Sterile storage system

Abstract

The application provides a three-dimensional storage system, comprising: a rack comprising a track structure and defining at least one load-bearing platform, the track structure comprising a plurality of running tracks, and the at least one load-bearing platform being located below the running tracks; a plurality of containers, at least part of the containers being stacked and arranged on the at least one load-bearing platform; a load carrier running back and forth on the running tracks; and a track switching device for switching the load carrier from a current running track to a target running track. The track switching device comprises: a transition track connected to the end of each running track; and a track switching trolley located on the transition track and capable of moving back and forth on the transition track, the track switching trolley conveying the load carrier along the transition track to the target running track. The running track is formed by a load-bearing tube having a lumen, and the load carrier comprises a walking mechanism and a grabbing mechanism, the walking mechanism comprising a roller rollably arranged in the lumen of the load-bearing tube, and the grabbing mechanism being located below the running track and comprising a gripper for grabbing the container.

Description

[0001] This application is a divisional application of the patent application with the application date of July 23, 2019, application number 2019800481638, and invention name “Three-dimensional Warehousing System”. Technical Field

[0002] The present invention relates to a logistics warehousing technology, in particular to a three-dimensional warehousing system. Background Art

[0003] Existing logistics warehouses and warehousing systems utilize a large number of racks. Many existing racks are mobile racks with built-in rollers, mounted on tracks and driven by a drive mechanism to move goods back and forth along the tracks. To improve efficiency, racks are typically multi-layered, with goods placed on each layer. Because the racks are loaded with goods, moving them consumes a significant amount of energy. Furthermore, to sort, load, or unload a particular shelf, the entire racking system must be activated and moved, resulting in high energy consumption, particularly high inefficient energy consumption and low energy efficiency. Each mobile rack often weighs hundreds of kilograms, and during movement, the racks experience significant wear and tear due to collisions and other factors, placing high demands on the tracks and braking systems. In existing rack cyclic motion systems, a common rack turning design is a track loop, where the rack tracks have a large turning radius, and the racks circulate within this curve. Current rack track switching designs also employ a transverse mechanism, where transverse tracks are designed at both ends of the track and a rack transfer mechanism is installed on the transverse track, allowing the racks to be transferred to another track. Since the shelves are multi-layer structures, they are very heavy. After they are transferred to the transfer device, the transfer device requires a large dragging power. This structure has high requirements on the load-bearing strength, impact resistance and power of the transfer device. Such patents, such as the Chinese patent application number 201610955227.0, entitled: Automatic dense warehouse device, and the patent document published on February 8, 2017, disclose a storage system with shelves placed on tracks. This type of shelf storage system is suitable for situations where the goods are not stacked high, but for higher levels, if the goods are stacked too high, it will be unsafe during movement, and the energy loss due to ineffective transportation will be too large. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a three-dimensional warehousing system for realizing precise operation and management of storage and outbound goods, and improving the storage utilization rate of warehouse space to realize high-density storage and goods-to-person sorting operations.

[0005] The three-dimensional storage system provided by the present application includes: a shelf, the shelf includes a track structure and defines at least one load-bearing platform, the track structure includes a plurality of running tracks, and the at least one load-bearing platform is located below the running track; a plurality of containers, each container is used to store goods, and at least some of the containers are stacked and placed on the at least one load-bearing platform; a load-carrying trolley, the load-carrying trolley runs back and forth on the plurality of running tracks to perform access operations on the containers located below the load-carrying trolley in the three-dimensional storage system; and a track-changing device, the track-changing device is configured to switch the load-carrying trolley from the current running track where the load-carrying trolley is located to a target running track. The track-changing device includes: a transition track, the transition track is connected to the end of each running track; and a track-changing trolley, the track-changing trolley is located on the transition track and can move back and forth on the transition track, and the track-changing trolley is configured to receive the load-carrying trolley and transport the load-carrying trolley along the transition track to the target running track. In which, the running track is formed by a load-bearing tube with a tubular cavity, and the load-carrying trolley includes a walking mechanism and a grabbing mechanism. The walking mechanism includes rollers, which are rollably placed in the tubular cavity of the load-bearing tube; the grabbing mechanism is located below the running track and includes a grabber for grabbing containers.

[0006] In some embodiments, the track-changing trolley is suspended and moves between transition tracks, and during the track-changing process, the load-carrying trolley is suspended below the track-changing trolley.

[0007] In some embodiments, the current running track and the target running track are two running tracks arranged side by side on the same layer, and the transition track is perpendicular to each running track; the shelf includes multiple track layers, and a load-bearing platform is provided under each track layer. Each track layer is provided with several running tracks arranged side by side, and the three-dimensional storage system is provided with the load-bearing trolley and the track changing device corresponding to each track layer.

[0008] In some embodiments, the shelf includes columns and several pairs of load-bearing tubes indirectly or directly fixed on the columns, and the two single load-bearing tubes in each pair of load-bearing tubes are arranged in parallel to form a running track, and the single load-bearing tube is tubular and includes the tube cavity for the roller to roll therein; the single load-bearing tube is provided with an opening along the axial direction of the strip for the roller to be inserted, and the opening is an opening in the axial direction of the tube cavity, and the openings of the two load-bearing tubes are arranged facing each other, and the load-bearing trolley is suspended between the two single load-bearing tubes and travels between the two single load-bearing tubes; wherein, the side of the single load-bearing tube with the opening is the inner side edge of the load-bearing tube, and the inner side edge includes a first side located above the opening and a second side located below the opening, and a load-bearing trolley walking positioning hole is provided on any one of the first side and the second side; the load-bearing platform is provided at the top of the load-bearing tube, and the top of the single load-bearing tube is provided with a top protrusion for positioning the container.

[0009] In some embodiments, the gripping mechanism includes a gripper rotating device and a lifting device; the lifting device includes a lifting platform, a lifting bar, and a lifting drive device for the lifting bar; the gripper rotating device includes a gripper, a gripper driving device, and a gripper platform. The gripper driving device is disposed on the gripper platform, the gripper is disposed on the side of the gripper platform, the portion for gripping the container is a free end, extending from the platform below the platform, the fixed end of the gripper is fixed to the gripper rotating shaft, the gripper rotating shaft is connected to the gripper driving device, and the gripper rotating shaft is driven by the driving device to rotate, thereby driving the gripper to rotate. The lifting drive device is disposed on the lifting platform, the lifting platform is located above the gripper platform, the lifting drive device is connected to the gripper platform via a lifting bar, the lower end of the lifting bar is fixed to the gripper platform, and the upper end of the lifting bar is disposed on the lifting drive device. The lifting drive device drags the lifting bar to move up and down, and the lifting bar drives the gripper platform to move up and down.

[0010] In some embodiments, the gripper rotating device includes a gripper rotating motor, a transmission shaft, a gripper rotating shaft and a gripper; the gripper rotating motor is connected to the transmission shaft, and a gripper rotating shaft is provided at both ends of the transmission shaft, and the transmission shaft is connected to the gripper rotating shaft, and a gripper is provided on the gripper rotating shaft. The gripper rotating motor drives the transmission shaft to rotate, and the transmission shaft drives the gripper rotating shafts at both ends to rotate, and the gripper rotating shaft then drives the rotating hand to rotate. The rotation of the gripper is used to realize the action of grabbing and releasing the material box; a gripper angle detection sensor is provided next to the gripper.

[0011] In some embodiments, the lifting strip is a belt, the lower end of which is fixed on the gripper platform; the lifting drive device is connected to the winder in a transmission manner, and the upper end of the belt is fixed on the winder; a position sensor for sensing the container contour is provided on the edge of the gripper platform.

[0012] In some embodiments, the track-changing trolley includes a vehicle body and a running mechanism mounted on the vehicle body, wherein the running mechanism is connected to a driving device, and the driving device drives the running mechanism, thereby driving the track-changing trolley to move back and forth on the transition track. The track-changing trolley is also provided with a docking rail on its vehicle body, and the docking rail is used to adapt to and dock with the running track to receive the load-carrying trolley. A docking rail seat is fixed on the vehicle body, and the docking rail is movably connected to the docking rail seat. The docking rail is connected to a docking rail driver, and the docking rail driver drives the docking rail so that the docking rail can move back and forth on the docking rail seat. A slider is provided on the outer side of the docking rail, and the docking rail seat includes a slide groove, and the slider is located in the slide groove of the docking rail seat.

[0013] In some embodiments, the vehicle body is further provided with a fixing device for a load-carrying trolley, which is used to secure the track-changing trolley and the load-carrying trolley together during track change. The fixing device for the load-carrying trolley is located on the side of the track-changing trolley position and includes a fixing device motor, a clamp, and an expander. The expander connects the fixing device motor and the clamp. The clamp is used to squeeze the side of the load-carrying trolley, and the fixing device motor adjusts the forward and backward movement of the clamp via the expander.

