slider is arranged in the vertical guide groove. The first roller is located between the upper slider and the lower slider. The contact surface between the lower slider and the first roller is a slope, and this slope inclines towards the same side as the bottom slope of the upper slider. A spring is arranged between the lower slider and the mounting block, and the spring pushes the lower slider to abut against the first roller.

[0028] Advantages of the present invention:

[0029] 1. For the cylindrical three-dimensional warehouse provided by the present invention, the stacker is arranged on the outer periphery of the annular shelf, enabling goods to be stored from the outer periphery of the shelf without reserving a goods passage inside the shelf, with a compact structure and higher space utilization rate.

[0030] 2. For the cylindrical three-dimensional warehouse provided by the present invention, goods are stored from the outer periphery of the shelf, with less restriction on the size of the goods, and the goods can be stored from multiple directions, facilitating the deployment of transport vehicles and improving the flexibility of goods storage and retrieval.

[0031] 3. For the cylindrical three-dimensional warehouse provided by the present invention, the stacker is arranged between the overhead rail and the ground rail, which can fully ensure the stability of the stacker operation, thereby ensuring the stacking height of the shelf and storage, and further improving the space utilization rate. Description of the Drawings

[0032] Figure 1 It is a schematic diagram of the overall structure of the cylindrical three-dimensional warehouse provided by the present invention;

[0033] Figure 2Schematic diagram of the overhead track, ground track and stacker structure of the cylindrical automated warehouse provided by the present invention;

[0034] Figure 3 is Figure 2 an enlarged view of part A in;

[0035] Figure 4 is Figure 2 an enlarged view of part B in;

[0036] Figure 5 Schematic diagram of the cross-sectional structure of the braking mechanism of the cylindrical automated warehouse provided by the present invention;

[0037] Figure 6 Schematic diagram of the tray structure of the cylindrical automated warehouse provided by the present invention;

[0038] Figure 7 Schematic diagram of the three-dimensional structure of the load platform of the cylindrical automated warehouse provided by the present invention;

[0039] Figure 8 Schematic diagram of the top view structure of the load platform of the cylindrical automated warehouse provided by the present invention;

[0040] Figure 9 Schematic diagram of the front view structure of the load platform of the cylindrical automated warehouse provided by the present invention;

[0041] Figure 10 Schematic diagram of the power unit structure of the cylindrical automated warehouse provided by the present invention;

[0042] Figure 11 Schematic diagram of the displacement principle of the power unit of the cylindrical automated warehouse provided by the present invention.

[0043] In the figure:

[0044] 1 - Shelf;

[0045] 2 - Overhead track;

[0046] 3 - Ground track; 30 - Barcode plate;

[0047] 4 - Stacker;

[0048] 40 - Upright frame;

[0049] 41 - Travel drive mechanism;

[0050] 42 - Load platform; 420 - Bearing seat; 4200 - Horizontal part; 4201 - Vertical part; 42011 - Chute; 4202 - Guide rail; 421 - Pushing and pulling seat; 4211 - Sprocket; 4212 - Chain; 4213 - Hook; 422 - Power unit; 4220 - Motor; 4221 - Reducer; 4222 - Transmission shaft; 4223 - Turntable; 4224 - Push rod; 4225 - Lever;

[0051] 43 - Lifting drive mechanism;

[0052] 44 - Brake mechanism; 440 - Mounting block; 4401 - Card hole; 441 - Upper slider; 4411 - Limiting rod; 442 - Lower slider; 443 - Middle slider; 444 - First roller; 445 - Push - pull electromagnet; 446 - Second roller;

[0053] 45 - Walking wheel box; 451 - Side guiding wheel;

[0054] 5 - Tray; 50 - Hook part; 51 - Wheels. Specific embodiments

[0055] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only parts related to the present invention are shown in the drawings, rather than all structures.

[0056] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0057] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below", and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0058] In the description of this embodiment, the orientation or positional relationships such as "up", "down", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, 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 thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0059] This embodiment provides a cylindrical three-dimensional warehouse. The shelf is of an annular structure, and the stacker moves around the outer periphery of the shelf. Goods are retrieved and placed through a liftable loading platform on the stacker, so as to solve the problems in the existing warehouse structure that the transportation vehicle passage occupies the shelf area, the space utilization rate is low, and the stacking height of stored goods is limited, making it inconvenient to access goods.

