A method for adjusting the high-low difference of warehouse entry and exit of heavy-load storage high-level shelves

Abstract

The application provides a kind of heavy load storage high-rise shelf warehouse-in warehouse height difference adjusting method, comprising the following steps: S1, the empty load theoretical lifting height H of lifting platform, the empty load theoretical height L of shelf;S2, the full load deformation M of the front end of lifting platform is collected, the full load deformation N of the front end of shelf;S3, the warehouse-out theoretical height difference of the front end of lifting platform and the front end of shelf when goods are out of warehouse;The warehouse-in theoretical height difference of the front end of lifting platform and the front end of shelf when goods are in warehouse;S4, the full load deformation P of the rear end of lifting platform is collected, the full load deformation Q of the rear end of shelf;S5, calculate the warehouse-out theoretical height difference of the rear end of lifting platform and the rear end of shelf when goods are out of warehouse;The warehouse-out theoretical height difference of the rear end of lifting platform and the rear end of shelf when goods are out of warehouse;S5, adjust actual height difference.The application has the beneficial effect that: when the height of the shelf is adapted to the warehouse-in and warehouse-out, the lifting platform does not need to adapt the height of each shelf to the warehouse-in and warehouse-out with goods, and the work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of heavy load storage high-layer shelf in and out of warehouse, and particularly relates to a heavy load storage high-layer shelf in and out of warehouse height difference adjusting method. BACKGROUND

[0002] For the heavy load shelf, if the load of the goods is too large, the overall deformation of the overall shelf will inevitably occur. If the goods are placed on a layer of the shelf, the deformation of the overall shelf is small, and the influence of the lifting platform on the goods is small. However, if the goods are placed on a two-layer shelf or even a higher layer of the shelf, the center of gravity of the overall shelf is increased, the deformation of the overall shelf is large, and the large load goods placed on the lifting platform will also produce a large deformation. Moreover, if the road surface strength of the entire warehouse is not enough, the road surface under the shelf and the lifting platform will be settled in the long-term use process, and a larger deformation will be caused.

[0003] In addition, the number of shelves in the warehouse is generally large, and the consistency of the shelves is difficult to guarantee, so that the size and loading deformation of each shelf will be different. When the lifting platform is docked with the shelf, the existing in and out of warehouse height difference adjusting method is as follows: first, the in and out of warehouse height of each shelf is adapted to ensure that the height difference of all shelves is within a reasonable range, and a mapping table of the goods location and the height is obtained. Then, in the use process, the height of the mapping table is matched with the corresponding shelf. This method has the following problems: the height mapping table needs to be calculated for each shelf, which leads to low work efficiency; second, with the increase of the use time, the deformation of the lifting platform and the shelf will change slightly due to the mechanism itself, and the road surface of the warehouse will be worn and settled after being used for many times. After a period of use, the height difference between the lifting platform and part of the shelves exceeds the reasonable range, and the height difference is too large. Moreover, the longer the use time is, the more the number of shelves with the height difference is. This will cause the goods to be taken and delivered smoothly and the goods to shake when the lifting platform is used to take and deliver the goods, which greatly affects the logistics efficiency and the safety of the goods. If the goods are expensive, it may cause great loss and influence. SUMMARY

[0004] Therefore, the present application aims to provide a heavy load storage high-layer shelf in and out of warehouse height difference adjusting method to at least solve some of the above technical problems.

[0005] To achieve the above-mentioned purpose, the technical scheme of the present application is as follows:

[0006] The present application provides a heavy load storage high-layer shelf in and out of warehouse height difference adjusting method, which comprises the following steps:

[0007] S1, the no-load theoretical lifting height H of the lifting platform and the no-load theoretical height L of the shelf;

[0008] S2, collect the full load deformation M of the front end of the lifting platform, the full load deformation N of the front end of the shelf;

[0009] S3, the theoretical height difference between the front end of the lifting platform and the front end of the shelf when the goods are out of the warehouse is calculated by the formula:

[0010] H-L=M / 2-N / 2;

[0011] The theoretical height difference between the front end of the lifting platform and the front end of the shelf when the goods are in the warehouse is calculated by the formula:

[0012] L-H=N / 2-M / 2;

[0013] S4, collect the full load deformation P of the rear end of the lifting platform, and the full load deformation Q of the rear end of the shelf;

[0014] S5, the theoretical height difference between the rear end of the lifting platform and the rear end of the shelf when the goods are out of the warehouse is calculated by the formula:

[0015] H-L=P / 2-Q / 2;

[0016] The theoretical height difference between the rear end of the lifting platform and the rear end of the shelf when the goods are out of the warehouse is calculated by the formula:

[0017] L-H=Q / 2-P / 2;

[0018] S6, adjust the actual height difference according to the theoretical height difference.