[0014] In some embodiments, the presser is a friction plate with an uneven surface, a magnet, or a friction resin.

[0015] The beneficial effects of the various solutions disclosed in this application are as follows:

[0016] Compared with the existing technology, this solution reduces the handling capacity of the load-carrying trolley, while the warehouse can store more goods and utilize space. This structure fully utilizes the structure of the special track, so that the warehouse can stack multiple layers of material boxes. Due to the high load-bearing strength of the track, the height of the material boxes stacked on the track is basically unrestricted with the current load-bearing strength of the track (such as the design strength of the rail). Stacking more layers of material boxes can make full use of the space in the warehouse. In particular, the track can be set up in multiple layers, each layer can be stacked with multiple layers of material boxes, and the load-carrying trolleys on each layer can freely access the required material boxes. The structure of the present application can make full use of the warehouse space, increase the density of warehouse inventory, and quickly locate the target material boxes and goods. The load-carrying trolley can be designed to carry only one material box at a time (of course, it can also be designed to carry multiple material boxes at a time). Compared with the comparative documents, in order to sort the goods on a shelf, all the shelves on the entire track must carry goods or material boxes and move continuously. Obviously, the solution disclosed in this application is more economical and energy-saving. Since the boxes in each dynamic movement are not heavy, and the boxes stacked on the track are static, the strength and loss of the shelf system disclosed in this application are not as great as those in the prior art, so it is more economical and has a lower failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments.

[0018] Figure 1-1 is a schematic diagram of the cross section of a pair of load-bearing tubes.

[0019] Figure 1-2 yes Figure 1-1 Three-dimensional structural diagram of the middle load-bearing tube.

[0020] Figure 1-3 It is a front view of the inner side of a single load-bearing pipe.

[0021] Figure 1-4 This is an example diagram of using a pair of load-bearing tubes as guide rails.

[0022] Figure 1-5 This is the connection structure diagram of the load-bearing pipe and the beam.

[0023] Figure 1-6 It is a front view of the connection structure between the load-bearing pipe and the beam.

[0024] Figure 1-7 It is a structural diagram of a three-dimensional shelf.

[0025] Figure 2-1 This is a schematic diagram of the front direction of the track changing device.

[0026] Figure 2-2 yes Figure 2-1 Schematic diagram of the center left viewing direction.

[0027] Figure 2-3 yes Figure 2-1 Schematic diagram of the structure from a top-down perspective.

[0028] Figure 2-4 This is an example diagram of a three-dimensional structure.

[0029] Figure 2-5 It is a schematic diagram of the three-dimensional structure of the track-changing trolley.

[0030] Figure 2-6 yes Figure 2-5 Schematic diagram of the structure in the left viewing direction.

[0031] Figure 2-7 yes Figure 2-5 Schematic diagram of the structure in the front direction.

[0032] Figure 2-8 yes Figure 2-5 Schematic diagram of the structure from a top-down perspective.

[0033] Figure 2-9 It is a three-dimensional schematic diagram of the internal structure of the track-changing trolley.

[0034] Figure 2-10 yes Figure 2-9 Schematic diagram of the structure in the front direction.

[0035] Figure 2-11 yes Figure 2-9 Schematic diagram of the structure from the top view.

[0036] Figure 2-12 It is a structural diagram of the docking track.

[0037] Figure 2-13 It is a schematic structural diagram of the docking track from a top-down view.

[0038] Figure 2-14 It is a structural diagram of the cross section of the docking track and the transition track.

[0039] Figure 2-15 It is a schematic diagram of the three-dimensional structure of the docking track and the transition track.

[0040] Figure 2-16 It is a structural schematic diagram of the front direction of the inner side surface of a single docking rail and a transition rail.

[0041] Figure 2-17 It is a structural diagram of the track-changing trolley from an upward perspective.

[0042] Figure 3-1 Schematic diagram of the structure of the grabbing device.

[0043] Figure 3-2 It is a three-dimensional diagram of the appearance of the walking mechanism.

[0044] Figure 3-3 yes Figure 3-2 Top view of .

[0045] Figure 3-4 It is a three-dimensional schematic diagram of the grasping device.

[0046] Figure 3-5 It is a schematic diagram of the internal structure of the walking mechanism.

[0047] Figure 3-6 It is a schematic diagram of the internal structure of the walking mechanism.

[0048] Figure 3-7 This is a top-down view of the train in orbit.

[0049] Figure 3-8 yes Figure 3-7 Schematic diagram of the cross section.

[0050] Figure 3-9 yes Figure 3-7 3D schematic diagram of .

[0051] Figure 3-10This is a schematic diagram of the operating principle of the positioning sensor.

[0052] Figure 4 is a schematic diagram of the grasping mechanism;

[0053] Figure 5-1 Schematic diagram of the grappling hook structure;

[0054] Figure 5-2 This is a schematic diagram of the grappling hook structure.

[0055] Figure 6 A schematic diagram of the overall system structure.

[0056] Figure 7 is a schematic diagram of some system components of an embodiment of a container storage system.

[0057] Figure 8-10 1 is a method flow chart of different embodiments of a method for accessing a target container from a container storage system.

[0058] Description of the symbols in the figure:

[0059] 1-1. Load-bearing tube; 19. Tube cavity; 20. Opening; 26. Inner side; 21. First side; 22. Second side; 23. Travel positioning hole; 1-8. Top protrusion; 4. Crossbeam; 1-10. Hanging piece; 1-11. Wrapping part; 1-12. Fixing part; 1-13. Top; 1-14. Both sides; 1-15. Reinforcement rib; 1-16. Connecting piece; 1-17. Connection point; 1-18. Roller structure; 7. Load-carrying trolley; 1-20. Crossbeam connection hole; 1-21. Section pipe connection hole; 8. Material box; 1-23. Material box storage area; 1-100. A pair of load-bearing tubes; 1-101. Section pipe; 1-1010. First section pipe; 1-1011. Second section pipe.

[0060] 1. First connecting piece; 2. Lifting beam; 4. Crossbeam; 5. Transition rail; 6. Docking rail; 7. Load trolley; 8. Material box; 9. Running rail; 10. First pair of rails; 11. Second pair of rails; 12. Second connecting piece; 13. Electric push rod; 14. Track-changing trolley; 15. Car body; 16. Slider; 17. Push rod motor; 18. First traveling mechanism; 19. Lumen; 20. Opening; 21. First side; 22. Second side; 23. Travel positioning hole; 24. Docking rail seat; 25. Docking rail connector; 26. Inner side; 27. Induction body; 28. Push rod connector ; 29. ​​Vertical roller; 30. Horizontal roller; 31. Temporary storage table; 32. First motor; 33. First axle; 34. First roller; 35. Belt transmission device; 36. First belt; 37. Sensor; 38. First tensioning pulley; 39. Synchronous belt device; 40. Second belt; 41. Drive wheel; 42. Second axle; 43. Fixing device motor; 44. Compressor; 45. Retractor; 46. Rail positioning sensor; 47. Load-carrying trolley; 48. Fixing device motor seat; 450. Connecting part; 440. Contact plate; 300 Guide column; 301. Spring body

[0061] 3-1, Suspension grabbing device, 3-2, Track; 8, Material box; 3-4, Column; 3-5, Material box grabbing device; 3-6, Second walking mechanism; 3-7, Shell; 3-8, Second roller; 3-9, Adjustable guide wheel; 3-10, Fixed guide wheel; 3-11, Safety touch edge; 3-12, Positioning sensor; 3-13, Front wheel axle; 3-14, Rear wheel axle; 3-15, Drive motor; 3-16, First A driving pulley; 3-17, a second driving pulley; 3-18, a first synchronous belt; 3-19, a second synchronous belt; 3-20, a first passive pulley; 3-21, a second passive pulley; 3-22, a reducer; 3-23, a second tensioning pulley; 3-24, a bearing; 3-25, a bearing seat; 19, a lumen; 20, an opening; 21, a first side; 22, a second side; 3-30, a battery; 23, a travel positioning hole.

[0062] 4-1. Grab hook plate; 4-2. Lifting shaft; 4-3. Grab hook fixing block; 4-4. Grab hook plate; 4-5. Bevel gear; 4-6. Copper bearing seat; 4-7. Power shaft; 4-8. Belt pressure plate seat; 4-9. Belt pressure plate; 4-10. Guide column seat; 4-11. Guide column; 4-12. First sensor bracket; 4-13. Motor seat; 4-14. Second motor; 4-16. Induction block; 4-17. Sensor sensing sheet; 4-18. Second sensor bracket; 4-19. Positioning guide sleeve; 4-20. Interference guide column; 4-22. Lifting bar; 4-23. Proximity switch.