[0060] Figure 1 It is a schematic diagram of the overall structure of the cylindrical three-dimensional warehouse provided by the present invention. Refer to Figure 1 As shown, the cylindrical three-dimensional warehouse provided in this embodiment includes a shelf 1, an annular track, and a stacker 4. Among them, the shelf 1 is of a multi-layer cylindrical structure as a whole. A plurality of storage bins (i.e., storage locations for storing goods) are provided on the outer wall of the shelf 1. Each storage bin in each layer is arranged according to the polar coordinate system. The outside of the storage bin is open, and a tray 5 for carrying goods is arranged inside the storage bin. According to production requirements, the shelf 1 can be designed as a tray 5 vertical warehouse (as shown in Figure 2 ) or a bin vertical warehouse. This belongs to a relatively popular structure of the storage logistics shelf 1 at present, so it will not be elaborated here.

[0061] The annular track is arranged on the outer circle of the shelf 1 and includes an overhead track 2 and a ground track 3. Both the overhead track 2 and the ground track 3 are circular tracks. The overhead track 2 is located at the top of the shelf 1, and the ground track 3 is located at the bottom of the shelf 1. The stacker 4 is arranged between the overhead track 2 and the ground track 3 and moves along the overhead track 2 and the ground track 3. In addition, in order to improve the running stability of the stacker 4, both the overhead track 2 and the ground track 3 adopt a channel structure, and the stacker 4 travels in the channel structure of the overhead track 2 and the ground track 3 through walking wheels (i.e., the following walking wheel box 45). In order to achieve precise positioning of the stacker 4, an annular bar code plate 30 and a reader are also installed on the ground track 3 for circumferential movement positioning.

[0062] The stacker 4 includes a vertical frame 40 and a loading platform 42. The vertical frame 40 adopts a truss structure to facilitate observing the running state of the following traction lifting mechanism and for installation and maintenance; as shown in Figure 3 , a walking wheel box 45 is installed at one end of the vertical frame 40. The walking wheel box 45 is driven by a walking drive mechanism 41. A driven walking wheel is installed at the other end of the vertical frame 40. The walking wheel box 45 and the driven walking wheel are respectively connected to the overhead track 2 and the ground track 3, so that the vertical frame 40 can move along the annular track. Further, side guide wheels 451 can be installed on both sides of the walking wheel box 45 and the driven walking wheel to ensure that the vertical frame 40 can move smoothly along the circumferential direction of the annular track. A vertical slide rail is laid on one side of the vertical frame 40. The loading platform 42 is slidably connected to the vertical slide rail and can be lifted under the drive of a lifting drive mechanism 43; a push-pull seat 421 is provided on the loading platform 42, and the push-pull seat 421 can stretch along the radial direction of the shelf 1 to retrieve and place the tray 5 in the storage bin.

[0063] In this case, the lifting drive mechanism 43 can adopt a traction lifting mechanism. The traction lifting mechanism is a widely used lifting form in industries such as automated storage and retrieval systems and elevators, so it will not be described in detail here. In other embodiments, other existing lifting drive mechanisms 43 can also be selected as needed to lift the loading platform 42.

[0064] In the cylindrical automated storage and retrieval system provided in this embodiment, the stacker 4 is arranged on the outer periphery of the annular shelf 1, enabling goods to be stored from the outer periphery of the shelf 1 without reserving a goods passage inside the shelf 1, resulting in a compact structure and higher space utilization rate; when goods are stored from the outer periphery of the shelf 1, the restrictions on the size of the goods are smaller, and the goods can be stored from multiple directions, facilitating the allocation of transport vehicles and improving the flexibility of goods storage and retrieval; the stacker 4 is arranged between the overhead rail 2 and the ground rail 3, which can fully ensure the stability of the operation of the stacker 4, thereby ensuring the stacking height of the shelf 1 and the stored items and further enhancing the space utilization rate.

