Stacker replacement roadway system and stacker storage

Abstract

The application discloses a stacker replacement roadway system and a stacker vertical warehouse. The stacker replacement roadway system comprises a ground translation module, a first mobile sliding table module and a second mobile sliding table module. The ground translation module comprises a first sliding rail. A first driving assembly of the first mobile sliding table module drives a first sliding plate to slide along the first sliding rail. A second sliding rail is arranged on the first sliding plate and is parallel to the extension direction of the roadway. A containing space containing the stacker is formed on a moving frame of the second mobile sliding table module. A butt joint rail is arranged on the moving frame. A second driving assembly drives the moving frame to slide along the second sliding rail, so that the butt joint rail is butt jointed with a goods shelf rail arranged in the roadway. The stacker can move between the roadway and the containing space along the butt jointed butt joint rail and the goods shelf rail. The stacker replacement roadway system can not only improve the use frequency of the stacker, reduce the required number of the stacker in the vertical warehouse, but also occupies small space, and is beneficial to improving the storage density of the vertical warehouse.

Description

Technical Field

[0001] This invention relates to the field of automated warehouse technology, and in particular to a stacker crane changing aisle system and a stacker crane automated warehouse. Background Technology

[0002] An automated storage and retrieval system (AS / RS) is a type of warehouse used by factories or enterprises. An AS / RS contains multiple automated racks for storing goods. Some AS / RS hold a large variety and quantity of goods, but have a low outbound volume and do not require high efficiency. For example, an AS / RS might be used to store the jigs and fixtures of a machining center in an automotive parts manufacturing company. Automotive parts are produced in large batches, typically with production cycles measured in years, so the jigs and fixtures are replaced very infrequently, resulting in a very low outbound volume.

[0003] Stacker cranes are used to retrieve and place goods from automated storage and retrieval systems (AS / RS) and to move goods within AS / RS. Most AS / RS are fully staffed with one stacker crane per aisle, each crane operating only within one aisle. However, for low-volume shipments, full staffing results in significant waste. Some AS / RS equip their stacker cranes with turning mechanisms, allowing them to turn 90° to travel both laterally and longitudinally. However, these turning mechanisms include circular tracks that engage with overhead and ground rails. The circular tracks result in a larger space requirement for the stacker crane and cause it to tilt towards the tracks during turns, making it impossible to retrieve or place goods. Consequently, no storage space can be provided at any turning points in the AS / RS, leading to a decrease in storage density.

[0004] Therefore, how to propose a stacker crane replacement aisle system with high usage frequency and small space occupation, and a stacker crane vertical warehouse, is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The first objective of this invention is to provide a stacker crane replacement aisle system that can not only increase the usage frequency of stacker cranes and reduce the number of stacker cranes required in the automated storage and retrieval system (AS / RS), but also occupy less space and help increase the storage density of the AS / RS.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A stacker crane aisle changing system is used to move a stacker crane within different aisles of a three-dimensional racking system. The system includes: a ground translation module comprising a first slide rail fixed relative to the ground along a first direction; a first moving slide module comprising a first sliding plate, a second slide rail, a first drive assembly, and a second drive assembly, wherein the first drive assembly drives the first sliding plate to slide along the first slide rail, and the second slide rail is disposed on the first sliding plate along a second direction parallel to the extension direction of the aisle; and a second moving slide module comprising a moving frame and a docking rail, wherein the moving frame forms a accommodating space for the stacker crane, the docking rail is disposed on the moving frame, and the second drive assembly drives the moving frame to slide along the second slide rail, thereby docking the docking rail with a racking rail disposed within the aisle. The stacker crane can then move between the aisle and the accommodating space along the docking rail and the racking rail after docking.

[0008] Preferably, the movable frame includes a second sliding plate, which is slidably connected to the second slide rail; the docking track includes a docking top rail and a docking ground rail, and the shelf track includes a shelf top rail and a shelf ground rail. The docking top rail is disposed on the top of the movable frame, and the docking ground rail is disposed on the second sliding plate. The docking top rail is used to dock with the shelf top rail, and the docking ground rail is used to dock with the shelf ground rail.