[0019] Further, the front and rear ends of the lifting platform are respectively provided with empty load detection switches and full load detection switches, the shelf is provided with an empty load detection target corresponding to the empty load detection switch, and the shelf is provided with a full load detection target corresponding to the full load detection switch;

[0020] During the out-of-warehouse process, the empty load detection switch detects the empty load detection target of the shelf, and the lifting platform stops lifting;

[0021] During the in-warehouse process, the full load detection switch detects the full load detection target of the shelf, and the lifting platform stops lifting;

[0022] The actual height difference during the out-of-warehouse process is adjusted by changing the height of the empty load detection target, and the actual height difference during the out-of-warehouse process is adjusted by changing the height of the full load detection target.

[0023] Further, adjusting the actual height difference during the out-of-warehouse process by changing the height of the empty load detection target comprises the following steps:

[0024] A1, collect the actual height difference X between the front end of the lifting platform and the front end of the shelf under the conditions of empty load of the lifting platform and empty load of the shelf;

[0025] A2, calculate the actual height difference between the front end of the lifting platform and the front end of the shelf under the conditions of empty lifting platform and full shelf, which is X+N;

[0026] A3, the formula for calculating the adjustment amount ΔX of the empty detection target is as follows:

[0027] ΔX=M / 2-N / 2-(X+N)=M / 2-1.5*N-X;

[0028] When ΔX>0, the empty detection target is adjusted upward; when ΔX<0, the empty detection target is adjusted downward;

[0029] A4, collect the actual height difference Y between the rear end of the lifting platform and the rear end of the shelf under the conditions of empty lifting platform and empty shelf;

[0030] A5, calculate the actual height difference between the rear end of the lifting platform and the rear end of the shelf under the conditions of empty lifting platform and full shelf, which is Y+Q;

[0031] A6, if Y+Q<0, at this time the rear end of the lifting platform is lower than the rear end of the shelf under the conditions of empty lifting platform and full shelf, then take Y+Q=0, the height difference between the rear end of the lifting platform and the rear end of the shelf is 0, and the adjustment amount ΔX of the empty detection target of the shelf is P / 2-Q / 2-(Y+Q)=P / 2-Q / 2, at this time the actual height difference between the front end of the lifting platform and the front end of the shelf is X+N+ΔX=X+N+P / 2-Q / 2, and the height difference between the rear end of the lifting platform and the rear end of the shelf is 0, which ensures that the outbound of the rear goods does not appear downhill phenomenon;

[0032] If 0<Y+Q<W, at this time the height difference between the front end of the lifting platform and the front end of the shelf is X+N, and the height difference between the rear end of the lifting platform and the rear end of the shelf is Y+Q under the conditions of empty lifting platform and full shelf, and the adjustment amount ΔX of the empty detection target of the shelf is M / 2-N / 2-(X+N)=M / 2-1.5*N-X, which ensures that the outbound of the front and rear goods is uphill, and the height difference is within a reasonable range;

[0033] If Y+Q>W, at this time the height difference between the rear end of the lifting platform and the rear end of the shelf is too large under the conditions of empty lifting platform and full shelf, then take Y+Q=W, the height difference between the rear end of the lifting platform and the rear end of the shelf is W, and the adjustment amount ΔX of the empty detection target of the shelf is P / 2-Q / 2-(Y+Q)=P / 2-Q / 2-W, at this time the height difference between the front end of the lifting platform and the front end of the shelf is X+N+ΔX=X+N+P / 2-Q / 2-W, and the height difference between the rear end of the lifting platform and the rear end of the shelf is W, which avoids the height difference between the rear end of the lifting platform and the shelf being too large;

[0034] The maximum limit of the height difference between the outbound and inbound of goods is W.

[0035] Further, the actual height difference of the warehouse is adjusted by changing the full load detection target height, including the following steps:

[0036] B1, collect the empty load of the lifting platform and the empty load of the shelf, measure the actual height difference Y between the rear end of the lifting platform and the rear end of the shelf;

[0037] B2, calculate the actual height difference Y+P between the rear end of the lifting platform and the rear end of the shelf under the condition of full load of the lifting platform and empty load of the shelf;

[0038] B3, the adjustment amount ΔY of the full load detection target is calculated according to the formula:

[0039] ΔY=Q / 2-P / 2-(Y+P)=Q / 2-1.5*P-Y, when ΔY>0, the full load detection target is adjusted upward; when ΔY<0, the full load detection target is adjusted downward;

[0040] B4, collect the empty load of the lifting platform and the empty load of the shelf, measure the actual height difference X between the front end of the lifting platform and the front end of the shelf;