[0065] Figure 4 and Figure 5 respectively show the overall structure diagram and sectional structure diagram of the braking mechanism 44. Referring to Figure 4 and Figure 5 as shown, in this embodiment, a braking mechanism 44 is installed at the end of the vertical frame 40 to brake the circumferential movement of the stacker 4. That is, when the stacker 4 is overspeed or braking, the braking mechanism 44 can assist the stacker 4 to brake smoothly, improving the safety of the operation of the stacker 4. Preferably, the braking mechanism 44 is arranged at the end of the vertical frame 40 where the driven walking wheel is located to avoid the end from shaking due to inertia when overspeed or braking because it is too far from the walking wheel box 45.

[0066] Specifically, the braking mechanism 44 includes a mounting block 440, an upper slider 441, a lower slider 442, a middle slider 443, a first roller 444, a push-pull electromagnet 445, and a second roller 446, where:

[0067] The mounting block 440 is provided with vertically intersecting vertical guide grooves and horizontal guide grooves, and the top of the vertical guide grooves is open.

[0068] Both the upper slider 441 and the lower slider 442 are arranged in the vertical guide grooves, and the adjacent ends of the upper slider 441 and the lower slider 442 are inclined planes with the same direction. Both the upper slider 441 and the lower slider 442 can slide up and down along the vertical guide grooves; to prevent the upper slider 441 from slipping out of the top opening of the vertical guide groove, in this embodiment, a clamping hole 4401 is provided on the upper slider 441. The clamping hole 4401 is a vertical long hole, and a limiting rod 4411 is fixed in the vertical guide groove. The limiting rod 4411 is inserted into the clamping hole 4401 to limit the moving distance of the upper slider 441. Of course, in other embodiments, other limiting methods can also be used to prevent the upper slider 441 from slipping out.

[0069] The middle slider 443 is arranged in the horizontal guide groove. A rectangular hole penetrating up and down is formed in the middle slider 443. A first roller 444 is arranged in the rectangular hole. The first roller 444 is rotatably connected to the middle slider 443 through a rotating shaft. The outer ring wall of the first roller 444 is in contact with the end inclined surfaces of the upper slider 441 and the lower slider 442. The middle slider 443 is driven by a push-pull electromagnet 445 or other existing devices arranged on its side, so that it can slide horizontally along the horizontal guide groove to push the upper slider 441 and the lower slider 442 to move up and down.

[0070] The second roller 446 is rotatably connected to the upper slider 441 and extends out from the top opening of the vertical guide groove. The extended second roller 446 can contact the annular track under the drive of the upper slider 441.

[0071] In this embodiment, the upper slider 441 is used to drive the second roller 446 to move up and down, and the lower slider 442 is used for reverse support to balance the force on the first roller 444.

[0072] In this embodiment, springs are arranged between both the upper slider 441 and the lower slider 442 and the mounting block 440. The upper slider 441 and the lower slider 442 are pushed by the springs and abutted against the first roller 444. The present invention Figure 4 and Figure 5 exemplarily provides a setting method of the spring, that is, a stretched spring is arranged between the top of the upper slider 441 and the top of the mounting block 440, which can pull the upper slider 441 to move downward; a compressed spring is arranged between the bottom end of the lower slider 442 and the end wall of the vertical guide groove, which can push the lower slider 442 to move upward. In other embodiments, other spring fixing methods can also be adopted to achieve this purpose.

[0073] Normally, the second roller 446 is separated from or rolls along the overhead rail 2. When braking is required, the push-pull electromagnet 445 pulls the middle slider 443, and the first roller 444 pushes the upper slider 441 to move upward by the inclined surface, so that the second roller 446 is pressed against the overhead rail 2 to achieve the effects of braking and stopping. After braking, the push-pull electromagnet 445 pushes the middle slider 443 in the reverse direction, so that the upper slider 441 descends and returns to the position before braking, releasing the stopping effect.