[0009] Preferably, the ground translation module further includes a first rack, which is arranged parallel to the first slide rail; the first drive assembly includes a first drive motor and a first drive gear, the first drive motor is fixedly connected to the first sliding plate, the first drive gear is fixedly connected to the motor shaft of the first drive motor, and the first drive gear is drivenly connected to the first rack.

[0010] Preferably, there are two first slide rails, which are arranged parallel to each other along the second direction; there are two first racks, which are arranged adjacent to the two first slide rails respectively; and there are two sets of first drive components, in which the first drive gears of the two sets of first drive components mesh with the two first racks respectively.

[0011] Preferably, the second movable slide module further includes a second rack, which is disposed on the second sliding plate; the second drive assembly includes a second drive motor and a second drive gear, the second drive motor is fixedly connected to the first sliding plate, the second drive gear is fixedly connected to the motor shaft of the second drive motor, and the second drive gear is drively connected to the second rack.

[0012] Preferably, the stacker crane changing lane system further includes a ranging mechanism, which includes a laser ranging reflector and a laser ranging sensor. The laser ranging reflector is fixed relative to the ground, and the laser ranging sensor is mounted on the first sliding plate and is positioned opposite to the laser ranging reflector.

[0013] Preferably, the stacker crane changing aisle system further includes a first stop and a second stop, the first stop and the second stop being fixedly disposed relative to the ground, and the first stop and the second stop being respectively disposed on both sides of the first moving slide module in the first direction; and / or, the stacker crane changing aisle system further includes a third stop, the third stop being disposed within the moving frame and used to stop the stacker crane moving into the moving frame along the second direction.

[0014] Preferably, one of the connecting rails and the shelf rails has a positioning pin on its connecting end and a positioning hole on its connecting end, the positioning pin being able to be inserted into the positioning hole; and / or, one of the connecting rails and the shelf rails has a positioning protrusion on its connecting end and a positioning groove on its connecting end, the positioning protrusion being able to be inserted into the positioning groove.

[0015] The second objective of this invention is to provide a stacker crane vertical storage facility that is low in cost and has a high storage density.

[0016] To achieve this objective, the present invention adopts the following technical solution:

[0017] Stacker crane automated warehouse, including automated storage and retrieval systems, stacker cranes, and the aforementioned stacker crane replacement aisle system.

[0018] Preferably, the stacker crane is equipped with guide wheels, which can cooperate with the docking rails of the stacker crane's aisle system and the rack rails of the automated storage and retrieval system.

[0019] The beneficial effects of this invention are:

[0020] The stacker crane aisle replacement system provided by this invention includes a ground translation module, a first movable slide module, and a second movable slide module. The ground translation module includes a first slide rail perpendicular to the aisle's extension direction. A first drive component of the first movable slide module drives a first sliding plate to slide along the first slide rail. A second slide rail is disposed on the first sliding plate. A receiving space for the stacker crane is formed on the movable frame of the second movable slide module. A docking rail is disposed on the movable frame. A second drive component drives the movable frame to slide along the second slide rail, so that the docking rail docks with a rack rail disposed within the aisle. The stacker crane can then move between the aisle and the receiving space along the docking rail and rack rail. This stacker crane aisle replacement system, by incorporating a first and second movable slide module capable of moving in two mutually perpendicular directions, allows the stacker crane to move within different aisles of the automated storage and retrieval system (AS / RS). This not only increases the utilization frequency of the stacker crane and reduces the number of stacker cranes required in the AS / RS, but also occupies less space, thus improving the storage density of the AS / RS. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the stacker crane vertical warehouse provided in an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 Enlarged view of section A;

[0023] Figure 3 This is a top view of the stacker crane vertical warehouse provided in the embodiment of the present invention;

[0024] Figure 4 yes Figure 3 Enlarged view of section B;

[0025] Figure 5 yes Figure 3 Enlarged view of section C;

[0026] Figure 6 This is a partial structural diagram of the docking overhead rail of the stacker crane vertical warehouse provided in an embodiment of the present invention;

[0027] Figure 7 This is a partial structural schematic diagram of the overhead rail of the stacker crane warehouse provided in an embodiment of the present invention;