[0041] B5, calculate the actual height difference X+M between the front end of the shelf and the front end of the lifting platform under the condition of full load of the lifting platform and empty load of the shelf;

[0042] B6, if X+M<0, at this time the height of the front end of the shelf is lower than the height of the front end of the lifting platform under the condition of empty load of the lifting platform and full load of the shelf, at this time X+M=0, the height difference between the front end of the shelf and the front end of the lifting platform is 0, the adjustment amount ΔY of the full load detection target of the shelf is N / 2-M / 2-(X+M)=N / 2-M / 2, at this time the height difference between the rear end of the shelf and the rear end of the lifting platform is Y+P+ΔY=Y+P+N / 2-M / 2, the height difference between the front end of the shelf and the front end of the lifting platform is 0, which ensures that the front goods warehouse does not appear downhill phenomenon;

[0043] If 0<X+M<W, at this time the height difference between the front end of the shelf and the front end of the lifting platform is X+M under the condition of empty load of the lifting platform and full load of the shelf, the height difference between the rear end of the shelf and the rear end of the lifting platform is Y+P, the adjustment amount ΔY of the full load detection target of the shelf is Q / 2-1.5*P-Y, which ensures that the front and rear goods of the lifting platform are in uphill and the height difference of the warehouse is within a reasonable range;

[0044] If X+M>W, at this time, the height difference between the front end of the rack and the front end of the lifting platform under the conditions of the empty lifting platform and the full load of the rack is too large, at this time, X+M=W, the height difference between the front end of the rack and the front end of the lifting platform is W, the adjustment amount of the full load detection target of the rack is ΔY=N / 2-M / 2-(X+M)=N / 2-M / 2-W, at this time, the height difference between the rear end of the rack and the rear end of the lifting platform is Y+P+ΔY=Y+P+N / 2-M / 2-W, the height difference between the front end of the rack and the front end of the lifting platform is W, so that the height difference between the front end of the rack and the front end of the lifting platform is avoided to be too large;

[0045] The maximum limit of the height difference of the goods in and out of the warehouse is W.

[0046] Further, the maximum limit of the height difference of the goods in and out of the warehouse is obtained through design parameters and in and out test.

[0047] Further, the deformation amount M of the front end of the lifting platform under full load, the deformation amount N of the front end of the rack under full load, the deformation amount P of the rear end of the lifting platform under full load, and the deformation amount Q of the rear end of the rack under full load are obtained through design parameters and loading test.

[0048] Further, the actual height difference X between the front end of the lifting platform and the front end of the rack, and the actual height difference Y between the rear end of the lifting platform and the rear end of the rack.

[0049] The second aspect of the application provides an electronic device, comprising a processor and a memory connected with the processor and used for storing executable instructions of the processor, and the processor is used for executing the load storage high-layer rack in and out of the warehouse height difference adjustment method of the first aspect.

[0050] The third aspect of the application provides a server, comprising at least one processor and a memory connected with the processor, the memory stores executable instructions of the at least one processor, and the instructions are executed by the processor to make the at least one processor execute the load storage high-layer rack in and out of the warehouse height difference adjustment method of the first aspect.

[0051] The fourth aspect of the application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the load storage high-layer rack in and out of the warehouse height difference adjustment method of the first aspect.

[0052] Compared with the prior art, the load storage high-layer rack in and out of the warehouse height difference adjustment method has the following beneficial effects:

[0053] (1) The heavy load storage high-layer shelf in-and-out warehouse height difference adjusting method has simple and effective height difference adjusting work of the shelf in-and-out warehouse, does not need goods loading and in-and-out warehouse, greatly reduces the work load of the height adaptation of the shelf in-and-out warehouse, greatly improves the work efficiency, is strong in universality, is suitable for the height adaptation work of any heavy load shelf in-and-out warehouse, does not need goods participation, and guarantees the safety and reliability in the height adaptation work. BRIEF DESCRIPTION OF DRAWINGS

[0054] The drawings constituting a part of this application provide further understanding of the application, the illustrative embodiments of the application and the description thereof serve to explain the application, and do not constitute improper limitation on the application. In the drawings:

[0055] Fig. 1 The adjustment flowchart described in the embodiments of the application;

[0056] Fig. 2 The lifting platform and shelf structure schematic view described in the embodiments of the application.

