A three-dimensional storage system

Abstract

The present invention discloses a three-dimensional warehousing system, comprising: a warehousing unit and a goods picking and placing unit, the goods picking and placing unit shuttles in the three coordinate directions in the warehousing unit for picking and placing goods; the warehousing unit includes a shelf, the shelf is formed by rigid beams intersecting and connecting in the three coordinate directions within a spatial range to form a plurality of layers separated and arranged along the Z-axis direction; the goods picking and placing unit includes a shuttle tray centrally disposed in the layer, and an ejecting device controlled by a sensor feedback is provided on the shuttle tray; the ejecting device includes a lifting arm, and a hydraulic rod is fixedly connected to the bottom of the lifting arm; a protective component surrounding the hydraulic rod is provided below the lifting arm, and the protective component expands and contracts as the hydraulic rod expands and contracts; by providing the protective component, the present invention protects the hydraulic rod and at the same time reduces the resistance generated by the protective component to the contraction action of the hydraulic rod through its own deformation effect, improves the speed of the hydraulic rod when extending and lifting, and improves the goods picking efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automated warehousing equipment, and particularly to a three-dimensional warehousing system. Background Art

[0002] Existing three-dimensional warehouses utilize vertical space. Through automated equipment such as stacker cranes or shuttle cars, a large number of goods can be stored within a limited ground area, improving the storage density and space utilization rate of the warehouse. And through the shuttle car shuttling between the shelves in the warehouse, the tasks of storing and retrieving goods are efficiently completed, reducing the manual operation time, improving the access efficiency, and accelerating the logistics operation speed.

[0003] In the prior art, the lifting mechanism of the shuttle car relies on a hydraulic system and hydraulic rods to achieve the lifting and transportation of goods. During most of the operation time of the shuttle car, the hydraulic rods are exposed to the air. On the one hand, the hydraulic rods in contact with the air are easily adhered with dust particles, affecting the cleanliness of the surface of the hydraulic rods and increasing the dust-proof pressure of the dust-proof components in the hydraulic cylinder. On the other hand, they are also easily in contact with the acidic gases emitted in the environment and the leaked corrosive substances, thus affecting their durability due to corrosion.

[0004] Therefore, it is necessary to provide a three-dimensional warehousing system to solve the problems in the prior art that during the telescopic process of the hydraulic rods in the lifting mechanism of the shuttle car, there is a lack of effective protection components for dust-proof and anti-corrosion, and the unfolding process of the protection components overly depends on the movement of the hydraulic rods, affecting the movement sensitivity of the hydraulic rods themselves. Summary of the Invention

[0005] The purpose of the present invention is to provide a three-dimensional warehousing system to solve the technical problems raised in the above background art.

[0006] To solve the above technical problems, the present invention specifically provides the following technical solutions:

[0007] The present invention provides a three-dimensional warehousing system, including a warehousing unit and a goods picking and placing unit. The goods picking and placing unit shuttles in the three coordinate directions in the warehousing unit for picking and placing goods;

[0008] The warehousing unit includes a shelf. The shelf is formed by rigid beams intersecting and connecting in the three coordinate directions within a spatial range to form a plurality of layers separated and arranged along the Z-axis direction. Each layer contains a plurality of storage locations with equal widths. Fiber optic induction rails are provided along the Y-axis direction at the same height on both sides of the rigid beams at the bottom of the layer;

[0009] The goods picking and placing unit includes a shuttle tray centrally disposed within the layer. The shuttle tray can move bidirectionally on the fiber optic induction rails, and a jacking device controlled by sensor feedback is provided on the shuttle tray;

[0010] A plurality of shelves are stacked along the Z-axis direction to form a single multi-layer shelf;

[0011] Multiple multi-layer shelves are arranged along the Y-axis direction to form multi-layer and multi-row shelves;

[0012] Multiple multi-layer and multi-row shelves are arranged along the X-axis direction to form multi-layer and multi-row shelves;

[0013] The action of the ejector device and the operation of the shuttle tray are both linked and controlled by the controller.

[0014] When the shuttle tray starts to decelerate during the process of executing the pickup instruction, the deceleration signal feedback controls the ejection device to pre-elevate, and when the shuttle tray completely reaches under the goods, the ejection device continues to rise to the bottom of the goods.