[0028] Figure 8 This is a front view of the stacker crane replacement aisle system and the stacker crane provided in the embodiment of the present invention;

[0029] Figure 9 This is a top view of the stacker crane replacement aisle system and stacker crane provided in an embodiment of the present invention;

[0030] Figure 10This is a partial side view of the stacker crane replacement aisle system and the stacker crane provided in an embodiment of the present invention;

[0031] Figure 11 yes Figure 10 Enlarged view of section D;

[0032] Figure 12 yes Figure 10 Enlarged view of section E in the middle;

[0033] Figure 13 This is a schematic diagram of the stacker crane changing aisle system provided in an embodiment of the present invention;

[0034] Figure 14 This is a schematic diagram of the ground translation module of the stacker crane replacement aisle system provided in an embodiment of the present invention;

[0035] Figure 15 yes Figure 14 Enlarged view of section F in the middle;

[0036] Figure 16 This is a schematic diagram of the structure of the first moving slide module of the stacker crane changing aisle system provided in an embodiment of the present invention;

[0037] Figure 17 This is a structural schematic diagram of the first moving slide module of the stacker crane changing aisle system provided in an embodiment of the present invention from another perspective;

[0038] Figure 18 yes Figure 17 Enlarged view of section G in the middle;

[0039] Figure 19 This is a schematic diagram of the structure of the second moving slide module of the stacker crane changing aisle system provided in an embodiment of the present invention;

[0040] Figure 20 yes Figure 19 Enlarged view of section H in the middle;

[0041] Figure 21 This is a schematic diagram of the meshing of the first rack and the first drive gear in the stacker crane replacement aisle system provided in an embodiment of the present invention;

[0042] Figure 22 This is a schematic diagram of the engagement of the second rack and the second drive gear in the stacker crane changing aisle system provided in an embodiment of the present invention.

[0043] In the picture:

[0044] 100. Replacement of stacker crane aisle system;

[0045] 110. Ground translation module; 111. First slide rail; 112. First rack; 113. Ground platform; 114. Laser rangefinder reflector; 115. First stop; 116. Second stop;

[0046] 120. First movable slide module; 121. First sliding plate; 122. Second slide rail; 123. First drive assembly; 1231. First drive motor; 1232. First drive gear; 124. Second drive assembly; 1241. Second drive motor; 1242. Second drive gear; 125. Laser rangefinder sensor; 126. First slider; 127. Motor fixing plate; 128. Reinforcing rib; 129. Tensioning sleeve;

[0047] 130. Second movable slide module; 131. Movable frame; 1311. Second sliding plate; 1312. Support column; 1313. U-shaped crossbeam; 1314. Frame crossbeam; 1315. Connecting base plate; 132. Connecting rail; 1321. Diamond pin; 133. Connecting ground rail; 1331. Triangular groove; 134. Second rack; 135. Third stop; 136. Second slider;

[0048] 200. Stacker crane;

[0049] 201. Ceiling guide wheel; 202. Ground guide wheel;

[0050] 300. Automated shelving;

[0051] 301. Shelf top rail; 3011. Round hole; 302. Shelf floor rail; 3021. Triangular protrusion; 303. Fourth stop. Detailed Implementation

[0052] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0054] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0055] like Figures 1 to 22 As shown, the present invention provides a stacker crane aisle changing system 100, which is used in a stacker crane automated storage and retrieval system (AS / RS) to enable the stacker crane 200 to move in two directions at an angle, thereby allowing the auxiliary stacker crane 200 to move in all aisles of the AS / RS 300, thus enabling a single stacker crane 200 to retrieve and place goods on different shelves. For ease of description, the two angled directions are defined as the first direction and the second direction. In some embodiments, such as... Figure 1 As shown, the first direction and the second direction are set perpendicularly. Specifically, the first direction is perpendicular to the extension direction of the tunnel, and the second direction is parallel to the extension direction of the tunnel.