[0063] 5-1. First grab hook sensor; 5-2. Second grab hook sensor; 5-3. Grab hook sensor plate; 5-4. In-position sensor; 5-5. First material box positioning sensor; 5-6. Second material box positioning sensor; 5-7. Third material box positioning sensor; 5-8. Material box positioning sensor block; 8. Material box; 4-23. Proximity switch; 5-11. Grab hook; 4-5. Bevel gear; 4-3. Grab hook fixing block; 5-14. Sensor bracket; 4-2. Lifting shaft.

[0064] 6-1. Three-dimensional shelf; 6-2. Track changing device. DETAILED DESCRIPTION

[0065] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0066] The present invention proposes a three-dimensional storage system, which is mainly composed of several main modules such as three-dimensional shelves, load-carrying trolleys, and track-changing devices. Under the control of a processor or control device, the load-carrying trolley can run on the shelves' tracks and can change tracks between different running tracks through the track-changing device. At the same time, the load-carrying trolley can also perform actions such as loading, unloading, and picking at any position on the track or on the track-changing device. When performing these actions, the material box is placed on a temporary board or similar work platform. The material box is grasped and suspended below the load-carrying trolley. The load-carrying trolley is hoisted below the track.

[0067] Some embodiments of the three-dimensional storage system adopt the following technical solutions: it includes at least one layer of track for the hoisting operation of the load-carrying trolley, the track serving as the operation track of the load-carrying trolley; a load-bearing platform is provided below the track;

[0068] The track includes two single load-bearing tubes, each of which is tubular and includes a lumen for the roller to roll therein; an opening is provided on the single load-bearing tube along the axial direction of the strip for the roller to insert, and the opening is an opening in the axial direction of the lumen; the openings of the two load-bearing tubes are arranged facing each other, and the two single load-bearing tubes facing each other are arranged in parallel to form a pair of load-bearing tubes; the top of the load-bearing tubes is the load-bearing part of the goods, and the top of the pair of load-bearing tubes is used to place the goods; the three-dimensional shelf also includes columns, and the pair of load-bearing tubes are indirectly or directly fixed to the columns, that is, the track is fixed to the columns;

[0069] The load-carrying trolley includes a first traveling mechanism and a grabbing mechanism. The first traveling mechanism includes a first roller, which is placed in a tube cavity and rolls therein. The grabbing mechanism is located under the track and includes a grabber for grabbing goods. The load-carrying trolley is suspended between two load-bearing tubes of the track and travels suspended between them.

[0070] Each module is described separately below to illustrate the technical solution of the present invention.

[0071] The three-dimensional shelf module of the present invention is mainly composed of rails, columns, crossbeams and other components. The rails of the shelf are load-bearing tubes of the shelf, which serve as both the rails for the load-carrying trolley and the shelf platform for the container for holding goods, that is, the material box. The two rails are placed on both sides of the material box. The load-bearing tubes include two single load-bearing tubes, whose openings are arranged facing each other. The two single load-bearing tubes facing each other are arranged in parallel to form a pair of load-bearing tubes, and the pair of load-bearing tubes are connected together by a crossbeam; the crossbeam is fixed on the top of the single load-bearing tube; the three-dimensional shelf also includes columns, and a pair of load-bearing tubes are fixed on the columns to form a layer of load-bearing tubes; at least one layer of load-bearing tubes is provided at different heights on the columns. By arranging multiple layers of load-bearing tubes along the longitudinal direction on the columns, the longitudinal development and space utilization of the shelf can be expanded.

[0072] See also Figure 1-1 and Figure 1-2 The load-bearing tubes of the shelf shown in the figure are single load-bearing tubes 1-1 in the shape of a strip tube, and the single load-bearing tube includes a tube cavity 19 for the roller to roll inside. The single load-bearing tube is provided with an opening 20 along the axial direction of the strip for the roller to insert, and the opening is an opening in the axial direction of the tube cavity. The load-bearing tubes of the shelf include two single load-bearing tubes, that is, a pair of load-bearing tubes 1-100, and their openings are arranged facing each other. They form a pair of tracks for the load-bearing trolley to travel; at the same time, the two load-bearing tubes are used for the two ends of the goods and the material box to be placed. The cross-section of the single load-bearing tube is a square shape with a notch, similar to shape or In other embodiments, the cross-section of a single load-bearing tube is a circle, an ellipse, an equilateral polygon, or the like including a notch.

[0073] The side of the single load-bearing tube with an opening is the inner side 26 of the load-bearing tube. The inner side 26 includes a first side 21 located above the opening and a second side 22 located below the opening. Figure 1-2 and Figure 1-3 The first side 21 is provided with a trolley positioning hole 23. The first and second sides are used to restrain the rollers within the tube lumen, preventing them from slipping out. The trolley positioning hole 23 is used to monitor the operation of the trolley and primarily position it. A sensor is installed on the trolley, which determines the coordinate position of the trolley on the load-bearing tube by sensing the trolley positioning hole.

[0074] The top of the single support tube is provided with top protrusions 1-8 for positioning the container. The container is provided with holes corresponding to the top protrusions. This structure helps to position the container in a fixed position, facilitating precise and rapid grasping of the container by the trolley. In the illustrated embodiment, the top of the single support tube is flat, rather than a curved dome. This flat top increases the surface area of ​​the container and the support tube, reducing pressure.

[0075] See also Figure 1-5 and Figure 1-6, two single load-bearing tubes facing each other are arranged in parallel and connected together by a crossbeam 4. The crossbeam 4 is fixed to the top of the single load-bearing tube, and the crossbeam 4 is fixed to the single load-bearing tube through a hanger 1-10. The hanger 1-10 is buckled on the top and both sides of the top of the crossbeam, and the lower part of the hanger is fixed on the single load-bearing tube. The hanger 1-10 includes a load-bearing tube wrapping part 1-11 and a fixing part 1-12 located below the wrapping part. The wrapping part 1-11 is sleeved on the load-bearing tube, and the fixing part 1-12 is fixedly connected to the top of the load-bearing tube by bolts. The crossbeam includes a top 1-13 of the crossbeam and both sides 1-14 of the top, and axial groove-shaped reinforcement ribs 1-15 are provided on both sides. The reinforcement rib is arranged in the middle position of the side.

[0076] A single load-bearing pipe 1-1 is made up of multiple sections of joint pipe 1-101. Two adjacent sections of joint pipe are connected together by a connector 1-16. The connector 1-16 is fixedly connected to the two sections of joint pipe by bolts. The connector is a sheet or a wrapping plate, which is set on the outer wall of the load-bearing pipe. Figure 1-6 The connection point 1-17 between the crossbeam 4 and the load-bearing tube also serves as the connection point between the two tube segments. The fixed portions on either side of the crossbeam's hanger 1-10 are connected to the first tube segment 1-1010 and the second tube segment 1-1011, respectively. The hanger 1-10 and the connector are two separate parts, but in other embodiments, they can be a single, integral structure or a conjoined structure, which can enhance the strength of the assembled structure. In another embodiment, the crossbeam and the load-bearing tube can also be connected by welding, bolting, or other methods other than hanger fixing.

[0077] See also Figure 1-2 A crossbeam connection hole 1-20 is provided on the top of the load-bearing tube, and a section tube connection hole 1-21 is provided on the side opposite to the opening side.

[0078] Three-dimensional shelves Figure 1-7 As shown, the three-dimensional rack is mainly composed of load-bearing tubes, beams and columns. The load-bearing tubes are a pair of load-bearing tubes, which are used to bear the weight of the material box and serve as the track of the load trolley. It is a dual purpose with high efficiency and simple structural design.

[0079] A pair of load-bearing pipes 1-101 are indirectly fixed to the columns 3-4 through the crossbeam 4, forming a layer of load-bearing pipes. Multiple layers of load-bearing pipes are provided at different heights of the columns. Generally, there can be 1 to 10 layers. The number of layers can be determined based on factors such as the height of the warehouse, the load-bearing capacity of the shelves, the weight type of the goods, and the number of layers of bins on each layer. A structure with 100 layers of load-bearing pipes is also a possible construction method. Figure 1-7 In the example, a 4-layer structure is shown, with each layer being a 5-layer material box structure. There are multiple pairs of load-bearing pipes arranged side by side on the same layer of load-bearing pipes. Figure 1-7In the example above, there are four pairs of load-bearing pipes arranged side by side. However, in actual design, the number of pairs of load-bearing pipes can be designed based on the warehouse floor space. The number of pairs is generally 2 to 100, and can also be more than 100.

[0080] A crossbeam 4 continuously supports multiple pairs of parallel load-bearing pipes. Both ends of the crossbeam 4 are fixed to columns 3-4. Multiple crossbeams are arranged in parallel, dividing the parallel pairs of load-bearing pipes into multiple storage areas 1-23. Each layer of load-bearing pipes is divided into multiple storage areas by the crossbeams. Top protrusions are located in the storage areas to improve the placement of the bins.