[0057] Explanation of reference signs:

[0058] 1-shelf; 2-lifting platform; 3-empty load detection switch; 4-empty load detection target; 5-full load detection switch; 6-full load detection target. DETAILED DESCRIPTION

[0059] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0060] The application will be described in detail below with reference to the drawings and in combination with the embodiments. EMBODIMENT

[0061] As Figs. 1-2 shown, a heavy load storage high-layer shelf 1 in-and-out warehouse height difference adjusting method includes the following steps:

[0062] S1, the empty load theoretical lifting height H of the lifting platform 2, the empty load theoretical height L of the shelf 1;

[0063] S2, collecting the full load deformation M of the front end of the lifting platform 2, the full load deformation N of the front end of the shelf 1;

[0064] S3, when half of the front weight of the goods is on the lifting platform 2 and the other half is on the shelf 1, the height of the lifting platform 2 is H-M / 2, the height of the shelf 1 is L-N / 2, at this time, the front end of the lifting platform 2 is equal in height to the front end of the shelf 1, that is, H-M / 2=L-N / 2, the in-and-out warehouse theoretical height difference of the front end of the lifting platform 2 and the front end of the shelf 1 when the goods are out of the warehouse is calculated by the formula:

[0065] H-L = M / 2 - N / 2;

[0066] The theoretical height difference formula between the front end of the rack 1 and the front end of the lifting platform 2 when the goods are stored is:

[0067] L-H = N / 2 - M / 2;

[0068] S4, collect the full load deformation P of the rear end of the lifting platform 2 and the full load deformation Q of the rear end of the rack 1;

[0069] S5, when half of the weight of the goods behind is on the lifting platform 2 and the other half is on the rack 1, the height of the lifting platform 2 is H-P / 2, the height of the rack 1 is L-Q / 2, at this time the rear end of the lifting platform 2 and the rear end of the rack 1 are equal in height, that is, H-P / 2 = L-Q / 2, the theoretical height difference formula between the rear end of the lifting platform 2 and the rear end of the rack 1 when the goods are stored is calculated as:

[0070] H-L = P / 2 - Q / 2;

[0071] The theoretical height difference formula between the rear end of the rack 1 and the rear end of the lifting platform 2 when the goods are stored is:

[0072] L-H = Q / 2 - P / 2;

[0073] S6, adjust the actual height difference according to the theoretical height difference.

[0074] The front end and the rear end of the lifting platform 2 are respectively provided with an empty load detection switch 3 and a full load detection switch 5, the rack 1 is provided with an empty load detection target 4 corresponding to the empty load detection switch 3, and the rack 1 is provided with a full load detection target 6 corresponding to the full load detection switch 5;

[0075] After the empty load detection switch 3 detects the empty load detection target 4 of the rack 1 during the storage process, the lifting platform 2 stops lifting;

[0076] After the full load detection switch 5 detects the full load detection target 6 of the rack 1 during the storage process, the lifting platform 2 stops lifting;

[0077] The actual height difference during the storage process is adjusted by changing the height of the empty load detection target 4, and the actual height difference during the storage process is adjusted by changing the height of the full load detection target.

[0078] Adjusting the actual height difference during the storage process by changing the height of the empty load detection target 4 includes the following steps:

[0079] A1, collect the actual height difference X between the front end of the lifting platform 2 and the front end of the rack 1 under the conditions of empty load of the lifting platform 2 and empty load of the rack 1;

[0080] A2, calculate the actual height difference X+N between the front end of the lifting platform 2 and the front end of the rack 1 under the conditions of empty load of the lifting platform 2 and full load of the rack 1;

[0081] A3, the formula for calculating the adjustment amount ΔX of the empty detection target 4 is as follows:

[0082] ΔX = M / 2 - N / 2 - (X + N) = M / 2 - 1.5 * N - X;

[0083] When ΔX > 0, the empty detection target 4 is adjusted upward; when ΔX < 0, the empty detection target 4 is adjusted downward;

[0084] A4, collect the actual height difference Y between the rear end of the lifting platform 2 and the rear end of the shelf 1 under the conditions of empty lifting platform 2 and empty shelf 1;

[0085] A5, calculate the actual height difference Y+Q between the rear end of the lifting platform 2 and the rear end of the shelf 1 under the conditions of empty lifting platform 2 and full shelf 1;

[0086] A6, if Y+Q < 0, at this time the rear end of the lifting platform 2 is lower than the rear end of the shelf 1 under the conditions of empty lifting platform 2 and full shelf 1, then take Y+Q = 0, the height difference between the rear end of the lifting platform 2 and the rear end of the shelf 1 is 0, the adjustment amount ΔX of the empty detection target 4 of the shelf 1 is P / 2 - Q / 2 - (Y+Q) = P / 2 - Q / 2, at this time the actual height difference between the front end of the lifting platform 2 and the front end of the shelf 1 is X+N+ΔX = X+N+P / 2-Q / 2, the height difference between the rear end of the lifting platform 2 and the rear end of the shelf 1 is 0, which ensures that the outbound of the rear goods does not appear downhill phenomenon;