[0056] like Figure 1 , Figure 3 , Figures 8 to 10As shown, the stacker crane changing aisle system 100 includes a ground translation module 110, a first moving slide module 120, and a second moving slide module 130. The ground translation module 110 is used to mount the first moving slide module 120 and the second moving slide module 130, and to provide guidance for the movement of the first moving slide module 120 in a first direction. Specifically, the ground translation module 110 includes a first slide rail 111, which is fixedly disposed relative to the ground along the first direction. To facilitate overall movement and assembly of the ground translation module 110, the ground translation module 110 also includes a ground platform 113, which is fixed to the ground, and the first slide rail 111 is fixed to the ground platform 113. In some embodiments, the ground platform 113 is a rectangular platform.

[0057] Continue to refer to Figure 1 , Figure 3 , Figures 8 to 10 As shown, the first movable slide module 120 is positioned above the ground translation module 110 and can move along the first slide rail 111. Specifically, as... Figure 16 As shown, the first movable slide module 120 includes a first sliding plate 121, a second slide rail 122, a first drive assembly 123, and a second drive assembly 124. The first sliding plate 121 is slidably connected to the first slide rail 111. A first slider 126 is provided on the bottom surface of the first sliding plate 121, and a first sliding groove is provided on the first slider 126. The first slide rail 111 is slidably engaged in the first sliding groove. In some embodiments, to improve the smoothness of movement, the number of first slide rails 111 is set to two. The two first slide rails 111 are parallel to each other and spaced apart in a second direction. Correspondingly, two first sliders 126 are provided on the bottom surface of the first sliding plate 121, and the two first sliders 126 are slidably connected to the two first slide rails 111 in a one-to-one correspondence. Of course, in other embodiments, the number of first slide rails 111 and first sliders 126 can also be set to one or more than two as needed.

[0058] like Figure 13 As shown, the first driving component 123 can drive the first sliding plate 121 to slide along the first slide rail 111. The first driving component 123 can be disposed on the first sliding plate 121 or on other structures as needed. In some embodiments, such as Figure 14 , Figure 15 , Figure 16 , Figure 21As shown, the ground translation module 110 also includes a first rack 112, which is arranged parallel to the first slide rail 111. The first drive assembly 123 includes a first drive motor 1231 and a first drive gear 1232. The first drive motor 1231 is fixedly connected to the first sliding plate 121, and the first drive gear 1232 is fixedly connected to the motor shaft of the first drive motor 1231. The first drive gear 1232 is drively connected to the first rack 112. Further, as... Figure 17 As shown, the first movable slide module 120 also includes a reinforcing rib 128 and a motor fixing plate 127. The first drive motor 1231 is fixedly connected to the first sliding plate 121 through the motor fixing plate 127. The reinforcing rib 128 is used to strengthen the connection strength and reliability between the motor fixing plate 127 and the first sliding plate 121.

[0059] Driven by the first drive motor 1231, the first drive gear 1232 can rotate around the central axis of the motor shaft of the first drive motor 1231. During rotation, the first drive gear 1232 can also move along the first rack 112, thereby realizing the movement of the entire first moving slide module 120 in the first direction. Of course, in other embodiments, the first drive component 123 can also be a cylinder, a linear motor, a combination of a drive motor and a lead screw nut, or any other mechanism capable of outputting linear motion.

[0060] In some more specific embodiments, there are two sets of first drive components 123 and two first racks 112. The two first racks 112 are respectively arranged adjacent to the two first slide rails 111. Specifically, the two first racks 112 can be respectively arranged inside or outside the two first slide rails 111, or one first rack 112 can be arranged inside the adjacent first slide rail 111 and the other first rack 112 can be arranged outside the adjacent first slide rail 111. Correspondingly, there are two sets of first drive components 123, and the two sets of first drive components 123 include two first drive gears 1232, which mesh one-to-one with the two first racks 112. This improves the smoothness of the movement of the first moving slide module 120 driven by the first drive components 123. Of course, in other embodiments, the number of first drive components 123 and first racks 112 can be increased.

[0061] Continue to refer to Figure 16 As shown, a second slide rail 122 is disposed on a first sliding plate 121 along a second direction. The second slide rail 122 is used to guide the movement of the second movable slide module 130 in the second direction. In some embodiments, the number of second slide rails 122 is set to one, two or more as needed. When there are multiple second slide rails 122, the multiple second slide rails 122 are parallel to each other and spaced apart in the first direction.