[0081] The entire shelf area is divided into multiple bin storage areas to facilitate coordinate management of the bins within the storage area. Each storage area can be assigned a coordinate or coordinate range, facilitating the precise identification and transfer of a specific bin, as well as the assignment of a position value to the bin. Since the shelf is a three-dimensional structure, the bins on it also require three-dimensional positioning. Therefore, the bin position can be assigned an xyz coordinate system, which enables the loading trolley on the load-bearing tube to accurately grasp the bin.

[0082] See also Figure 1-4 and Figure 1-7 The load-carrying trolley 7 includes a roller structure 1-18, and the roller of the roller structure 1-18 is inserted into the tube cavity from the opening 20, and can move in the tube cavity. The load-carrying trolley 7 is hoisted under the upper load-bearing tube and moves on it. Multi-layer material boxes 8 are stacked on the lower load-bearing tube (for the first layer of load-bearing tubes, the multi-layer material boxes are placed on a flat ground or platform). The load-carrying trolley can grab the material boxes and move the material boxes axially along the load-bearing tube. The upper and lower layers of the shelves can store several layers or even dozens of layers of material boxes. The inventory of goods is large, and the goods can be transferred in time. Each material box storage area can realize accurate monitoring and management of the material boxes.

[0083] Therefore, in some embodiments, the rack has multiple layers of track and defines at least one load-bearing platform, upon which multiple layers of bins 8 are stacked. Each track layer has a load-bearing trolley mounted beneath it, and except for the top track layer, the top of each track layer serves as a load-bearing platform. The ground beneath the bottom track layer also serves as a load-bearing platform.

[0084] The track-changing device module of the present invention includes a transition track for connecting the ends of the running track and a track-changing trolley located on the transition track and capable of reciprocating movement thereon. The track-changing trolley includes a vehicle body, on which is mounted a running mechanism; the running mechanism is connected to a drive device, which drives the trolley to reciprocate on the transition track; the trolley is also provided with a docking track adapted to mate with the running track of the load trolley; the docking track is disposed on the vehicle body.

[0085] See also Figures 2-1 to 2-4 As shown in the structural diagram, the track-changing device of the three-dimensional storage mainly consists of two parts: a transition track 5 for connecting the ends of the running track 9 and a track-changing trolley 14 located on the transition track and capable of reciprocating on it. A load trolley 7 is suspended under the track-changing trolley 14, and a material box 8 is grasped and hung under the load trolley 7.

[0086] The track-changing trolley 14 includes a body 15, on which is mounted a first running mechanism 18. This running mechanism 18 is connected to a drive unit and driven by the drive unit, driving the trolley back and forth on the transition track. The trolley also has a docking track 6, which is adapted to mate with the running track of the load trolley. The docking track 6 is mounted on the body 15.

[0087] The transition track 5 is a transverse track, which is arranged perpendicular to the running track 9. Figure 2-14 、 Figure 2-15 and Figure 2-16 The transition track 5 is a groove track with an inner opening; the single groove track is in the shape of a strip tube, and the single groove track includes a tube cavity 19 for the roller to roll in. The single groove track is provided with an opening 20 along the axial direction of the strip for the roller to insert, and the opening is an opening in the axial direction of the tube cavity. The transverse track includes two groove tracks, and their openings are arranged facing each other. They form a pair of tracks for the track change trolley 14 to travel. The cross section of the single groove track is a square shape with a notch, similar to shape or In other embodiments, the cross-section of a single groove rail is a circular, elliptical, equilateral polygonal, or other shape including a notch. The side of the single groove rail with an opening is the inner side of the groove rail, and the inner side includes a first side 21 located above the opening and a second side 22 located below the opening. The first side 21 is provided with a trolley travel positioning hole 23. The first side and the second side are used to restrict the roller in the lumen to prevent it from sliding out. The trolley travel positioning hole 23 is used to monitor the operation of the trolley and mainly to position it. Figure 2-5 and Figure 2-6 A sensor 37 is installed on the track-changing trolley. The sensor 37 is located on the side of the track-changing trolley and is arranged in the same manner as the roller device. The sensor 37 extends deep into the tube cavity 19 and determines the coordinate position of the trolley on the track by sensing the trolley travel positioning hole 23. The sensor can be a photosensitive infrared sensor. When the trolley passes through the travel positioning hole, the light emitted by the sensor's light-emitting device passes through the hole, and the sensor's receiver receives the light signal, completing a position record. The trolley travel positioning hole 23 can be a complete hole located on the first side 21 or the second side 22, or it can be a gap connected to the opening 20. The trolley travel positioning hole 23 can be any suitable shape, for example, circular, square, etc.

[0088] The shape and structure of the docking track 6 are identical to those of the transition track 5. Both the transition track 5 and the docking track 6 are internally open grooved rails. The grooved rails are tubular, with each rail including a lumen 19 for the rollers to roll within. Each rail has an opening 20 along the axial direction of the strip for the rollers to insert. This opening is axially aligned with the lumen. The grooved rails consist of two rails, with their openings facing each other. The two opposing rails are arranged in parallel. A crossbeam connection hole is also provided on the top of the rails, and a section pipe connection hole is provided on the side opposite the opening.

[0089] The transition track 5 is connected to the ends of at least two running tracks. Figure 2-3 It is shown that there are 4 pairs of running tracks side by side, and the transition track 5 is docked with the 4 pairs of running tracks. However, in other embodiments, it is not limited to 4 pairs, and it can be 2 or 3 pairs, and 5 to 20 pairs are all better design quantities. A larger number requires a larger site, so a larger side-by-side design can be added according to the site. The running track 9 includes a first pair of tracks 10 and a second pair of tracks 11. An embodiment of track changing is: when the system is running, the load-carrying trolley enters the track changing trolley 14 on the transition track from the first pair of tracks 10, and is then moved horizontally to the end of the second pair of tracks 11 by the track changing trolley. After the docking track is aligned with the running track, the load-carrying trolley enters the second pair of tracks 11 from the transition track, thereby completing a track changing action. The load-carrying trolley generally carries a material box, and the transfer of the material box is completed through the above-mentioned track changing.

[0090] See also Figure 2-2 As shown, the docking rail 6 is connected to the docking rail seat 24, and the docking rail seat 24 is fixed on the vehicle body 15; wherein the docking rail 6 is movably connected to the docking rail seat 24, and the docking rail is connected to the docking rail driver, and the docking rail driver drives the docking rail to enable the docking rail to move back and forth on the docking rail seat.

[0091] Docking track drive mode: see Figure 2-5 and Figure 2-12 The two opposing docking rails are connected by a docking rail connector 25, which is in transmission connection with the electric push rod 13, which is connected to the push rod motor 17. A push rod connector 28 is fixed to the docking rail connector 25 and connected to the electric push rod 13. The push rod motor 17 drives the electric push rod 13 to perform telescopic movement, which in turn drives the push rod connector to move. The push rod connector drives the docking rail connector to perform reciprocating movement, and the docking rail connector drives the docking rail to perform reciprocating movement.

[0092] See also Figure 2-2 and Figure 2-12The docking track contains a load-carrying trolley 47, and a slider 16 is provided on the outside of the docking track. The slider 16 serves as a guide. The docking track seat 24 includes a chute, and the slider 16 is located in the chute of the docking track seat. A rail alignment sensor 46 is provided between the docking track and the running track. The rail alignment sensor 46 is provided on the track-changing trolley 14, and the induction body 27 is provided at the end of the running track 9. The rail alignment sensor is used to monitor the alignment between the track-changing trolley and the running track.

[0093] The vehicle body is also equipped with a mounting device for the trolley. This device is used to secure the trolley. Once the trolley enters the docking track, it may sway during movement. The mounting device is used to tighten the track-switching trolley and the trolley together, reducing the gap between them and minimizing the trolley's swing on the track-switching trolley. Because the trolley is hoisted with a material box underneath, the trolley's swaying and swinging during movement can exert significant lateral or shear forces on the track-switching device, increasing the risk of failure and affecting the platform's stability.