[0074] Figure 6 It is a schematic structural diagram of the tray 5 of the cylindrical stereoscopic warehouse provided by the present invention. Figures 7 - 10 It is a schematic structural diagram of the cargo platform 42 of the cylindrical stereoscopic warehouse provided by the present invention. Referring to Figures 6 - 10 as shown, in this embodiment, in addition to the push-pull seat 421, the cargo platform 42 further includes a bearing seat 420 and a power unit 422. The push-pull seat 421 is arranged on the bearing seat 420 and is pushed by the power unit 422 to expand and contract.

[0075] Specifically, the supporting seat 420 includes a horizontal portion 4200 and a vertical portion 4201. The push-pull seat 421 is located on the horizontal portion 4200. The vertical portion 4201 is provided with a slide groove 42011 on one side facing the vertical frame 40, which is slidably matched with the vertical slide rail on the vertical frame 40. The slide groove 42011 can slide up and down along the vertical slide rail, thereby driving the cargo platform 42 to move up and down.

[0076] Preferably, a guide rail 4202 is provided between the push-pull seat 421 and the bearing seat 420, and the guide rail 4202 extends toward the center of the shelf 1. When the stacker 4 moves to any cargo compartment, the extension direction of the guide rail 4202 is parallel to the radial direction of the polar coordinate system of the cargo compartment, so that the cargo platform 42 can take materials from the cargo compartment or put materials into the cargo compartment. Furthermore, guide rails 4202 are provided between the push-pull seat 421 and the horizontal portion 4200, and between the push-pull seat 421 and the vertical portion 4201, to ensure the stability of the movement of the push-pull seat 421.

[0077] The power unit 422 includes a lever 4225 and a turntable 4223, wherein the lever 4225 is fixed to the push-pull seat 421 and can be located at the bottom or side wall of the push-pull seat 421, and a push rod 4224 is arranged on the outer side wall of the turntable 4223. Figure 11 As shown in , the push rod 4224 can rotate forward or reversely with the turntable 4223, and the lever 4225 can reciprocate under the back and forth movement of the push rod 4224. Preferably, in this embodiment, the number of the push rods 4224 is two to reduce the operating cycle of the turntable 4223 to perform the forward and reverse pushing operations.

[0078] In order to ensure the smooth operation of the push-pull seat 421, in this embodiment, there are two sets of levers 4225 and turntables 4223, and the two sets of levers 4225 and turntables 4223 are respectively arranged on both sides of the push-pull seat 421. In order to drive the two turntables 4223 to operate synchronously, the power unit 422 also includes a transmission shaft 4222 and a motor 4220, and the transmission shaft 4222 is fixedly connected to the shafts of the two turntables 4223 and driven to rotate by the motor 4220 to drive the push-pull seat 421 to move forward and backward.

[0079] Furthermore, the power unit 422 is also provided with a reducer 4221, the power output shaft of the motor 4220 is connected to the input shaft of the reducer 4221, the reducer 4221 has a dual output shaft, and the two output shafts of the reducer 4221 are respectively connected to the two turntables 4223 through the transmission shaft 4222.

[0080] Compared with traditional telescopic translational drive forms such as the electric push rod 4224, the power unit 422 provided in this embodiment has a simpler structure, more power, and a longer service life.

[0081] During use, the motor 4220 outputs power. After the power is transmitted through the speed reducer 4221 and the transmission shaft 4222, the turntable 4223 can be driven to rotate, and then the push rod 4224 can be driven to rotate. The rotation of the push rod 4224 can push the lever 4225 to move, and then the push-pull seat 421 can be horizontally moved.

[0082] Continue to refer to Figure 6 and Figure 7 As shown, in this embodiment, a push-pull mechanism is provided on the push-pull seat 421. The push-pull mechanism includes a sprocket 4211, a chain 4212 tensioned between two sprockets 4211, and a hook 4213 provided on the side of the chain 4212. A hook portion 50 is provided on the side of the tray 5. The hook 4213 can drive the tray 5 to move to the outside or inside of the cargo compartment by hooking the hook portion 50.

[0083] During the working process, when the loading platform 42 moves to a certain cargo compartment, the power unit 422 works to drive the push-pull seat 421 close to the cargo compartment; then the push-pull mechanism works to pull the tray 5 in the cargo compartment into the push-pull seat 421, or push the tray 5 in the push-pull seat 421 into the cargo compartment.