[0062] The second movable slide module 130 is mainly used to dock with the stacker crane 200 and to provide a carrier for the movement of the stacker crane 200 in the first direction. Specifically, as shown in... Figure 19 As shown, the second movable slide module 130 includes a movable frame 131 and a docking rail. The movable frame 131 is a frame structure formed by splicing plates or rods. The movable frame 131 forms a space for accommodating the stacker crane 200, and the movable frame 131 has an entrance and exit that allow the stacker crane 200 to enter and exit the space. The entrance and exit are located on the side of the movable frame 131 facing the automated rack 300.

[0063] In some specific embodiments, the movable frame 131 includes a second sliding plate 1311, supporting columns 1312, frame beams 1314, U-shaped beams 1313, and connecting base plates 1315. There are four supporting columns 1312 arranged in two rows and two columns. Two connecting base plates 1315 are located below the supporting columns 1312, with each connecting base plate 1315 connecting the bottom ends of two supporting columns 1312. The second sliding plate 1311 is connected to the two connecting base plates 1315. On the base plate 1315, a second slider 136 is provided on the bottom surface of the second sliding plate 1311. A second sliding groove is provided on the second slider 136. The second slide rail 122 is slidably engaged in the second sliding groove. Two U-shaped beams 1313 are provided above the support columns 1312. Each U-shaped beam 1313 connects the top of the two support columns 1312. The frame beams 1314 are perpendicular to the U-shaped beams 1313, and each frame beam 1314 connects the two support columns 1312.

[0064] The docking rail guides the stacker crane 200's movement in a second direction. The docking rail is mounted on the moving frame 131. The second drive assembly 124 drives the moving frame 131 to slide along the second slide rail 122, allowing the docking rail to dock with the rack rail located within the aisle. Once the docking rail and rack rail are docked, the stacker crane 200 can move between the aisle and the receiving space along the docking rail and rack rail. Specifically, the stacker crane 200 can move from the aisle to the receiving space of the moving frame 131 along the rack rail and docking rail, or vice versa.

[0065] In some embodiments, such as Figures 1 to 5As shown, the docking track includes a docking top track 132 and a docking ground track 133, and the shelf track includes a shelf top track 301 and a shelf ground track 302. The docking top track 132 is disposed on the top of the movable frame 131, and its two ends are respectively connected to two U-shaped crossbeams 1313. The docking top track 132 is used to dock with the shelf top track 301. The docking ground track 133 is disposed on the second sliding plate 1311 and is used to dock with the shelf ground track 302. In some more specific embodiments, the docking top track 132, the docking ground track 133, the shelf top track 301, and the shelf ground track 302 are all arranged along a second direction, and the docking top track 132 and the docking ground track 133 are arranged facing each other in the vertical direction, as are the shelf top track 301 and the shelf ground track 302. It should be noted that each aisle of the automated racking system 300 is equipped with racking rails, and the docking rails on the movable frame 131 can dock with racking rails in any aisle.

[0066] Furthermore, to improve the positioning effect, one of the connecting rails 132 and 301 has a positioning pin on its connecting end, and the other has a positioning hole on its connecting end, allowing the positioning pin to be inserted into the positioning hole. In some embodiments, such as Figure 6 and Figure 7 As shown, the positioning pin is a rhombus pin 1321 and the positioning hole is a round hole 3011. The rhombus pin 1321 and the round hole 3011 work together to achieve limiting in the left and right directions, and allow slight errors in the up and down directions, thereby preventing poor docking caused by over-positioning.

[0067] Furthermore, to improve the positioning effect, a positioning protrusion is provided on the mating end of one of the grounding rails 133 and the shelf rails 302, and a positioning groove is provided on the mating end of the other, allowing the positioning protrusion to be inserted into the positioning groove. In some embodiments, such as Figure 5 As shown, the positioning protrusion is a triangular protrusion 3021, and the positioning groove is a triangular groove 1331.