[0094] See also Figure 2-7 The fixing device of the load-carrying trolley is arranged on the side of the track-changing trolley position, and the fixing device of the load-carrying trolley includes a fixing device motor 43, a clamp 44 and a telescope 45, wherein the telescope connects the fixing device motor and the clamp, and the fixing device motor adjusts the forward and backward movement of the clamp through the telescope. The clamp is preferably a plate-shaped object, which minimizes or eliminates the gap between the load-carrying trolley and the track-changing trolley by squeezing the side of the load-carrying trolley. The telescope 45 is preferably a screw telescopic structure, and the output shaft of the fixing device motor is connected to the gear or turbine on the screw through a gear or turbine, thereby driving the screw to rotate. The part of the screw that is exposed is the connecting part 450, and the connecting part 450 connects the screw and the clamp 44. In one embodiment, a screw hole is provided in the middle of the clamp, which is connected to the screw telescope through a thread. The compactor includes a contact plate 440 that creates friction with the trolley and a connecting portion 450 connected to the screw. The contact plate extends a certain distance from the front end of the connecting portion, and the end of the screw extends from the connecting portion without contacting the trolley to avoid affecting the compaction effect of the contact plate. The fixture motor 43 is mounted on the fixture motor base 48.

[0095] The clamp is a friction plate, magnet, or friction resin with an uneven surface, in this case a corrugated surface. If the surface of the trolley is ferrous, the clamp can be a magnet or electromagnet. The friction resin can be an organic material such as tire rubber, silicone, or plastic.

[0096] See also Figure 2-5 、 Figures 2-9 to 2-11The running mechanism includes a roller device placed in the transition track, and the roller device includes a vertical roller 29 and a horizontal roller 30 in the transition track, wherein the vertical roller rolls on the bottom of the transition track, and the horizontal roller rolls on the inner wall of the transition track. The vertical roller is used to make the track-changing trolley roll along the track direction (longitudinal direction) on the transition track; the horizontal roller makes the track-changing trolley maintain its width in the horizontal direction to avoid obvious friction between the vertical roller and the transition track, which increases their loss and causes the trolley to swing significantly in the horizontal direction. The horizontal roller 30 is set on both sides of the track-changing trolley, which is fixed to the vehicle body and cooperates with the vertical roller to move. In this example, the horizontal roller 30 is an elastic wheel, that is, it includes a guide column 300 and a spring body 301, wherein the two ends of the flat roller body are sleeved on the guide column 300, and the middle is the spring body. The roller body can move up and down along the guide column under the elastic force of the spring. In another embodiment, the flat roller body can be mounted on the outer end of the guide post. A spring can be mounted on the guide post behind the flat roller body to form an elastic structure. The elastic flat roller can provide a buffer and correction function when the track-changing trolley deviates.

[0097] See also Figure 2-1 A temporary storage table 31 for placing material boxes is provided below the track-changing device. The temporary storage table 31 is provided below the position where the track-changing trolley docks with the running track, and can also be provided below the running track. The temporary storage table is used to temporarily store material boxes; or to perform picking operations on material boxes; or as a platform for loading or unloading material boxes. The temporary storage table is provided with a material box positioning protrusion or a groove position. The positioning protrusion or groove position is used to facilitate the re-positioning of the load-carrying trolley to accurately grasp the material box when temporarily storing the material box on the temporary storage table. The temporary storage table is also installed on a roller or belt assembly line, or on a mobile AGV (the abbreviation of "Automated Guided Vehicle").

[0098] See also Figures 2-9 to 2-11 The walking mechanism includes two rollers and a roller drive device. The roller drive device includes a first motor 32 and a transmission pair. The transmission pair connects the roller drive device and the axle. Each axle is provided with a first roller 34 at both ends. The roller drive device drives the axle to rotate through the transmission pair, and the axle drives the roller to rotate.

[0099] The transmission pair is a belt drive device 35, which is connected to the two shafts. The first motor 32 drives the belt on the belt drive device 35, and the belt drives the wheel shaft to rotate, thereby driving the first roller 34 to rotate. A pulley is provided on the wheel shaft, and gear teeth are provided on the belt. The belt drives the shaft to rotate, thereby driving the roller on the shaft to rotate.

[0100] In this embodiment, the first motor 32 is connected to a drive pulley 41, which is a synchronous belt assembly 39 equipped with a first belt 36 and a second belt 40. When the drive pulley rotates, it drives the first and second belts to move synchronously. The other end of the first belt is connected to a second axle 42, and the other end of the second belt is connected to the first axle 33. Rollers are installed at each end of the axles. When the wheels rotate, driven by the belts, the rollers at each end of the axles rotate accordingly. A first tensioning pulley 38 is also installed on the first belt, and a tensioning pulley is also installed on the second belt.

[0101] See also Figure 2-1 to Figure 2-4 The transition track 5 is installed under the hanging beam 2 through the first connecting piece 1. The hanging beam 2 is installed on the cross beam 4 through the second connecting piece 12. The cross beam 4 is located outside the transition track and is installed on the column. The column is used to support the cross beam, running track and track changing device.

[0102] The track changing process is briefly described as follows:

[0103] When the trolley is about to enter the docking track 6 from the running track 9, the alignment sensor 46 transmits sensing information to the transition track's power adjustment mechanism. Based on the information from the alignment sensor 46, the push rod motor drives the electric push rod 13 to push the docking track connector 25, adjusting the docking track 6's position on the docking rail seat. After the docking track 6 is adjusted to a suitable connection with the running track 9, the trolley moves from the running track 9 to the docking track 6. The fixing device motor then pushes the clamp to secure the trolley to the track-changing trolley. The first motor 32 drives the synchronous belt assembly, namely the first and second belts and their accessories, which rotate the rollers, allowing the track-changing trolley to travel on the transition track 5. After the track-changing trolley reaches the corresponding running track, it stops. The fixing device motor then releases the trolley, and the push rod motor pushes the docking track to connect to the new running track. The trolley then moves onto the new running track. During the unloading process, the docking track 6 is adjusted on the docking rail seat. Once the adjustment is complete, the loading trolley places the bin on the temporary storage platform to complete the unloading process. The track-changing trolley can also drag the loading trolley to another temporary storage platform to place the bin. Placing the bin can be done during the unloading process, the loading process, or during the picking process.

[0104] The load-carrying trolley of the present invention mainly comprises two parts: a traveling mechanism and a grabbing mechanism.

[0105] The load-carrying trolley is a suspension grabbing device 3-1. Figure 3-1 The hanging grabbing device 3-1 runs on the track 3-2, and the material box 8 is hung below the hanging grabbing device 3-1. The track is set on the column 3-4. The upper part of the hanging grabbing device 3-1 is the second walking mechanism 3-6, and the lower part is the material box grabbing device 3-5.

[0106] See also Figure 3-2 to Figure 3-6 In the structure shown, the suspension grabbing device 3-1 includes a shell 3-7, and the material box grabbing device 3-5 is arranged at the lower part of the shell 3-7; a walking device and a driving device of the walking device are provided on the shell 3-7.

[0107] The walking device comprises four second rollers 3-8 and front and rear axles, i.e. a front axle 3-13 and a rear axle 3-14, for walking on the housing side. Each axle two ends are provided with rollers.

[0108] The drive device is connected to the axle. The drive device includes a drive motor 3-15 and a belt transmission device. The belt transmission device includes a first driving pulley 3-16 and a second driving pulley 3-17 connected to the output shaft of the drive motor. The first driving pulley 3-16 is connected to the first driven pulley 3-20 via a first synchronous belt 3-18, and the second driving pulley 3-17 is connected to the second driven pulley 3-21 via a second synchronous belt 3-19. The first driven pulley and the second driven pulley are respectively mounted and fixed on the two axles. The drive motor 3-15 drives the first and second driving pulleys 3-16 and 3-17 to rotate through a speed reducer 3-22. The first and second driving pulleys respectively drive their respective driven pulleys to rotate, which in turn drives the axle to rotate. The rotation of the axle drives the roller. In this example, the first and second driving pulleys 3-16 and 3-17 are coaxially connected. In the structure where the first and second driving pulleys are connected, a raised spacer is provided between them to prevent interference between the two synchronous belts. The drive motor is connected to the battery and powered by battery 3-30. Figure 3-5 The battery 3-30 is located in the gap between the two drive shafts and is fixed to the battery bracket. In other embodiments, the drive motor can be connected to an active AC power grid or a DC power supply system.

[0109] A second tensioning wheel 3-23 for tensioning the synchronous belt is provided. The second tensioning wheel 3-23 is arranged on a tensioning wheel seat, and the tensioning wheel seat is fixed on the housing. The height of the tensioning wheel is adjustable to adjust the strength of the tension of the transmission belt.

[0110] A horizontally rolling guide wheel is located between the two rollers on the same side of the housing. The guide wheel is mounted on the housing. The axle of the horizontally rolling guide wheel is perpendicular to the axle of the rollers. The rollers are vertical wheels, standing upright on the bottom of the track. The guide wheels are horizontal wheels, lying on the vehicle body and rolling on the outer wall of the track.