[0087] If 0 < Y+Q < W, at this time the height difference between the front end of the lifting platform 2 and the front end of the shelf 1 is X+N under the conditions of empty lifting platform 2 and full shelf 1, the height difference between the rear end of the lifting platform 2 and the rear end of the shelf 1 is Y+Q, the adjustment amount ΔX of the empty detection target 4 of the shelf 1 is M / 2 - N / 2 - (X+N) = M / 2 - 1.5 * N - X, which ensures that the front and rear goods outbound is uphill, and the outbound height difference is within a reasonable range;

[0088] If Y+Q > W, at this time the height difference between the rear end of the lifting platform 2 and the rear end of the shelf 1 is too large under the conditions of empty lifting platform 2 and full shelf 1, then take Y+Q = W, the height difference between the rear end of the lifting platform 2 and the rear end of the shelf 1 is W, the adjustment amount ΔX of the empty detection target 4 of the shelf 1 is P / 2 - Q / 2 - (Y+Q) = P / 2 - Q / 2 - W, at this time the height difference between the front end of the lifting platform 2 and the front end of the shelf 1 is X+N+ΔX = X+N+P / 2-Q / 2-W, the height difference between the rear end of the lifting platform 2 and the rear end of the shelf 1 is W, which avoids the height difference between the rear end of the lifting platform 2 and the shelf 1 being too large;

[0089] The maximum limit value of the height difference of the goods outbound and inbound is W.

[0090] Adjust the actual height difference of the warehouse by changing the full load detection target 6 height, including the following steps:

[0091] B1, collect the actual height difference Y between the back end of the lifting platform 2 and the back end of the shelf 1 under the conditions of empty lifting platform 2 and empty shelf 1;

[0092] B2, calculate the actual height difference Y+P between the back end of the lifting platform 2 and the back end of the shelf 1 under the conditions of full lifting platform 2 and empty shelf 1;

[0093] B3, the adjustment amount ΔY of the full load detection target 6 is calculated as follows:

[0094] ΔY=Q / 2-P / 2-(Y+P)=Q / 2-1.5*P-Y, when ΔY>0, the full load detection target 6 is adjusted upward; when ΔY<0, the full load detection target 6 is adjusted downward;

[0095] B4, collect the actual height difference X between the front end of the lifting platform 2 and the front end of the shelf 1 under the conditions of empty lifting platform 2 and empty shelf 1;

[0096] B5, calculate the actual height difference X+M between the front end of the shelf 1 and the front end of the lifting platform 2 under the conditions of full lifting platform 2 and empty shelf 1;

[0097] B6, if X+M<0, at this time the height of the front end of the shelf 1 is lower than that of the front end of the lifting platform 2 under the conditions of empty lifting platform 2 and full shelf 1, at this time X+M=0, the height difference between the front end of the shelf 1 and the front end of the lifting platform 2 is 0, the adjustment amount ΔY of the full load detection target 6 of the shelf 1 is N / 2-M / 2-(X+M)=N / 2-M / 2, at this time the height difference between the back end of the shelf 1 and the back end of the lifting platform 2 is Y+P+ΔY=Y+P+N / 2-M / 2, the height difference between the front end of the shelf 1 and the front end of the lifting platform 2 is 0, which ensures that the front goods warehouse does not appear downhill phenomenon;

[0098] If 0<X+M<W, at this time the height difference between the front end of the shelf 1 and the front end of the lifting platform 2 is X+M under the conditions of empty lifting platform 2 and full shelf 1, the height difference between the back end of the shelf 1 and the back end of the lifting platform 2 is Y+P, the adjustment amount ΔY of the full load detection target 6 of the shelf 1 is Q / 2-1.5*P-Y, which ensures that the front and back of the lifting platform 2 are in the uphill warehouse, and the warehouse height difference is within a reasonable range;

[0099] If X+M>W, at this time, the height difference between the front end of the shelf 1 and the front end of the lifting platform 2 is too large when the lifting platform 2 is empty and the shelf 1 is fully loaded, at this time, X+M=W, the height difference between the front end of the shelf 1 and the front end of the lifting platform 2 is W, the adjustment amount of the full load detection target 6 of the shelf 1 is ΔY=N / 2-M / 2-(X+M)=N / 2-M / 2-W, at this time, the height difference between the rear end of the shelf 1 and the rear end of the lifting platform 2 is Y+P+ΔY=Y+P+N / 2-M / 2-W, the height difference between the front end of the shelf 1 and the front end of the lifting platform 2 is W, so as to avoid that the height difference between the front end of the shelf 1 and the front end of the lifting platform 2 is too large;

[0100] The maximum limit of the height difference of the goods in and out of the warehouse is W.