[0015] Furthermore, the fiber optic sensing guide rail has a double-step shape, and the width of the upper step of the fiber optic sensing guide rail is shorter than its lower step; wherein, running wheels are provided on the side wall of the shuttle tray, and the running wheels support the shuttle tray to move on the lower step of the fiber optic sensing guide rail; the upper step of the fiber optic sensing guide rail is used to place goods.

[0016] Furthermore, the ejection device comprises a lifting arm, a hydraulic rod is fixedly connected to the bottom of the lifting arm, and the hydraulic rod is driven by a hydraulic cylinder arranged inside the shuttle tray; a protective component surrounding the hydraulic rod is arranged below the lifting arm, and the protective component is extended and retracted with the extension and retraction of the hydraulic rod;

[0017] A hydraulic rod is fixedly connected to the bottom of the jacking arm, and the hydraulic rod is driven by a hydraulic cylinder arranged inside the shuttle tray; wherein, two jacking arms are symmetrically arranged on the shuttle tray, and an embedding groove for the jacking arm to be embedded is provided on the shuttle tray; the extension direction of the jacking arm and the optical fiber sensing guide rail is the same.

[0018] Furthermore, a gasket passes through the hydraulic rod, and a gap is left between the gasket and the peripheral wall of the hydraulic rod; wherein the gasket is fitted to the groove wall of the embedding groove and arranged inside it, the thickness of the gasket is smaller than the depth of the embedding groove, and the bottom of the gasket is detachably connected to the groove bottom of the embedding groove.

[0019] Furthermore, a telescopic sleeve is provided on the hydraulic rod, one end of the telescopic sleeve is fixedly connected to the hydraulic cylinder, and the other end is attached to the peripheral wall of the hydraulic rod; wherein, an elastic member is provided inside the telescopic sleeve for supporting the telescopic sleeve, the inner ring side of the elastic member is against the peripheral wall of the hydraulic rod, and the outer ring side of the elastic member is connected to the inner wall surface of the telescopic sleeve; when the hydraulic rod is in a retracted state, the elastic member is compressed; the elastic member is automatically reset as the hydraulic rod is extended, thereby utilizing the elastic member to drive the telescopic sleeve to expand.

[0020] Furthermore, the elastic member includes a conical spring, and the large diameter end of the conical spring is arranged on the hydraulic cylinder.

[0021] Further, a friction pad is provided between the inner circumferential side of the elastic member and the peripheral wall of the hydraulic rod. When the hydraulic rod moves, the elastic member extends or contracts by relying on the frictional force between the hydraulic rod and the friction pad; wherein, at least part of the friction pad covers the circumferential wall of the elastic member.

[0022] Further, an annular groove is provided on the hydraulic rod; wherein, the friction pad is embedded into the annular groove to form a prestress on the spring member.

[0023] Further, a plurality of annular grooves are linearly arranged on the hydraulic rod along its axis, so as to adjust the prestress of the elastic member by embedding the friction pad into different annular grooves.

[0024] Further, the elastic member includes pressure rings. The outer edge of each pressure ring is fixedly connected to the inner wall of the telescopic sleeve. The pressure ring has an annular structure with corrugated elastic sheets; wherein, a plurality of pressure rings are linearly arranged inside the telescopic sleeve along its axis. Adjacent pressure rings are staggeredly rotated by 30° around their common axis. The pressure rings can be superposed or separated from each other during the telescopic process of the telescopic sleeve; when the telescopic sleeve extends, the pressure rings are separated from each other to provide a same-direction elastic force for the extension of the telescopic sleeve.

[0025] The present invention has the following beneficial effects compared with the prior art:

[0026] By providing the protection component, the present invention protects the hydraulic rod and at the same time reduces the resistance generated by the protection component to the contraction action of the hydraulic rod through its own deformation, so that the protection component no longer depends on the action of the hydraulic rod to act, improves the speed of the hydraulic rod when extending and jacking up, and improves the picking efficiency. Description of the Drawings

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can be obtained by extending according to the provided drawings without creative efforts.