[0111] The guide wheels include a fixed guide wheel 3-10 and an adjustable guide wheel 3-9. The fixed guide wheel 3-10 is fixedly mounted on the housing, and the adjustable guide wheel 3-9 is mounted on an elastic device that is fixed to the housing. The fixed guide wheel has the function of keeping the trolley from derailing, and the adjustable guide wheel has an adjustment mechanism that maintains a certain positive pressure and is used in conjunction with the fixed guide wheel. The guide wheel runs on the side wall of the track and has a running force on the side wall, which can make the rollers of the trolley run more smoothly on the bottom edge of the track and reduce vibration or vibration amplitude. This structure is suitable for load-bearing track structures with strip gaps on the inside.

[0112] The front wheel axle 3-13 and the rear wheel axle 14 are connected with the bearing seat 3-25 through the bearing 3-24, and the bearing seat is fixed on the housing. The axle can also be directly connected with the housing through the bearing.

[0113] The housing is provided with safety edges 3-11 protruding from the housing, and the safety edges 3-11 are provided on the front and back sides of the housing in the direction of travel. The sensing device of the safety edges is provided on the track to sense the contour of the trolley and improve the safety of the trolley.

[0114] A positioning sensor 3-12 for detecting the current position of the trolley is also provided between the two rollers on the same side of the housing. Figure 3-10 Positioning sensor 3-12 is an infrared sensor comprising an infrared generator and an infrared receiver, one of which is inserted deep into the rail cavity and the other located outside the corresponding cavity. Positioning holes 3-31 are provided on first edge 21. Each time the positioning sensor 3-12 passes through a positioning hole 3-31, it counts. During driving, the positioning sensor counts the positioning holes and combines this with a motor odometer to achieve precise positioning. The sensor can be any type of photoelectric gate sensor, infrared reflection sensor, or magnetic induction sensor. In other embodiments, the sensor can also be a mechanical contact switch, or the rail holes can be replaced with protrusions arranged along the rail axis.

[0115] The suspension grabbing device 3-1 as a load-carrying trolley needs to run on the track, see Figure 3-1 、 Figures 3-7 to 3-9 , which shows the situation where the trolley and the trolley's running mechanism are on the track. The trolley track is a double track; a single track is tubular and includes a lumen 19 for rollers to roll within; the single track has an opening 20 along the axial direction of the strip for the rollers to insert; the opening is an axial opening of the lumen; the openings of the two single tracks are arranged facing each other.

[0116] The side of a single track with an opening is the inner side of the track. The inner side includes a first side 21 located above the opening and a second side 22 located below the opening. A trolley positioning hole is provided on either side. In this example, a positioning hole 3-31 is provided on the first side 21. The trolley positioning hole 3-31 can be a complete hole located on the first side 21 or the second side 22, or a notch connected to the opening. The trolley positioning hole 3-31 can be any suitable shape, such as circular, square, etc.

[0117] The suspended grabbing device travels on a C-type track through a traveling mechanism, while grabbing and transporting the material box below. Driven by the drive motor 3-15, the front and rear wheel axles rotate synchronously, so that the four rollers obtain power synchronously to move in the tube cavity 19 of the track, and the weight of the trolley is distributed relatively evenly to the four rollers. Since the rollers move in the tube cavity, contact between the rollers and the inner wall of the track may occur. For this reason, the guide wheels can solve this problem. Under the action of the guide wheels, the rollers maintain a stable distance from the inner wall of the tube cavity, and can reduce and control the shaking of the vehicle body, increase the stability of the vehicle body, and avoid the adverse shaking of the material box under the trolley. The present invention realizes the four-wheel drive of the hoisting, has sufficient power to move the material box, reasonable transportation capacity distribution, and simple structure.

[0118] The grabbing mechanism includes a gripper rotating device and a lifting device; the lifting device includes a lifting platform, a lifting bar, and a lifting drive device for the lifting bar; the gripper rotating device includes a gripper (also known as a "grab hook"), a gripper driving device, and a gripper platform; wherein the gripper driving device is arranged on the gripper platform, the gripper is arranged on the side of the gripper platform, the part for grabbing the goods is a free end, which extends out of the platform below the platform, the fixed end of the gripper is fixed on the gripper rotating shaft, the gripper rotating shaft is connected to the gripper driving device, and the gripper rotating shaft is driven by the driving device to rotate, thereby driving the gripper to rotate. The lifting drive device is arranged on the lifting platform, the lifting platform is located above the gripper platform, the lifting drive device is connected to the gripper platform through the lifting bar, the lower end of the lifting bar is fixed to the gripper platform, the upper end of the lifting bar is arranged on the lifting drive device, the lifting drive device drags the lifting bar to move up and down, and the lifting bar drives the gripper platform to move up and down. The gripper rotation device includes a gripper rotation motor, a drive shaft, a gripper rotation shaft, and a gripper. The gripper rotation motor is in transmission connection with the drive shaft, with gripper rotation shafts at both ends of the drive shaft in transmission connection. A gripper is mounted on the gripper rotation shaft. The gripper rotation motor drives the drive shaft, which in turn drives the gripper rotation shafts at both ends. The gripper rotation shafts, in turn, drive the gripper rotation. The rotation of the gripper is used to grasp and release the material bin. The lifting bar is a belt, the lower end of which is fixed to the gripper platform. The lifting drive device is in transmission connection with a winder, the upper end of which is fixed to the winder. A lifting bar, winder, and lifting drive device form a lifting unit, and the lifting device includes four lifting units. Grippers are mounted at both ends of the gripper rotation shaft, and both grippers operate synchronously with the gripper rotation shaft. A gripper angle detection sensor is located next to the gripper. A position sensor is located on the edge of the gripper platform to sense the contour of the material bin. In other embodiments, the lifting bar can also be other flexible steel bars or ropes.

[0119] See also Figure 4The grabbing mechanism includes a flat grab plate 4-1, and the surface of the grab plate 4-1 is respectively provided with a grab driving device, a position sensing detection mechanism, and a lifting bar. The grab driving device includes a power shaft 4-7, both ends of the power shaft are engaged with a pulling shaft 4-2 for rotating the grab, and the engagement between the pulling shaft and the power shaft adopts a bevel gear. Both ends of the pulling shaft 4-2 are equipped with a grab fixing block 4-3, and the bottom of the grab fixing block is provided with a grab plate 4-4 for grabbing the material box, and the outer side of the grab plate is equipped with a connecting rod. The lifting bar 4-22 of the suspension robot is provided with a position sensing detection mechanism around the lifting bar. The position sensing detection mechanism includes a positioning guide sleeve 4-19 and a guide column seat 4-10. The interior of the positioning guide sleeve 4-19 is provided with an interference guide column 4-20 which is lifted up when interference occurs during operation. The interior of the guide column seat 4-10 is installed with a guide column 4-11. The top of the guide column 4-11 is provided with a sensing block 4-16. The sensing block 4-16 is used to trigger the sensor sensing sheet 4-17 on the top of the approaching hook fixing block 4-3.

[0120] In addition, the power shaft 4-7 engages the main shaft of the motor 4-14, which is connected to the motor base 4-13 via a fastener. Copper bearing seats 4-6 are installed at both ends of the power shaft 4-7 and the lifting shaft 4-2. The curvature of the grab plate 4-4 matches the fasteners of the grab bin. There are four grab plates 4-4 and four lifting bars 4-22, each consisting of two grab plates 4-4 in a group, with each group of grab plates 4-4 symmetrically located on either side of the grab plate 4-1. A belt pressure plate seat 4-8 is mounted at the bottom of the lifting bars 4-22, with a belt pressure plate 4-9 fixed inside the belt pressure plate seat 4-8. A second sensor bracket 4-18 is installed on the side of the positioning guide sleeve 4-20 and the guide column seat 4-10. The second sensor bracket 4-18 is L-shaped, and a proximity switch 4-23 is located within the central hole of the second sensor bracket 4-18 to confirm whether the grab platform has reached its limit position when retracted.

[0121] The grab hook drive device uses an electric motor as the power source. The electric motor engages the power shaft. The two ends of the power shaft engage the lifting shaft through bevel gears. A grab hook plate for grabbing the material box is provided on the surface of the lifting shaft. The engagement of the power shaft and the lifting shaft can drive the grab hook plate at the bottom of the fixing block to flip, which is convenient for grabbing the material box. The position sensing detection mechanism can sense whether the grab hook plate has reached the normal position and whether the position is correct. It can collect the position information of the grab hook plate. It has a high degree of intelligence. When encountering interference, the interference column is lifted up, which effectively protects the grabbing platform. After the grabbing is completed, it is driven by the suspension robot to drive the grabbing platform to run along the direction of the lifting bar, with excellent practical performance.