[0101] The maximum limit of the height difference of the goods in and out of the warehouse is obtained through design parameters and in and out of the warehouse test.

[0102] The deformation amount M of the front end of the lifting platform 2 under full load, the deformation amount N of the front end of the shelf 1 under full load, the deformation amount P of the rear end of the lifting platform 2 under full load, and the deformation amount Q of the rear end of the shelf 1 under full load are obtained through design parameters and loading test.

[0103] The actual height difference X between the front end of the lifting platform 2 and the front end of the shelf 1, and the actual height difference Y between the rear end of the lifting platform 2 and the rear end of the shelf 1.

[0104] The empty load detection switch 3 and the full load detection switch 5 adopt but are not limited to the existing polarization reflection plate type photoelectric switch model S18SN6L, the goods detection switch adopts but is not limited to the existing inductive proximity switch model EBYB, the empty load detection target 4 and the full load detection target 6 adopt but are not limited to the reflection plate corresponding to the existing polarization reflection plate type photoelectric switch, and the controller adopts but is not limited to the existing PLC controller. The lifting drive assembly is a lifting mechanism of a servo motor cooperating with a lead screw.

[0105] By adjusting the adjustment distance of the empty load detection target 4 and the full load detection target 6, the goods in and out of the warehouse can be ensured not to appear downhill phenomenon, and the height difference of the goods in and out of the warehouse can be avoided to be too large, so that the goods in and out of the warehouse always maintain uphill, and the height difference of the goods in and out of the warehouse is within a reasonable range. In this way, when the shelf 1 performs the height adaptation work of in and out of the warehouse, the lifting platform 2 does not need to carry goods to adapt the height of each shelf 1 in and out of the warehouse. Only the lifting platform 2 and the shelf 1 are empty, and the goods are not needed, and the up and down positions of the empty load detection target 4 and the full load detection target 6 of each shelf 1 are adjusted according to the theoretical value.

[0106] When the shelves 1 perform the height matching work of warehouse entry and exit, the lifting platform 2 does not need to take the goods to perform the height matching work of warehouse entry and exit for each shelf 1. Only the lifting platform 2 and the shelves 1 are empty, and the goods are not needed, and the up and down positions of the empty load detection target 4 and the full load detection target 6 of each shelf 1 are adjusted according to the theoretical value. The present application makes the height matching work of warehouse entry and exit of the shelves 1 simple and effective, and does not need goods loading and warehouse entry and exit, greatly reduces the workload of the height matching work of warehouse entry and exit of the shelves 1, and greatly improves the work efficiency; the present application has strong versatility and is suitable for the height matching work of warehouse entry and exit of any heavy load shelf 1; the present application does not need goods to participate, and ensures the safety and reliability in the height matching work. Embodiment

[0107] An electronic device, comprising a processor and a memory connected with the processor and used for storing executable instructions of the processor, characterized in that the processor is used to execute the heavy load storage high-layer shelf 1 warehouse entry and exit height difference adjustment method of the above embodiment one. Embodiment

[0108] A server, characterized in that comprising at least one processor and a memory connected with the processor, the memory stores instructions executable by the at least one processor, and the instructions are executed by the processor to make the at least one processor execute the heavy load storage high-layer shelf 1 warehouse entry and exit height difference adjustment method of the above embodiment one. Embodiment

[0109] A computer readable storage medium, storing a computer program, characterized in that the computer program is executed by a processor to realize the heavy load storage high-layer shelf 1 warehouse entry and exit height difference adjustment method of the above embodiment one.

[0110] Those skilled in the art can realize that the units and method steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in general terms in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0111] In several embodiments provided in the present application, it should be understood that the disclosed method and system can be implemented in other manners. For example, the division of the above-mentioned units is only a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the above-mentioned units can or can not be physical units, and can or can not be distributed on a network. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0112] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application.