[0068] Continue to refer to Figure 16 , Figure 19 and Figure 22 As shown, in order to provide power for the movement of the second movable slide module 130 in the second direction, the second movable slide module 130 also includes a second rack 134, which is disposed on the second sliding plate 1311. The second drive assembly 124 includes a second drive motor 1241 and a second drive gear 1242. The second drive motor 1241 is fixedly connected to the first sliding plate 121, and the second drive gear 1242 is fixedly connected to the motor shaft of the second drive motor 1241. The second drive gear 1242 is drively connected to the second rack 134. Further, referring to... Figure 18As shown, the first movable slide module 120 also includes a tensioning sleeve 129, and the second drive gear 1242 is mounted on the motor shaft of the second drive motor 1241 through the tensioning sleeve 129.

[0069] Driven by the second drive motor 1241, the second drive gear 1242 can rotate around the central axis of the motor shaft of the second drive motor 1241. During rotation, the second drive gear 1242 can move along the second rack 134, thereby realizing the movement of the entire second moving slide module 130 in the second direction. Of course, in other embodiments, the second drive assembly 124 can also be a cylinder, a linear motor, a combination of a drive motor and a lead screw and nut, or any other mechanism capable of outputting linear motion.

[0070] Furthermore, continue to refer to Figure 14 and Figure 16 As shown, the stacker crane aisle replacement system 100 also includes a ranging mechanism, which includes a laser ranging reflector 114 and a laser ranging sensor 125. The laser ranging reflector 114 is fixed relative to the ground and can be mounted on a ground platform 113. The laser ranging sensor 125 is mounted on a first sliding plate 121 and is positioned opposite to the laser ranging reflector 114. The laser ranging sensor 125 and the laser ranging reflector 114 work together to achieve precise ranging, ensuring that the docking overhead rail 132 and the rack overhead rail 301 are in the correct docking position, and that the docking ground rail 133 and the rack ground rail 302 are in the correct docking position.

[0071] Furthermore, continue to refer to Figure 14 As shown, the stacker crane changing aisle system 100 also includes a first stop 115 and a second stop 116. The first stop 115 and the second stop 116 are fixed relative to the ground. Specifically, the first stop 115 and the second stop 116 are both fixed on the ground platform 113, and in the first direction, the first stop 115 and the second stop 116 are respectively located on both sides of the first moving slide module 120. The first stop 115 and the second stop 116 can limit the moving distance of the first moving slide module 120 in the first direction to ensure the safe movement of the stacker crane 200 in the first direction and prevent the stacker crane 200 from moving too far and breaking off the first slide rail 111 when it loses control.

[0072] Continue to refer to Figure 19As shown, the stacker crane changing aisle system 100 also includes a third stop 135. The third stop 135 is disposed inside the moving frame 131 and is used to stop the stacker crane 200 moving in the moving frame 131 along the second direction, thereby ensuring the safe movement of the stacker crane 200 in the second direction and preventing the stacker crane 200 from moving too far when it goes out of control, thus preventing the stacker crane 200 from rushing out of the second slide rail 122.

[0073] The present invention also provides a stacker crane vertical warehouse, such as Figure 1 and Figure 3 As shown, the stacker crane automated storage and retrieval system (AS / RS) includes an automated storage and retrieval system (AS / RS) 300, a stacker crane 200, and the aforementioned stacker crane transfer aisle system 100. The AS / RS 300 includes at least one rack, which is a storage frame formed by splicing panels and rods. Each rack has multiple storage positions in the height direction, and goods are placed on these positions. When there are multiple AS / RS 300s, an aisle is formed between adjacent AS / RS 300s. A top rail 301 is located at the upper part of the aisle, and a bottom rail 302 is located at the lower part. The stacker crane 200 can move to the target storage position on the target rack by moving within the aisle, thus enabling the retrieval and placement of target goods. The stacker crane transfer aisle system 100 is located on one side of the AS / RS 300. After the stacker crane 200 moves into the stacker crane transfer aisle system 100, it can be transferred between different aisles and ultimately enter the target aisle.