[0028] Figure 1 It is a structural diagram of a three-dimensional warehousing system provided by the present invention;

[0029] Figure 2 For Figure 1 The enlarged view of I in

[0030] Figure 3 For Figure 2 The three-dimensional structural diagram of the shuttle tray in

[0031] Figure 4 For Figure 3 The cross-sectional view of

[0032] Figure 5 is Figure 4 a partial view of II in

[0033] Figure 6 a schematic structural view of the cooperation between a conical spring, a telescopic sleeve and a hydraulic rod in another embodiment provided by the present invention;

[0034] Figure 7 is Figure 4 a partial view of II in another embodiment provided by the present invention;

[0035] Figure 8 is Figure 7 a partial view of III in

[0036] Figure 9 is Figure 7 a partial view of III in another embodiment provided by the present invention;

[0037] Figure 10 a schematic structural view of a pressure ring in another embodiment provided by the present invention;

[0038] Figure 11 is Figure 10 a schematic view of the alternating positions of the combined pressure rings in

[0039] The reference numerals in the figure are respectively represented as follows:

[0040] 1, shelf; 11, rigid beam; 12, interlayer; 13, storage location; 14, fiber optic induction guide rail; 2, shuttle tray; 21, ejecting device; 22, lifting arm; 221, embedding groove; 23, hydraulic rod; 231, hydraulic cylinder; 232, annular clamping groove; 24, gasket; 25, telescopic sleeve; 251, elastic member; 252, friction pad; 253, pressure ring; 254, conical spring; 26, walking wheel. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] As Figure 1-2 shown, the present invention provides a three-dimensional warehousing system, including: a warehousing unit and a goods picking and placing unit, and the goods picking and placing unit shuttles in the warehousing unit in three coordinate directions for picking and placing goods;

[0043] The storage unit includes a shelf 1, which is staggeredly connected by rigid beams 11 in a spatial range along three coordinate directions to form a plurality of interlayers 12 separated and arranged along the Z-axis direction, the interlayer 12 includes a plurality of storage locations 13 of equal width, and optical fiber sensing guide rails 14 are provided along the Y-axis direction at the same height of the rigid beams 11 on both sides of the bottom of the interlayer 12;

[0044] The cargo pick-up and delivery unit includes a shuttle tray 2 centrally arranged in the layer 12, the shuttle tray 2 can move bidirectionally on the optical fiber sensing guide rail 14, and the shuttle tray 2 is provided with an ejection device 21 controlled by sensor feedback; multiple shelves 1 are stacked along the Z-axis direction to form a single multi-layer shelf; multiple multi-layer shelves are arranged along the Y-axis direction to form a multi-layer multi-row shelf; multiple multi-layer multi-row shelves are arranged along the X-axis direction to form a multi-layer multi-row multi-row shelf;

[0045] The action process of the ejection device 21 and the running speed of the shuttle tray 2 are controlled by the controller. When the shuttle tray 2 starts to decelerate during the process of executing the pickup instruction, the deceleration signal feedback controls the ejection device 21 to lift up in advance. When the shuttle tray 2 completely reaches the bottom of the goods, the ejection device 21 continues to lift up to the bottom of the goods.

[0046] The ejection device 21 includes a lifting arm 22, and a hydraulic rod 23 is fixedly connected to the bottom of the lifting arm 22. The hydraulic rod 23 is driven by a hydraulic cylinder 231 arranged inside the shuttle tray 2; a protective component surrounding the hydraulic rod 23 is provided below the lifting arm 22, and the protective component is extended and retracted as the hydraulic rod 23 is extended and retracted.

[0047] In the three-dimensional storage system provided by the present invention, the shelves 1 are stacked horizontally and vertically by rigid beams 11 to form multi-layer, multi-row and multi-column shelves. The rigid beams 11 are preferably made of 304 stainless steel. Fiber optic sensor guide rails 14 are placed at relatively equal heights on both sides of the bottom of the shelf 1. The fiber optic sensor guide rails 14 extend backward, and the specific length is customized according to actual usage.

[0048] A shuttle pallet 2 is run in the middle area of ​​two opposite optical fiber sensing rails 14, and the goods are sensed by sensors arranged at the four corners inside the shuttle pallet 2. When the goods need to be placed or stacked, the shuttle pallet 2 is moved to the outermost side of the shelf 1 through the controller, and the goods are placed on the shuttle pallet 2 using a forklift. When the sensor on the shuttle pallet 2 senses the goods, the ejection device 21 thereon is started to lift the goods, and then the goods are transported to the designated location for storage along with the shuttle pallet 2.

[0049] After the goods are placed, the ejecting device 21 resets, and the shuttle tray 2 is continuously moved to the outermost side of the shelf 1 through the controller to carry and store the next piece of goods. On the other hand, the present invention also protects the hydraulic rod 23 through the setting of the protection component, and at the same time reduces the resistance generated by the protection component to the contraction action of the hydraulic rod 23 through its own deformation effect, so that the protection component no longer depends on the action of the hydraulic rod 23 to act, improving the speed of the hydraulic rod 23 when extending and lifting, and improving the picking efficiency.