[0113] The above-mentioned is only the preferred embodiment of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for adjusting the height difference of a heavy-load storage high-bay shelf, characterized in that, It comprises the following steps: S1, the empty theoretical lifting height H of the lifting platform (2) and the empty theoretical height L of the shelf (1); S2, collecting the full load deformation M of the front end of the lifting platform (2) and the full load deformation N of the front end of the shelf (1); S3, the formula for calculating the theoretical height difference between the front end of the lifting platform (2) and the front end of the shelf (1) when the goods are delivered out is: H-L=M / 2-N / 2; The formula for calculating the theoretical height difference between the front end of the shelf (1) and the front end of the lifting platform (2) when the goods are delivered in is: L-H=N / 2-M / 2; S4, collecting the full load deformation P of the rear end of the lifting platform (2) and the full load deformation Q of the rear end of the shelf (1); S5, the formula for calculating the theoretical height difference between the rear end of the lifting platform (2) and the rear end of the shelf (1) when the goods are delivered out is: H-L=P / 2-Q / 2; The formula for calculating the theoretical height difference between the rear end of the shelf (1) and the rear end of the lifting platform (2) when the goods are delivered out is: L-H=Q / 2-P / 2; S6, adjusting the actual height difference according to the theoretical height difference; The front and rear ends of the lifting platform (2) are respectively provided with empty load detection switches (3) and full load detection switches (5), the shelf (1) is provided with empty load detection targets (4) corresponding to the empty load detection switches (3), and the shelf (1) is provided with full load detection targets (6) corresponding to the full load detection switches (5); During the delivery process, after the empty load detection switch (3) detects the empty load detection target (4) of the shelf (1), the lifting platform (2) stops lifting; During the delivery process, after the full load detection switch (5) detects the full load detection target (6) of the shelf (1), the lifting platform (2) stops lifting; The actual height difference during delivery is adjusted by changing the height of the empty load detection target (4), and the actual height difference during delivery is adjusted by changing the height of the full load detection target (6).

2. The method for adjusting the height difference of warehouse entry and exit of a heavy-duty storage high-bay shelf according to claim 1, characterized in that, Adjusting the actual height difference during delivery by changing the height of the empty load detection target (4) comprises the following steps: A1, collecting the actual height difference X between the front end of the lifting platform (2) and the front end of the shelf (1) under the conditions of empty load of the lifting platform (2) and empty load of the shelf (1); A2, calculating the actual height difference X+N between the front end of the lifting platform (2) and the front end of the shelf (1) under the conditions of empty load of the lifting platform (2) and full load of the shelf (1); A3, the adjustment amount ΔX of the empty load detection target (4) is calculated as follows: ΔX=M / 2-N / 2-(X+N)=M / 2-1.5*N-X; When ΔX>0, the empty load detection target (4) is adjusted upward; when ΔX<0, the empty load detection target (4) is adjusted downward; A4, collecting the actual height difference Y between the rear end of the lifting platform (2) and the rear end of the shelf (1) under the conditions of empty load of the lifting platform (2) and empty load of the shelf (1); A5, calculating the actual height difference Y+Q between the rear end of the lifting platform (2) and the rear end of the shelf (1) under the conditions of empty load of the lifting platform (2) and full load of the shelf (1); A6, if Y+Q<0, at this time, the height difference between the back end of the lifting platform (2) and the back end of the rack (1) is lower than that of the rack (1) under the conditions of the empty lifting platform (2) and the full rack (1), Y+Q=0 is taken, the height difference between the back end of the lifting platform (2) and the back end of the rack (1) is 0, and the adjustment amount ΔX of the empty load detection target (4) of the rack (1) is P / 2-Q / 2-X+P / 2-Q / 2, at this time, the actual height difference between the front end of the lifting platform (2) and the front end of the rack (1) is X+N+ΔX=X+N+P / 2-Q / 2, the height difference between the back end of the lifting platform (2) and the back end of the rack (1) is 0, and the goods at the back end of the rack (1) are guaranteed to be discharged without downhill phenomenon; If 0<Y+Q<W, at this time, the height difference between the front end of the lifting platform (2) and the front end of the rack (1) is X+N, and the height difference between the back end of the lifting platform (2) and the back end of the rack (1) is Y+Q under the conditions of the empty lifting platform (2) and the full rack (1), the adjustment amount ΔX of the empty load detection target (4) of the rack (1) is M / 2-N / 2-X+M / 2-1.5*N-X, which guarantees that the goods at the front end and the back end of the rack (1) are discharged on an incline, and the discharge height difference is within a reasonable range; If Y+Q>W, at this time, the height difference between the back end of the lifting platform (2) and the back end of the rack (1) is too large under the conditions of the empty lifting platform (2) and the full rack (1), Y+Q=W is taken, the height difference between the back end of the lifting platform (2) and the back end of the rack (1) is W, and the adjustment amount ΔX of the empty load detection target (4) of the rack (1) is P / 2-Q / 2-Y+Q=P / 2-Q / 2-W, at this time, the height difference between the front end of the lifting platform (2) and the front end of the rack (1) is X+N+ΔX=X+N+P / 2-Q / 2-W, and the height difference between the back end of the lifting platform (2) and the back end of the rack (1) is W, which avoids the height difference between the back end of the lifting platform (2) and the rack (1) being too large; The maximum limit of the height difference of the goods in the warehouse is W.