[0084] Specifically, in this embodiment, the hook 4213 extends from the side of the chain 4212 to the inside of the push-pull seat 421 and then bends into a hook parallel to the chain 4212. The number of hooks 4213 on the chain 4212 can be two or one. The number of hooks 4213 is preferably two to shorten the operation cycle of the push-pull mechanism for performing push-pull operations. When the number of hooks 4213 is two, the bending directions of the two hooks 4213 can be the same or opposite:

[0085] When the bending directions of the two hooks 4213 are the same, the operation of pushing the push-pull seat 421 is performed by the back of the opening of the hook 4213. That is, as the sprocket 4211 rotates forward, the back of the opening of the hook 4213 abuts against the hook portion 50 to push the tray 5 to move to the inside of the cargo compartment, and then as the sprocket 4211 rotates reversely, the hook 4213 hooks the hook portion 50 to drive the tray 5 to move to the outside of the cargo compartment.

[0086] When the bending directions of the two hooks 4213 are opposite, pulling the material into the push-pull seat 421 and pushing the material into the cargo compartment are both completed through the hooking action. That is, one of the hooks 4213 is used to drive the tray 5 to move to the outside of the cargo compartment, and the other hook 4213 is used to push the tray 5 to move to the inside of the cargo compartment.

[0087] It is worth mentioning that during the outbound process, the hook 4213 can not only move the tray 5 into the push-pull seat 421, but also play a role in limiting the tray 5 to prevent the tray 5 from moving to the opening side of the push-pull seat 421.

[0088] Preferably, in this embodiment, the number of the push-pull mechanisms is two, and the two push-pull mechanisms are respectively arranged on both sides of the push-pull seat 421. The sprockets 4211 arranged on both sides are driven by the motor 4220 to achieve synchronous operation with the existing structure.

[0089] To limit the position of the tray 5 and facilitate the arrangement of two groups of push-pull mechanisms, the push-pull seat 421 provided in this embodiment has a dustpan-like structure, and the side of the push-pull seat 421 facing the shelf 1 is open.

[0090] To ensure the smooth operation of the tray 5, in this embodiment, wheels 51 and / or a guiding structure are provided at the bottom of the tray 5. The guiding structure is preferably a channel to guide the wheels 51 or structures such as guide bars provided at the bottom of the tray 5 to move. Further, a flared flaring structure facilitating the entry of the wheels 51 or the guide bars is provided at the open end of the channel on the side where the shelf 1 is located.

[0091] The cargo platform 42 uses a combination of the push-pull seat 421, the bearing seat 420, and the power unit 422 that drives the bearing seat 420 to move horizontally. The hook 4213 is used to pull the materials in the storage bin into the push-pull seat 421 or push the materials in the push-pull seat 421 into the storage bin, reducing the difficulty of material handling, improving the flexibility of the stacker 4 in handling materials, ensuring smooth material handling, facilitating the entry and exit of materials from the warehouse, and improving the stacking efficiency.

[0092] Note: For the fixing methods not clearly described in the text, common fixing connection methods such as screw connection, welding, or bonding can be selected according to needs.