[0122] See also Figure 5-1 、 Figure 5-2, shown is the sensing device of the grabbing platform, including the grabbing platform, the material box grabbing end face of the grabbing platform is provided with a lifting shaft 4-2, the lifting shaft 4-2 is surrounded by a sensor bracket 5-14, the two ends of the lifting shaft 4-2 are provided with a grab hook fixing block 4-3, the bottom of the grab hook fixing block 4-3 is provided with a grab hook 5-11 for grabbing the material box 8, the top of the grab hook fixing block 4-3 is provided with a grab hook sensing piece 5-3 for sensing the descending position of the grabbing platform, and the top of the sensor bracket on the side of the grab hook fixing block 4-3 is provided with a first The grab hook sensor 5-1 and the second grab hook sensor 5-2 are installed at the bottom of the sensor bracket on the side of the grab hook fixing block 4-3. The first grab hook sensor 5-1 and the second grab hook sensor 5-2 are used to control the opening or closing angle of the grab hook 5-11. The sensor end of the grabbing platform contains an in-place sensor 5-4, a first material box positioning sensor 5-5, a second material box positioning sensor 5-6, and a third material box positioning sensor 5-7. A material box positioning sensing block 5-8 is provided at the bottom of the third material box positioning sensor 5-7.

[0123] In addition, the lifting shaft 4-2 is engaged with the power mechanism via a bevel gear 4-5, and bearing seats are installed at both ends of the lifting shaft 4-2. The sensor bracket 5-14 is L-shaped, with a waist-shaped hole in the middle for installing the sensor. The surfaces of the first grabber sensor 5-1, the second grabber sensor 5-2, the in-position sensor 5-4, the first bin positioning sensor 5-5, the second bin positioning sensor 5-6, and the third bin positioning sensor 5-7 are all equipped with proximity switches 4-23. The in-position sensor 5-4 and the first bin positioning sensor 5-5 are arranged opposite each other, and the first bin positioning sensor 5-5, the second bin positioning sensor 5-6, and the third bin positioning sensor 5-7 are all distributed at opposite corners of the grabbing platform.

[0124] The use of the gripping mechanism sensing device is as follows:

[0125] The first grab hook sensor and the second grab hook sensor control the opening and closing angles of the grab hook.

[0126] The grab hook sensor is used to locate the feedback of the grabbing platform's descent into position. The sensor trigger indicates that it has descended into position.

[0127] The in-position sensors, first bin positioning sensors, and second bin positioning sensors are located at opposite corners of the bin. The first bin positioning sensor senses the two diagonal edges of the bin, while the second and third bin positioning sensors sense the two edges of the bin. During correct positioning, none of the first, second, or third bin positioning sensors will trigger. If any of these sensors trigger, it indicates that the gripping platform and bin are mismatched, and gripping is impossible.

[0128] The material box positioning sensing block is used in conjunction with the first material box positioning sensor 5-5, the second material box positioning sensor, the third material box positioning sensor, and the grab hook sensing piece respectively. Under normal circumstances, there is a 5mm gap with the material box. When the grabbing platform and the material box are matched more than 5mm, the sensing block of one of the first material box positioning sensor, the second material box positioning sensor, and the third material box positioning sensor will definitely be in contact with the material box, triggering the sensor.

[0129] The surface of the lifting shaft is provided with a grab plate for grabbing the material box. The engagement of the power shaft and the lifting shaft can drive the grab plate at the bottom of the fixed block to flip over, which is convenient for grabbing the material box. The position sensing detection mechanism can sense whether the grab plate has reached the normal position. After the material box is taken, it is driven by the suspension robot to drive the grab platform to run along the direction of the lifting bar.

[0130] Through the above embodiments, the present disclosure provides a container storage system, which includes a shelf, a plurality of containers, a load-bearing trolley and a track-changing device. The shelf includes a track structure and defines at least one load-bearing platform, and the track structure includes a plurality of running tracks, and the at least one load-bearing platform is located below the running track. Each container is used to store goods, and at least part of the containers are stacked and placed on the at least one load-bearing platform. The load-bearing trolley runs back and forth on the plurality of running tracks to perform access operations on the containers in the container storage system. The track-changing device is configured to switch the load-bearing trolley from the current running track where the load-bearing trolley is located to a target running track.

[0131] Wherein, the track-changing device includes a transition track and a track-changing trolley. The transition track is connected to the end of each running track. The track-changing trolley is located on the transition track and can move back and forth on the transition track. The track-changing trolley is configured to receive the load-carrying trolley and transport the load-carrying trolley along the transition track to the target running track. In some embodiments, the current running track and the target running track are two running tracks arranged side by side on the same layer, and the transition track is perpendicular to each running track. It should be understood that in some other embodiments, by making appropriate modifications to the shelf structure, the current running track may not be located on the same layer as the target running track. The shelf includes a plurality of track layers, a load-bearing platform is provided under each track layer, and each track layer is provided with a plurality of side-by-side running tracks. The container storage system is provided with the load-carrying trolley and the track-changing device corresponding to each track layer.

[0132] like Figure 7 In order to control the operation of the container storage system, the container storage system has at least one processor 700, and the at least one processor 700 is configured to:

[0133] Controlling the multiple load-carrying trolleys and / or rail-changing trolleys to operate on the racks,

[0134] controlling at least one of the plurality of loading trolleys to store a container containing ordered goods in the container storage system,

[0135] controlling at least one of the plurality of loading vehicles to retrieve at least one container containing ordered goods from the container storage system so as to deliver the retrieved at least one container to a temporary storage station, and

[0136] At least one of the plurality of load-carrying trolleys is controlled to store at least one container containing at least one picked item from the at least one retrieved container in the container storage system.

[0137] The at least one processor 700 is further configured to control at least one of the plurality of track-changing trolleys to transport a corresponding load-carrying trolley to the target operating track.

[0138] By utilizing the devices and systems disclosed in the above embodiments, the present disclosure also provides a method for accessing a target container from a container storage system. The container storage system includes a plurality of running rails, a plurality of containers stacked on at least one load-bearing platform of the container storage system, a plurality of controllable load-carrying trolleys, and a plurality of track-switching trolleys. The containers are used to store cargo. The plurality of running rails can be supported on columns. In the following method description, a group of containers stacked together in a storage location is referred to as a stack. This method can be described in conjunction with inbound orders, outbound orders, and transfer orders.

[0139] like Figure 8 , when processing an incoming order, the method includes:

[0140] S810: Determine the target storage position of the target container according to the order information, control at least one loading trolley to run along the target running track to above the target container, and load the target container onto the loading trolley with the help of the grabbing mechanism, and then control the loading trolley loaded with the target container to run along the target running track to above the target position and place the target container in the target storage position.

[0141] S820: If the target container is not within the operating space of the current operating track of the load-carrying trolley, control one of the track-changing trolleys to transport the load-carrying trolley to the target operating track above the target container, then control the load-carrying trolley to run along the target operating track to above the target container and load the target container onto the load-carrying trolley with the help of the grabbing mechanism, then control the load-carrying trolley loaded with the target container to run along the target operating track to above the target position and place the target container in the target storage position.

[0142] S830: If the target storage location is not within the operating space of the current operating track of the load-carrying trolley loaded with the target container, control one of the track-changing trolleys to transport the load-carrying trolley loaded with the target container to the target operating track corresponding to the target storage location, and then control the load-carrying trolley loaded with the target container to run along the target operating track to above the target storage location and place the target container at the target storage location.

[0143] exist Figure 8 In the method, the target container is generally placed at the top layer of the target storage location, but in some embodiments, the target container may also be placed at other specific layers of the target storage location.

[0144] like Figure 9 , when processing an outbound order, the method includes:

[0145] S910: Determine the location of the target container according to the order information and control at least one load-carrying trolley to move along one of the running tracks to above the target container, and take out the target container with the help of the grabbing mechanism of the load-carrying trolley.

[0146] S920: If the target container is not at the top of the stacking tower where the container is located, control a load-carrying trolley or multiple load-carrying trolleys to move other non-target containers stacked above the target container with the help of the grabbing mechanism of the load-carrying trolley and place them in other stacking towers, so that the target container is located at the top of the stacking tower, and control a load-carrying trolley to take out the target container with the help of the grabbing mechanism of the load-carrying trolley.

[0147] In S920 , when other non-target containers stacked above the target container are moved and placed in other stacks, the containers may be moved one by one, or several containers may be moved at one time.

[0148] S930: If the target container is not within the operating space of the current operating track of the load-carrying trolley, control one of the track-changing trolleys to transport the load-carrying trolley to a target operating track above the target container, and then control the load-carrying trolley to run along the target operating track to above the target container and take out the target container with the help of the grabbing mechanism.

[0149] like Figure 10 When processing a warehouse transfer order, the method includes:

[0150] S1010: Determine the target storage position of the target container based on the order information, control at least one load-carrying trolley to run along the target running track to above the target container, and use the grabbing mechanism of the load-carrying trolley to grab the target container to the target storage position and stack it on the stacking tower of the target storage position.