[0074] The stacker crane 200 is equipped with guide wheels, such as Figure 11 and Figure 12 As shown, the guide wheels specifically include a top rail guide wheel 201 and a bottom rail guide wheel 202. The top rail guide wheel 201 can cooperate with the docking top rail 132 and the rack top rail 301 (collectively referred to as the top rail). The cooperation between the top rail guide wheel 201 and the top rail can improve the precise guidance of the stacker crane 200 in the second direction and reduce the mechanical wear on the stacker crane 200. At the same time, it can prevent the stacker crane 200 from tipping over in the direction perpendicular to the walking direction of the stacker crane 200. Since high-precision docking is not required in the vertical direction, a diamond-shaped pin 1321 and a round hole 3011 are used at the docking point of the docking top rail 132 and the rack top rail 301 to achieve docking positioning.

[0075] The ground rail guide wheel 202 can cooperate with the opposing ground rail 133 and the rack ground rail 302 (collectively referred to as the ground rail). Since the ground rail guide wheel 202 and the ground rail cooperate to provide support and guidance for the traveling wheels of the stacker crane 200, the horizontal and vertical alignment of the ground rails must be sufficiently precise. The vertical height is adjusted by the ground on which it is installed, and the horizontal positioning is achieved by the triangular protrusion 3021 and triangular groove 1331 at the mating position. It should be noted that the specific structure of the stacker crane 200 is existing technology and will not be described in detail here.

[0076] Continue to refer to Figure 2 As shown, the automated rack 300 also includes a fourth stop 303. The fourth stop 303 is located at the end of the rack ground rail 302 away from the stacker crane replacement aisle system 100. The fourth stop 303 is used to prevent the stacker crane 200 from moving too far in the aisle, thereby preventing the stacker crane 200 from rushing out of the aisle.

[0077] In this invention, the stacker crane vertical warehouse also includes a control mechanism, which can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a combination of multiple distributed microcontrollers. The microcontroller can run a control program to control all the electronic components included in the stacker crane vertical warehouse to achieve their corresponding functions.

[0078] The process of using the stacker crane to replace the aisle system 100 and assist the stacker crane 200 in replacing the aisle in this stacker crane vertical warehouse is as follows:

[0079] Step 1: The first drive component 123 drives the first moving slide module 120 to move along the first slide rail 111 to a position directly opposite the aisle where the stacker crane 200 is located;

[0080] Step 2: The second drive component 124 drives the second moving slide module 130 to move along the second slide rail 122, thereby connecting the docking top rail 132 with the shelf top rail 301 in the aisle, and connecting the docking ground rail 133 with the shelf ground rail 302 in the aisle.

[0081] Step 3: The stacker crane 200 moves into the accommodating space of the mobile frame 131 along the docked overhead rail and ground rail.

[0082] Step 4: The second drive component 124 drives the second moving slide module 130 to move in the opposite direction along the second slide rail 122, thereby disengaging the docking top rail 132 from the rack top rail 301 in the aisle, and disengaging the docking ground rail 133 from the rack ground rail 302 in the aisle.

[0083] Step 5: The first drive assembly 123 drives the first moving slide module 120 to move along the first slide rail 111 to a position directly opposite the target aisle to which the stacker crane 200 needs to move;

[0084] Step 6: The second drive component 124 drives the second moving slide module 130 to move along the second slide rail 122, thereby connecting the docking top rail 132 with the shelf top rail 301 in the target aisle, and connecting the docking ground rail 133 with the shelf ground rail 302 in the target aisle.

[0085] Step 7: Stacker 200 drives into the target tunnel along the docked overhead and ground rails.