[0050] More specifically, the shelf 1 in the above embodiment, as the main structure for carrying goods and the shuttle tray 2, needs to comprehensively consider the method of its surface treatment according to its mechanical properties and cost, such as processes like anodic oxidation treatment, polishing, wire drawing, and descaling.

[0051] The number of shelves 1 is determined according to the site area and the amount of goods stored. Multiple shelves are stacked to form a single multi-layer shelf, multiple multi-layer shelves are arranged backward to form multiple columns of shelves, and multiple multi-layer and multi-column shelves are arranged side by side to form multiple rows of shelves, finally forming a multi-layer, multi-row, and multi-column shelf that can stack multiple goods.

[0052] On the other hand, the fiber optic induction guide rail 14, as the main structure of the moving channel of the shuttle tray 2, determines the width and length between the two fiber optic induction guide rails 14 according to the size of the shuttle tray 2 and the size of the site area, and the guide rail material is selected as aluminum alloy. On the other hand, the shuttle tray 2, as the main material for moving goods, is made of materials with high temperature resistance, high hardness, strong toughness, corrosion resistance, and anti-aging properties.

[0053] More specifically, the fiber optic induction guide rail 14 in the above embodiment has a double-layer stepped shape, and the width of the upper step of the fiber optic induction guide rail 14 is shorter than that of its lower step; among them, walking wheels 26 are provided on the side wall of the shuttle tray 2, and the walking wheels 26 support the shuttle tray 2 to move on the lower step of the fiber optic induction guide rail 14; the upper step of the fiber optic induction guide rail 14 is used to place goods.

[0054] More specifically, the ejecting device 21 in the above embodiment includes a lifting arm 22, a hydraulic rod 23 is fixedly connected to the bottom of the lifting arm 22, and the hydraulic rod 23 is driven by a hydraulic cylinder 231 provided inside the shuttle tray 2; among them, two lifting arms 22 are symmetrically provided on the shuttle tray 2, and an embedding groove 221 for the lifting arm 22 to be embedded is provided on the shuttle tray 2; the extending direction of the lifting arm 22 is the same as that of the fiber optic induction guide rail 14.

[0055] In this embodiment, by setting the lifting arm 22 to have the same extending direction as the fiber optic induction guide rail 14, it is beneficial for the shuttle tray 2 to lift the goods from below for transportation, and it can also prevent the goods from sliding relative to the lifting arm 22 due to the acceleration change of the shuttle tray 2 when the shuttle tray 2 is carrying goods and running.

[0056] On the other hand, the traveling wheels 26 on two opposite sides of the shuttle tray 2 can be reversed by means of grouped staggered lifting. Specifically, the lifting of the traveling wheels 26 depends on the hydraulic components inside the shuttle tray 2. By adjusting the relative height between the two groups of traveling wheels 26 through the hydraulic components, one group is suspended while the other group contacts the fiber optic induction guide rail 14.

[0057] For example, when the running direction of the shuttle tray 2 needs to be changed from the X-axis direction to the Y-axis direction, first control the hydraulic components to lower the traveling wheels 26 in the Y-axis direction until they contact the fiber optic induction guide rail 14, and then lift the traveling wheels 26 in the X-axis direction until they are separated from the fiber optic induction guide rail 14. Finally, the shuttle tray 2 is reversed by running the traveling wheels 26 in the Y-axis direction, and vice versa. On the other hand, in order to save the time for the shuttle tray 2 to decelerate and lift the goods, the action of the hydraulic cylinder 231 can be controlled in linkage by the controller. When the shuttle tray 2 executes the goods picking instruction and the traveling wheels 26 start to decelerate, the deceleration signal feedback controls the hydraulic rod 23 to partially rise in advance. When the shuttle tray 2 completely reaches directly below the goods, the hydraulic rod 23 continues to rise to jack up the goods. Thus, compared with the case where the jacking action starts only when the shuttle tray 2 completely reaches directly below the goods, the goods picking time can be shortened.

[0058] In the above-mentioned embodiment, during the process of picking up and placing goods on the shuttle tray 2, since the jacking arm 22 needs to act repeatedly, it is easy to collide and squeeze with the body of the shuttle tray 2, that is, with the bottom of the embedding groove 221.