3. The method of claim 2, wherein the method is characterized by, The actual height difference of the warehouse is adjusted by changing the height of the full load detection target (6) including the following steps: B1, collect the actual height difference Y between the back end of the lifting platform (2) and the back end of the rack (1) under the conditions of the empty lifting platform (2) and the empty rack (1); B2, calculate the actual height difference Y+P between the back end of the lifting platform (2) and the back end of the rack (1) under the conditions of the full lifting platform (2) and the empty rack (1); B3, the adjustment amount ΔY of the full load detection target (6) is calculated as follows: ΔY=Q / 2-P / 2-Y+P=Q / 2-1.5*P-Y, when ΔY>0, the full load detection target (6) is adjusted upward; when ΔY<0, the full load detection target (6) is adjusted downward; B4, collect the actual height difference X between the front end of the lifting platform (2) and the front end of the rack (1) under the conditions of the empty lifting platform (2) and the empty rack (1); B5, calculate the actual height difference X+M between the front end of the rack (1) and the front end of the lifting platform (2) under the conditions of the full lifting platform (2) and the empty rack (1); B6, if X+M<0, at this time, the front end of the shelf (1) is lower than the front end of the lifting platform (2) when the lifting platform (2) is empty and the shelf (1) is fully loaded, X+M=0 is taken at this time, the height difference between the front end of the shelf (1) and the front end of the lifting platform (2) is 0, the adjustment amount ΔY of the full load detection target (6) of the shelf (1) is N / 2-M / 2-(X+M)=N / 2-M / 2, at this time, the height difference between the rear end of the shelf (1) and the rear end of the lifting platform (2) is Y+P+ΔY=Y+P+N / 2-M / 2, the height difference between the front end of the shelf (1) and the front end of the lifting platform (2) is 0, which ensures that the goods at the front end of the shelf (1) do not appear downhill when entering the warehouse; If 0<X+M<W, at this time, the height difference between the front end of the shelf (1) and the front end of the lifting platform (2) is X+M, and the height difference between the rear end of the shelf (1) and the rear end of the lifting platform (2) is Y+P when the lifting platform (2) is empty and the shelf (1) is fully loaded, the adjustment amount ΔY of the full load detection target (6) of the shelf (1) is Q / 2-1.5*P-Y, which ensures that the front end and rear end of the lifting platform (2) are on an incline when entering the warehouse, and the height difference is within a reasonable range; If X+M>W, at this time, the height difference between the front end of the shelf (1) and the front end of the lifting platform (2) is too large when the lifting platform (2) is empty and the shelf (1) is fully loaded, X+M=W is taken at this time, the height difference between the front end of the shelf (1) and the front end of the lifting platform (2) is W, the adjustment amount ΔY of the full load detection target (6) of the shelf (1) is N / 2-M / 2-(X+M)=N / 2-M / 2-W, at this time, the height difference between the rear end of the shelf (1) and the rear end of the lifting platform (2) is Y+P+ΔY=Y+P+N / 2-M / 2-W, the height difference between the front end of the shelf (1) and the front end of the lifting platform (2) is W, which avoids the height difference between the front end of the shelf (1) and the front end of the lifting platform (2) being too large; The maximum limit of the height difference of the goods entering and leaving the warehouse is W.

4. The method for adjusting the height difference of warehouse entry and exit of heavy-duty storage high-bay shelves according to claim 3, characterized in that: The maximum limit of the height difference of the goods entering and leaving the warehouse is obtained through design parameters and entering and leaving warehouse tests.

5. The method of claim 1, wherein the method is a method of adjusting the height difference between the in and out of the heavy storage high-bay shelf, characterized in that: The deformation amount M of the front end of the lifting platform (2) when fully loaded, the deformation amount N of the front end of the shelf (1) when fully loaded, the deformation amount P of the rear end of the lifting platform (2) when fully loaded, and the deformation amount Q of the rear end of the shelf (1) when fully loaded are obtained through design parameters and loading tests.

6. The method of claim 1, wherein the method is a method of adjusting the height difference between the in and out of the heavy storage high-bay shelf, characterized in that: The actual height difference X between the front end of the lifting platform (2) and the front end of the shelf (1), and the actual height difference Y between the rear end of the lifting platform (2) and the rear end of the shelf (1) are obtained through on-site measurement.

7. An electronic device, comprising a processor and a memory connected to the processor in communication, and configured to store executable instructions of the processor, characterized in that: The processor is configured to execute the heavy-load storage high-layer shelf entering and leaving warehouse height difference adjustment method of any one of claims 1-6.

8. A server, characterized by: The computer program is executed by the processor to implement the heavy-load storage high-layer shelf entering and leaving warehouse height difference adjustment method of any one of claims 1-6.

9. A computer readable storage medium storing a computer program, characterized in that: ​

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