[0086] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A stacker crane changing aisle system, characterized in that, The stacker crane (200) is used to move within different aisles of the automated storage and retrieval system (300), the stacker crane aisle changing system comprising: Ground translation module (110), the ground translation module (110) includes a first slide rail (111), the first slide rail (111) is fixedly arranged relative to the ground along a first direction; The first movable slide module (120) includes a first sliding plate (121), a second slide rail (122), a first drive component (123), and a second drive component (124). The first drive component (123) can drive the first sliding plate (121) to slide along the first slide rail (111). The second slide rail (122) is disposed on the first sliding plate (121) along a second direction, which is parallel to the extension direction of the tunnel. The second moving slide module (130) includes a moving frame (131) and a docking rail. The moving frame (131) forms a receiving space to accommodate the stacker crane (200). The docking rail is disposed on the moving frame (131). The second drive component (124) can drive the moving frame (131) to slide along the second slide rail (122) so that the docking rail docks with the rack rail disposed in the aisle. The stacker crane (200) can move between the aisle and the receiving space along the docking rail and the rack rail after docking. The movable frame (131) includes a second sliding plate (1311), which is slidably connected to the second slide rail (122); the docking track includes a docking top rail (132) and a docking ground rail (133), and the shelf track includes a shelf top rail (301) and a shelf ground rail (302). The docking top rail (132) is disposed on the top of the movable frame (131), and the docking ground rail (133) is disposed on the second sliding plate (1311). The docking top rail (132) is used to dock with the shelf top rail (301), and the docking ground rail (133) is used to dock with the shelf ground rail (302). Of the two, the connecting rail (132) and the shelf rail (301), one of the connecting ends is provided with a positioning pin, and the other of the connecting ends is provided with a positioning hole, and the positioning pin can be inserted into the positioning hole. The positioning pin is a diamond-shaped pin, and the positioning hole is a round hole.

2. The stacker crane changing aisle system according to claim 1, characterized in that, The ground translation module (110) also includes a first rack (112), which is arranged parallel to the first slide rail (111); The first drive assembly (123) includes a first drive motor (1231) and a first drive gear (1232). The first drive motor (1231) is fixedly connected to the first sliding plate (121), and the first drive gear (1232) is fixedly connected to the motor shaft of the first drive motor (1231). The first drive gear (1232) is connected to the first rack (112) in a transmission connection.

3. The stacker crane changing aisle system according to claim 2, characterized in that, There are two first slide rails (111), which are arranged parallel to each other along the second direction. There are two first racks (112), which are arranged adjacent to the two first slide rails (111). The number of the first drive components (123) is two sets, and the first drive gears (1232) of the two sets of the first drive components (123) respectively mesh with the two first racks (112).

4. The stacker crane changing aisle system according to claim 1, characterized in that, The second movable slide module (130) also includes a second rack (134), which is disposed on the second sliding plate (1311); The second drive assembly (124) includes a second drive motor (1241) and a second drive gear (1242). The second drive motor (1241) is fixedly connected to the first sliding plate (121), and the second drive gear (1242) is fixedly connected to the motor shaft of the second drive motor (1241). The second drive gear (1242) is connected to the second rack (134) in a transmission connection.

5. The stacker crane changing aisle system according to claim 1, characterized in that, The stacker crane changing lane system also includes a ranging mechanism, which includes a laser ranging reflector (114) and a laser ranging sensor (125). The laser ranging reflector (114) is fixed relative to the ground, and the laser ranging sensor (125) is mounted on the first sliding plate (121) and is positioned opposite to the laser ranging reflector (114).

6. The stacker crane changing aisle system according to claim 1, characterized in that, The stacker crane changing aisle system also includes a first stop (115) and a second stop (116), the first stop (115) and the second stop (116) being fixedly installed relative to the ground, and the first stop (115) and the second stop (116) being respectively installed on both sides of the first moving slide module (120) in the first direction; And / or, the stacker crane changing aisle system further includes a third stop (135) disposed within the moving frame (131) and used to stop the stacker crane (200) moving in the second direction toward the moving frame (131).

7. The stacker crane changing aisle system according to claim 1, characterized in that, Of the ground rail (133) and the shelf rail (302), one of the mating ends is provided with a positioning protrusion, and the other of the mating ends is provided with a positioning groove, wherein the positioning protrusion can be inserted into the positioning groove.

8. A stacker crane vertical warehouse, characterized in that, Includes a three-dimensional rack (300), a stacker crane (200), and a stacker crane replacement aisle system as described in any one of claims 1-7.

9. The stacker crane vertical warehouse according to claim 8, characterized in that, The stacker crane (200) is equipped with guide wheels, which can cooperate with the docking rail of the stacker crane changing aisle system and the guide wheels can cooperate with the rack rail of the three-dimensional rack (300).

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