[0059] To solve the above problems, as Figure 3 shown, in the preferred embodiment provided by the present invention based on the above-mentioned embodiment, a gasket 24 penetrates through the hydraulic rod 23, and a gap is left between the gasket 24 and the peripheral wall of the hydraulic rod 23.

[0060] Among them, the gasket 24 is arranged inside the embedding groove 221 by fitting against the groove wall of the embedding groove 221. The thickness of the gasket 24 is less than the depth of the embedding groove 221, and the bottom of the gasket 24 is detachably connected to the bottom of the embedding groove 221.

[0061] In this embodiment, the gasket 24 can be made of flexible materials such as rubber, sponge, and plastic. When the gasket 24 is squeezed by the jacking arm 22, it generates elastic deformation, so as to avoid direct collision and extrusion between the jacking arm 22 and the bottom of the embedding groove 221. A hole should be opened in the middle of the gasket 24 for the hydraulic rod 23 to penetrate through, to avoid contact between the peripheral wall of the hydraulic rod 23 and the gasket 24, thus generating resistance to the telescopic action of the hydraulic rod 23. The bottom and side of the gasket 24 can be fixedly connected to the inside of the embedding groove 221. Thread connection, bonding, clamping and other methods can be used for detachable connection, as long as the purpose of fixing the gasket 24 in the embedding groove 221 can be achieved, depending on the actual installation situation.

[0062] In the above embodiments, when the hydraulic rod 23 jacks up the goods, most of it is exposed to the air. On the one hand, it is easy to adhere to dust particles, which affects the cleanliness of the surface of the hydraulic rod 23 and increases the dust-proof pressure of the dust-proof components in the hydraulic cylinder 231. On the other hand, when the volatile acidic substances or liquids that are corrosive to metals stored in the three-dimensional storage system provided by the present invention leak, the exposed hydraulic rod 23 is easily corroded due to the lack of protection measures, thus affecting its durability.

[0063] To solve the above problems, as Figure 4-5 shown, in the preferred embodiment provided by the present invention based on the above embodiments, the protection component includes a telescopic sleeve 25 sleeved on the hydraulic rod 23. One end of the telescopic sleeve 25 is fixedly connected to the hydraulic cylinder 231, and the other end fits on the peripheral wall of the hydraulic rod 23;

[0064] Wherein, an elastic member 251 is provided inside the telescopic sleeve 25 to support the telescopic sleeve 25. The inner ring side of the elastic member 251 abuts against the peripheral wall of the hydraulic rod 23, and the outer ring side of the elastic member 251 is connected to the inner wall surface of the telescopic sleeve 25; when the hydraulic rod 23 is in the retracted state, the elastic member 251 is compressed; the elastic member 251 automatically resets as the hydraulic rod 23 extends, thereby driving the telescopic sleeve 25 to expand by using the elastic member 251.

[0065] More specifically, as Figure 6 shown, in the preferred embodiment provided by the present invention based on the above embodiments, the elastic member 251 includes a conical spring 254, and the large-diameter end of the conical spring 254 is provided on the hydraulic cylinder 231.

[0066] In this embodiment, the elastic member 251 is preferably a compression spring, which can enable the telescopic sleeve 25 to automatically expand under the reset action of the elastic member 251 during the jacking process of the hydraulic rod 23, without relying on the driving of the hydraulic rod 23 and the jacking arm 22. Thus, the resistance effect formed by the telescopic sleeve 25 on the telescopic movement of the hydraulic rod 23 can be reduced, and further the speed of the hydraulic rod 23 during goods picking and jacking can be increased; it should be noted that, in order to enhance the protection effect of the telescopic sleeve 25, a rubber ring can be used for sealing at the joint where the inner wall of the telescopic sleeve 25 and the peripheral wall of the hydraulic rod 23 are in contact, but the friction between the rubber ring and the hydraulic rod 23 is small, aiming at enabling it to slide smoothly along the hydraulic rod 23 under the elastic force of the elastic member 251. On the other hand, by setting the elastic member 251 as a conical spring 254, it can be avoided between its inner ring side and the peripheral wall of the hydraulic rod 23.

[0067] In the above embodiments, when the elastic member 251 directly abuts against the hydraulic rod 23, surface wear is easily caused due to relative sliding between the two, reducing its durability.