[0151] S1020: If the target container is not at the top of the stack, control a load-carrying trolley or multiple load-carrying trolleys to move other non-target containers stacked above the target container with the help of the grabbing mechanism of the load-carrying trolley and place them in other stacks, so that the target container is located at the top of the stack, and control a load-carrying trolley to load the target container onto the load-carrying trolley with the help of the grabbing mechanism of the load-carrying trolley, and place the target container at the target storage location.

[0152] In S1020 , when other non-target containers stacked above the target container are moved and placed in other stacks, the containers may be moved one by one, or several containers may be moved at one time.

[0153] S1030: If the target container is not within the operating space of the current operating track of the load-carrying trolley, control one of the track-changing trolleys to transport the load-carrying trolley to the target operating track above the target container, then control the load-carrying trolley to run along the target operating track to above the target container and load the target container onto the load-carrying trolley with the help of the grabbing mechanism, then control the load-carrying trolley loaded with the target container to run along the target operating track to above the target storage position and place the target container at the target storage position.

[0154] S1040: If the target storage location is not within the operating space of the current operating track of the load-carrying trolley loaded with the target container, control one of the track-changing trolleys to transport the load-carrying trolley loaded with the target container to the target operating track of the target location, and then control the load-carrying trolley loaded with the target container to run along the target operating track to above the target location and place the target container at the target storage location.

[0155] The operating space of the trolley refers to the area covered by the current running track of the trolley, that is, the area of ​​the material box that can be grabbed when running on the current running track. Figure 10 In the method, the target container is generally placed at the top layer of the target storage location or the top of the stack, but in some embodiments, the target container can also be placed at other specific layers of the target storage location or at an appropriate position in the stack.

[0156] It should be noted that the steps of the methods described herein and recited in the claims do not need to be performed in the order recited, and a method does not necessarily need to perform all the steps described herein.

[0157] The multiple track-changing trolleys operate on transition rails, with each transition rail vertically connected to the end of a corresponding operating rail. The load-carrying trolley is suspended and moves between the operating rails. The track-changing trolley is suspended and moves between the transition rails, and during the track-changing process, the load-carrying trolley is suspended below the track-changing trolley. The top of the operating rail serves as the at least one load-bearing platform.

[0158] The specific structure and operation of the shelves, containers, loading trolleys and track-changing devices in the above-mentioned container storage system and the method for accessing target containers from the container storage system can be found in the detailed description of each module in the above-mentioned embodiments, which will not be elaborated here.

[0159] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A three-dimensional storage system, characterized in that: include: A shelf, the shelf including a track structure and defining at least one load-bearing platform, the track structure including a plurality of running tracks, the at least one load-bearing platform being located below the running tracks; a plurality of containers, each container being used to store goods, at least some of the containers being stacked and placed on the at least one load-bearing platform; A load-carrying trolley, which runs back and forth on the plurality of running tracks to perform storage and retrieval operations on containers located below the load-carrying trolley in the three-dimensional storage system; as well as A track-changing device, wherein the track-changing device is configured to switch the load-carrying trolley from the current running track where the load-carrying trolley is located to a target running track, wherein the track-changing device comprises: a transition track connected to an end of each running track; and a track-changing trolley, the track-changing trolley being located on the transition track and capable of reciprocating on the transition track, the track-changing trolley being configured to receive the load-carrying trolley and transport the load-carrying trolley along the transition track to the target operating track; The running track is formed by a load-bearing tube with a lumen, and the load-carrying trolley includes a running mechanism and a grabbing mechanism. The running mechanism includes rollers that are rollably placed in the lumen of the load-bearing tube; the grabbing mechanism is located below the running track and includes a gripper for grabbing the container. The rack comprises columns and several pairs of load-bearing tubes indirectly or directly fixed on the columns, and the two load-bearing tubes in each pair of the load-bearing tubes are arranged in parallel to form a running track, and each load-bearing tube is tubular and includes a tube cavity for the roller to roll therein; each load-bearing tube is provided with an opening along the axial direction of the strip for the roller to be inserted, and the opening is an opening in the axial direction of the tube cavity, and the openings of the two load-bearing tubes in each pair of the load-bearing tubes are arranged facing each other, and the load-bearing trolley is suspended between the two load-bearing tubes arranged in pairs and travels between the two load-bearing tubes arranged in pairs; wherein the side of each load-bearing tube with an opening is the inner side edge of the load-bearing tube, and the inner side includes a first side located above the opening and a second side located below the opening, and a load-bearing trolley walking positioning hole is provided on any one of the first side and the second side; the load-bearing platform is provided on the top of the load-bearing tube, and the top of each load-bearing tube is provided with a top protrusion for positioning the container.

2. The three-dimensional storage system according to claim 1, characterized in that: in, The track-changing trolley is suspended between transition tracks and moves. During the track-changing process, the load-carrying trolley is suspended below the track-changing trolley.

3. The three-dimensional storage system according to claim 2, characterized in that: in, The current running track and the target running track are two running tracks arranged side by side on the same layer, and the transition track is perpendicular to each running track; the shelf includes multiple track layers, a load-bearing platform is provided under each track layer, and each track layer is provided with several running tracks arranged side by side. The three-dimensional storage system is provided with the load-bearing trolley and the track changing device corresponding to each track layer.

4. The three-dimensional storage system according to claim 1, characterized in that: in, The gripping mechanism includes a gripper rotating device and a lifting device; the lifting device includes a lifting platform, a lifting bar and a lifting drive device for the lifting bar; the gripper rotating device includes a gripper, a gripper drive device and a gripper platform; The gripper drive device is arranged on the gripper platform, the gripper is arranged on the side of the gripper platform, the part for gripping the container is the free end, which extends out of the platform below the platform, and the fixed end of the gripper is fixed on the gripper shaft, which is connected to the gripper drive device, and the gripper shaft is driven by the drive device to rotate, thereby driving the gripper to rotate; The lifting drive device is arranged on the lifting platform, and the lifting platform is located above the grabbing platform. The lifting drive device is connected to the grabbing platform through a lifting bar. The lower end of the lifting bar is fixed on the grabbing platform, and the upper end of the lifting bar is arranged on the lifting drive device. The lifting drive device drags the lifting bar to move up and down, and the lifting bar drives the grabbing platform to move up and down.

5. The three-dimensional storage system according to claim 4, characterized in that: in, The gripper rotating device includes a gripper rotating motor, a transmission shaft, a gripper rotating shaft and a gripper; the gripper rotating motor is connected to the transmission shaft, and a gripper rotating shaft is provided at both ends of the transmission shaft, and the transmission shaft is connected to the gripper rotating shaft, and a gripper is provided on the gripper rotating shaft. The gripper rotating motor drives the transmission shaft to rotate, and the transmission shaft drives the gripper rotating shafts at both ends to rotate, and the gripper rotating shaft then drives the rotating hand to rotate. The rotation of the gripper is used to realize the action of grabbing and releasing the material box; a gripper angle detection sensor is provided next to the gripper.

6. The three-dimensional storage system according to claim 4, characterized in that: in, The lifting strip is a belt, the lower end of which is fixed on the gripping platform; the lifting drive device is connected to the winder in a transmission manner, and the upper end of the belt is fixed on the winder; a position sensor for sensing the container contour is provided on the edge of the gripping platform.

7. The three-dimensional storage system according to claim 2, characterized in that: in, The track-changing trolley includes a body and a running mechanism mounted on the body, wherein the running mechanism is connected to a driving device, and the driving device drives the running mechanism, thereby driving the track-changing trolley to move back and forth on the transition track; The track-changing trolley is further provided with a docking track on its body, and the docking track is used to adapt to the running track to receive the load-carrying trolley; A docking rail seat is fixed on the vehicle body, the docking rail is movably connected to the docking rail seat, and the docking rail is connected to a docking rail driver, and the docking rail driver drives the docking rail to enable the docking rail to move back and forth on the docking rail seat; A slider is provided on the outer side of the docking rail, and the docking rail seat includes a slide groove, and the slider is located in the slide groove of the docking rail seat.

8. The three-dimensional storage system according to claim 7, characterized in that: in, A fixing device for the load-carrying trolley is also provided on the vehicle body, and the fixing device is used to fix the track-changing trolley and the load-carrying trolley together when changing tracks; The fixing device of the load-carrying trolley is arranged on the side of the track-changing trolley position. The fixing device of the load-carrying trolley includes a fixing device motor, a clamp and a telescope, wherein the telescope connects the fixing device motor and the clamp, and the clamp is used to squeeze the side of the load-carrying trolley. The fixing device motor adjusts the forward and backward movement of the clamp through the telescope.

9. The three-dimensional storage system according to claim 8, characterized in that: in, The presser is a magnet or friction resin with an uneven surface.

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