[0093] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. Cylindrical three-dimensional warehouse, characterized in that, include: A shelf (1), the shelf (1) being an annular structure, a plurality of cargo compartments being arranged on the outer wall of the shelf (1), the outer sides of the cargo compartments being open, and a pallet (5) for carrying goods being arranged in the cargo compartments; An annular track, the annular track being arranged on the outer ring of the shelf (1), the annular track comprising a ceiling track (2) and a floor track (3), the ceiling track (2) being located at the top of the shelf (1), and the floor track (3) being located at the bottom of the shelf (1); A stacker (4), wherein the stacker (4) is arranged between the ceiling rail (2) and the floor rail (3) and moves along the ceiling rail (2) and the floor rail (3); the stacker (4) comprises a stand (40) and a cargo platform (42), wherein two ends of the stand (40) are respectively connected to the ceiling rail (2) and the floor rail (3) so as to move along the circular track, and the cargo platform (42) can move up and down along the stand (40), and a push-pull seat (421) is provided on the cargo platform (42), and the push-pull seat (421) can be extended and retracted along the radial direction of the shelf (1) to take and place the pallet (5) in the cargo compartment; The push-pull seat (421) is provided with a push-pull mechanism, which comprises a sprocket (4211), a chain (4212) tensioned on the two sprockets (4211), and a hook (4213) arranged on the side of the chain (4212); a hook (50) is arranged on the side of the tray (5), and the hook (4213) can drive the tray (5) to move to the outside or inside of the cargo compartment by hooking the hook (50); The cargo platform (42) further comprises a bearing seat (420) and a power unit (422); the push-pull seat (421) is arranged on the bearing seat (420) and is pushed to extend and retract by the power unit (422); The power unit (422) comprises: A lever (4225), wherein the lever (4225) is fixed to the push-pull seat (421); A rotating disk (4223), wherein a push rod (4224) is arranged on the outer side wall of the rotating disk (4223), and the push rod (4224) can rotate forward or reversely along with the rotating disk (4223), and the lever (4225) can reciprocate under the back and forth movement of the push rod (4224); A travel wheel box (45) and a travel drive mechanism (41) for driving the travel wheel box (45) are provided at one end of the stand (40), and a brake mechanism (44) is provided at the other end of the stand (40); The brake stopping mechanism (44) comprises a mounting block (440), and the mounting block (440) is provided with vertical guide grooves and transverse guide grooves arranged in a cross manner; An upper sliding block (441) is arranged in the vertical guide groove, the bottom of the upper sliding block (441) is an inclined surface, and the upper sliding block (441) can slide up and down along the vertical guide groove; A middle slider (443) is arranged in the transverse guide groove. A rectangular hole penetrating up and down is formed in the middle slider (443). A first roller (444) is arranged in the rectangular hole. The first roller (444) is rotatably connected to the middle slider (443). The outer ring wall of the first roller (444) is in contact with the bottom inclined surface of the upper slider (441). The middle slider (443) can slide horizontally along the transverse guide groove. The middle slider (443) is driven to displace by a push-pull electromagnet (445) arranged on its side. A spring is arranged between the upper slider (441) and the mounting block (440). The spring pushes the upper slider (441) to abut against the first roller (444). A second roller (446) is arranged on the top of the upper slider (441). The second roller (446) extends out from the top opening of the vertical guide groove. The extended second roller (446) can abut against the annular track under the drive of the upper slider (441).

2. The cylindrical three-dimensional warehouse according to claim 1, characterized in that, The number of the push-pull mechanisms is two. The two push-pull mechanisms are respectively arranged on both sides of the push-pull seat (421). Two hooks (4213) are arranged on the chain (4212). The bending directions of the two hooks (4213) are opposite. One of the hooks (4213) is used to drive the tray (5) to move outward of the storage compartment, and the other hook (4213) is used to push the tray (5) to move inward of the storage compartment.

3. The cylindrical automated storage and retrieval system according to claim 1, wherein Wheels (51) and / or guiding structures are arranged at the bottom of the tray (5).

4. The cylindrical three-dimensional warehouse according to claim 1, characterized in that, The bearing seat (420) includes a horizontal part (4200) and a vertical part (4201). The push-pull seat (421) is located on the horizontal part (4200). A sliding groove (42011) is formed in the vertical part (4201). The sliding groove (42011) can slide up and down along a vertical sliding rail arranged on one vertical side of the vertical frame (40). A guide rail (4202) is arranged between the push-pull seat (421) and the bearing seat (420).

5. The cylindrical automated storage and retrieval system according to claim 1, characterized in that, The brake mechanism (44) further includes a lower slider (442). The lower slider (442) is arranged in the vertical guide groove. The first roller (444) is located between the upper slider (441) and the lower slider (442). The contact surface between the lower slider (442) and the first roller (444) is an inclined surface. This inclined surface inclines to the same side as the bottom inclined surface of the upper slider (441). A spring is arranged between the lower slider (442) and the mounting block (440). The spring pushes the lower slider (442) to abut against the first roller (444).

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