[0068] To solve the above problems, asFigure 7-8 As shown in the figure, in the preferred embodiment provided by the present invention based on the above-mentioned embodiment, a friction pad 252 is provided between the inner circumferential side of the elastic member 251 and the peripheral wall of the hydraulic rod 23. When the hydraulic rod 23 moves, the elastic member 251 extends or contracts depending on the frictional force between the hydraulic rod 23 and the friction pad 252;

[0069] Among them, the friction pad 252 at least partially covers the annular wall of the elastic member 251.

[0070] In this embodiment, by providing the friction pad 252, direct contact between the elastic member 251 and the peripheral wall of the hydraulic rod 23 can be avoided, improving durability.

[0071] When the hydraulic rod 23 is in the retracted state, in order to enable the elastic member 251 to obtain different tensions, that is, to produce different compression degrees, as Figure 9 As shown in the figure, in the preferred embodiment provided by the present invention based on the above-mentioned embodiment, an annular groove 232 is provided on the hydraulic rod 23; among them, the friction pad 252 is embedded in the annular groove 232 to form a prestress on the elastic member 251.

[0072] More specifically, a plurality of annular grooves 232 are linearly arranged on the hydraulic rod 23 along its axis, so as to adjust the prestress of the elastic member 251 by embedding the friction pad 252 into different annular grooves 232. In this embodiment, by providing a plurality of annular grooves 232, the elastic member 251 can be limited after being embedded therein, so that its contraction state can be adjusted to obtain different prestresses.

[0073] In order to make the telescopic sleeve 25 more flexible in use and applicable to hydraulic rods 23 of different lengths, as Figure 10-11 As shown in the figure, in the preferred embodiment provided by the present invention based on the above-mentioned embodiment, the elastic member 251 includes a pressure ring 253, the outer edge of each pressure ring 253 is fixedly connected to the inner wall of the telescopic sleeve 25, and the pressure ring 253 has an annular structure of a corrugated elastic sheet;

[0074] Among them, a plurality of pressure rings 253 are linearly arranged inside the telescopic sleeve 25 along its axis, and adjacent pressure rings 253 are arranged to stagger and rotate 30° around their common axis. The pressure rings 253 can be superimposed or separated from each other during the telescopic process of the telescopic sleeve 25; when the telescopic sleeve 25 extends, the pressure rings 253 separate from each other to provide a same-direction elastic force for the extension of the telescopic sleeve 25.

[0075] In this embodiment, by providing a plurality of neatly arranged and mutually staggered and abutting pressure rings 253, the expansion range of the telescopic sleeve 25 can be made larger, so as to be applicable to hydraulic rods 23 of different lengths. Specifically, when the telescopic sleeve 25 shrinks to the shortest, the convex portions between adjacent pressure rings 253 abut against each other, so that the overall length of the pressure rings 253 is shortened, and the pressure rings 253 store elastic potential energy; then when the telescopic sleeve 25 expands, the elastic potential energy stored in the pressure rings 253 is preferentially released to enable the telescopic sleeve 25 to expand a certain length in advance, and then the telescopic sleeve 25 is further expanded by relying on the frictional force at the abutting portion between the end of the telescopic sleeve 25 and the peripheral wall of the hydraulic rod 23.

[0076] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements within the essence and protection scope of the present application, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present application.

Claims

1. A three-dimensional storage system, characterized in that, It includes a storage unit and a picking and placing unit, and the picking and placing unit shuttles in the storage unit along the three-coordinate direction to pick up and place goods; The storage unit comprises a shelf (1), wherein the shelf (1) is staggeredly connected in a spatial range along three coordinate directions by rigid beams (11) to form a plurality of interlayers (12) arranged in a separated manner along the Z-axis direction, wherein the interlayer (12) comprises a plurality of storage locations (13), and optical fiber sensing guide rails (14) are provided at equal heights of the rigid beams (11) on both sides of the bottom of the interlayer (12) along the Y-axis direction; The cargo pick-up and delivery unit comprises a shuttle tray (2) centrally arranged in the layer space (12), the shuttle tray (2) being capable of bidirectional movement on the optical fiber sensing guide rail (14), and the shuttle tray (2) being provided with an ejection device (21) controlled by sensor feedback; in: A plurality of the shelves (1) are stacked along the Z-axis direction to form a single multi-layer shelf; A plurality of the multi-layer shelves are arranged along the Y-axis direction to form multi-layer and multi-row shelves; A plurality of the multi-layer and multi-column shelves are arranged along the X-axis direction to form a multi-layer and multi-column and multi-row shelf; The action of the ejection device (21) and the operation of the shuttle tray (2) are both controlled in linkage by a controller; When the shuttle tray (2) starts to decelerate during the process of executing the pickup instruction, the deceleration signal feedback controls the ejection device (21) to pre-elevate, and when the shuttle tray (2) completely reaches directly below the goods, the ejection device (21) continues to be elevated to the bottom of the goods; The ejection device (21) comprises a lifting arm (22), a hydraulic rod (23) is fixedly connected to the bottom of the lifting arm (22), the hydraulic rod (23) is driven by a hydraulic cylinder (231) arranged inside the shuttle tray (2), and a protective component surrounding the hydraulic rod (23) is arranged below the lifting arm (22), and the protective component is extended and retracted as the hydraulic rod (23) is extended and retracted; The protection component comprises a telescopic sleeve (25) sleeved on the hydraulic rod (23), one end of the telescopic sleeve (25) being fixedly connected to the hydraulic cylinder (231), and the other end being attached to the peripheral wall of the hydraulic rod (23); The telescopic sleeve (25) is provided with an elastic member (251) inside for supporting the telescopic sleeve (25), the inner ring side of the elastic member (251) abuts against the peripheral wall of the hydraulic rod (23), and the outer ring side of the elastic member (251) is connected to the inner wall surface of the telescopic sleeve (25); A friction pad (252) is provided between the inner circumferential side of the elastic member (251) and the peripheral wall of the hydraulic rod (23); when the hydraulic rod (23) is in motion, the elastic member (251) is extended or contracted by the friction force between the hydraulic rod (23) and the friction pad (252); Wherein, the friction pad (252) is at least partially covered on the annular wall of the elastic member (251); The hydraulic rod (23) is provided with an annular groove (232); The friction pad (252) is embedded in the annular groove (232) to form a prestress on the elastic member (251).

2. The three-dimensional storage system according to claim 1, characterized in that The optical fiber induction guide rail (14) has a double-layer stepped shape, and the width of the upper step of the optical fiber induction guide rail (14) is shorter than that of its lower step; Wherein, traveling wheels (26) are provided on the side wall of the shuttle tray (2), and the traveling wheels (26) support the shuttle tray (2) to move on the lower step of the optical fiber induction guide rail (14); The upper step of the optical fiber induction guide rail (14) is used for placing goods.

3. The three-dimensional warehousing system according to claim 2, characterized in that Two lifting arms (22) are symmetrically provided on the shuttle tray (2), an embedding groove (221) for the lifting arm (22) to be embedded is provided on the shuttle tray (2), and the extending direction of the lifting arm (22) is the same as that of the optical fiber induction guide rail (14).

4. A three-dimensional storage system according to claim 3, characterized in that, A gasket (24) penetrates through the hydraulic rod (23), and a space is left between the gasket (24) and the peripheral wall of the hydraulic rod (23); Wherein, the gasket (24) is attached to the inner wall of the embedding groove (221) and arranged inside it, the thickness of the gasket (24) is less than the depth of the embedding groove (221), and the bottom of the gasket (24) is detachably connected to the bottom of the embedding groove (221).

5. A three-dimensional warehousing system according to claim 1, characterized in that The elastic member (251) includes a conical spring (254), and the large-diameter end of the conical spring (254) is arranged on the hydraulic cylinder (231).

6. The three-dimensional storage system according to claim 1, wherein A plurality of annular clamping grooves (232) are linearly arranged on the hydraulic rod (23) along its axis, so as to adjust the prestress of the elastic member (251) by embedding the friction pad (252) into different annular clamping grooves (232).

7. The three-dimensional storage system according to claim 1, characterized in that, The elastic member (251) includes a pressure ring (253), the outer edge of each pressure ring (253) is fixedly connected to the inner wall of the telescopic sleeve (25), and the pressure ring (253) has an annular structure with a corrugated elastic sheet; Wherein, a plurality of pressure rings (253) are linearly arranged inside the telescopic sleeve (25) along its axis, and adjacent pressure rings (253) are arranged to stagger and rotate 30° around their common axis, and the pressure rings (253) can be superposed or separated from each other during the telescopic process of the telescopic sleeve (25); When the telescopic sleeve (25) extends, the pressure rings (253) are separated from each other to provide a same-direction elastic force for the extension of the telescopic sleeve (25).

Images