A storage system emergency treatment method and device

Abstract

The invention belongs to the technical field of transportation equipment, specifically, it is an emergency handling method and device for a warehousing system, the emergency handling method for the warehousing system comprises the following steps: identifying abnormal conditions, confirming abnormal coordinates, and building an emergency passage. The present invention sets up an emergency handling method and cooperates with an intelligent warehousing system for use. When a loading and unloading vehicle encounters an unexpected situation during normal operation, causing the transport passage to be blocked, the blocked transport passage can be cleared, and the duration of the transport passage blockage caused by the unexpected situation can be reduced as much as possible, thereby maintaining the normal operation of the intelligent warehousing system and providing maintenance personnel with sufficient maintenance time.

Description

Technical Field

[0001] The invention belongs to the technical field of transportation equipment, and in particular to an emergency treatment method and device for a storage system. Background Art

[0002] Warehouse management occupies a core position in logistics management. The intelligent warehouse management model is a warehouse management method that uses RFID intelligent warehouse management technology. The intelligent warehouse management model is quick and accurate in warehouse and out warehouse operations, effectively shortening the operation time. At the same time, the operation accuracy is improved. The warehouse can coordinate with the supplier and the user organically, which is conducive to shortening the circulation time of goods. Therefore, it is gradually promoted and applied.

[0003] In the intelligent warehousing management mode, it is usually combined with automated equipment to reduce the workload of staff and enhance the degree of automation of logistics and transportation. At the same time, in order to enhance the utilization rate of space, automated equipment is also combined with shelves to develop into an automated stereoscopic warehouse. In the automated stereoscopic warehouse, after the goods are transported to the entrance of the shelf at the specified number of layers by the lifting equipment, the goods are transported to the designated location and unloaded by the loading and unloading vehicles that shuttle through the shelves, or transported from the designated location to the lifting equipment, making it more convenient and quick for the goods to enter and exit the shelves. However, in the actual application of the automated stereoscopic warehouse, since the loading and unloading vehicles move in the tracks inside the shelves, when the loading and unloading vehicles fail, are damaged, or the tracks are partially damaged, it is easy for the loading and unloading vehicles to stagnate in the shelf tracks, resulting in obstruction of the goods transportation channel and affecting the normal loading and unloading of goods.

[0004] In order to avoid the impact of loading and unloading vehicle failures on cargo transportation, the relevant technology discloses an emergency handling method, device, equipment and storage medium for a warehousing system, with application number CN2022109460842. The warehousing robot is controlled to move directly to the target loading and unloading position on the conveyor line to complete the loading and unloading actions, thereby replacing the loading and unloading equipment in the abnormal state to ensure that the warehousing system continues to operate, thereby improving the stability and reliability of the warehousing system. However, this method is not suitable for automated stereoscopic warehouses with a relatively single transportation channel.

[0005] In view of this, the present invention proposes an emergency handling method for a warehousing system to solve the above technical problems. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art and solve the above-mentioned technical problems, the present invention proposes an emergency treatment method and device for a storage system.

[0007] The technical solution adopted by the present invention to solve its technical problem is: an emergency handling method for a storage system described in the present invention is applied to an intelligent storage system, and the emergency handling method realizes emergency handling of cargo loading and unloading by cooperating with a loading and unloading vehicle and an emergency handling device;

[0008] The storage system emergency treatment method comprises the following steps:

[0009] Confirm the abnormal coordinates. The loading and unloading vehicle is equipped with a GPS positioning module for confirming the abnormal coordinates;

[0010] Build an emergency channel. The loading and unloading vehicle is connected to the emergency processing device through its own signal sending module and a pre-set transfer program. When the emergency processing device receives the abnormal coordinates, it moves closer to the abnormal coordinates and builds an emergency channel near the abnormal coordinates. By changing the transportation path, the normal operation of the warehousing and transportation system is achieved.

[0011] Preferably, the method further comprises the following steps:

[0012] To identify abnormal conditions, the loading and unloading vehicle is equipped with a motion state detection module. After receiving the transportation instruction, the loading and unloading vehicle moves toward the target coordinates, and the motion state detection module is started at the same time. The motion state detection module performs real-time detection of the motion state of the loading and unloading vehicle. Only when the loading and unloading vehicle is stagnant in a non-command control state can an abnormal signal be sent.

[0013] Preferably, the motion state detection module also has a timing function, which starts when the loading and unloading vehicle stops in a non-command state, and sends an abnormal signal when the timing exceeds a preset threshold.

[0014] Preferably, the information transmitted by the signal sending module carried by the loading and unloading vehicle at least includes the loading and unloading status of the cargo of the loading and unloading vehicle;

[0015] When the loading and unloading vehicle is in the cargo transportation state, the loading and unloading vehicle docks with the storage robot through its own onboard signal sending module and a pre-set transfer program to clean up the cargo with abnormal coordinates;

[0016] When the loading and unloading vehicle is in an empty transport state, the loading and unloading vehicle is connected to the emergency handling device through the signal sending module carried by the loading and unloading vehicle and a pre-set transfer program.

[0017] An emergency handling device for a storage system, the emergency handling device comprising a base, a support seat, an extension frame and a lifting plate;

[0018] The base is a box-type structure with running wheels rotatably mounted on the bottom, and the base and the support seat are respectively located on both sides of the abnormal coordinate;

[0019] The base and the top of the support base are jointly installed with an extension frame, and the base, the support base and the extension frame form an emergency passage;

[0020] The base and the support seat are both provided with a mounting groove on one side away from each other, a lifting mechanism is installed in the mounting groove, and a lifting plate is installed on the lifting mechanism.

[0021] Preferably, the emergency handling device further comprises a self-building component, and the self-building component is mounted on the base;

[0022] The self-building assembly includes a rotating motor, a rotating shaft and a driving mechanism;

[0023] A rotating motor is fixedly mounted on the base, a rotating shaft is rotatably mounted on the output end of the rotating motor, the extending frame is fixedly connected to the rotating shaft, and the extending frame is rotatably connected to the base via the rotating shaft;

[0024] A driving mechanism is installed inside the base, and the driving mechanism is used to control the movement of the walking wheels.

[0025] Preferably, the extension frame comprises a telescopic plate, a telescopic frame and a transmission rod;

[0026] The telescopic plate is formed by a plurality of C-shaped plates connected in a sliding manner and sleeved together. The innermost and outermost telescopic plates are fixedly mounted with connecting plates, and the connecting plates are connected by a telescopic frame.

[0027] The telescopic frame is a scissor-type telescopic structure, and a transmission rod is rotatably mounted on one end of the telescopic plate close to the base; two sets of spiral grooves are opened on the transmission rod, and the two sets of spiral grooves are symmetrically designed and rotated in opposite directions. The telescopic frame is hinged with a slider at one end facing the transmission rod, and the slider is connected to the transmission rod in a spiral transmission manner;

[0028] An arc-shaped rack is fixedly mounted on the base, a transmission wheel is fixedly mounted on the end of the transmission rod, and the transmission wheel is meshedly connected with the arc-shaped rack.

[0029] Preferably, the base is composed of a box body, a bottom plate and a telescopic cylinder;

[0030] The box body is a hollow structure with an opening at the bottom, the bottom plate is slidably mounted at the bottom opening of the box body, a telescopic cylinder is fixedly mounted on the bottom plate, the telescopic cylinder extends into the inside of the box body, and the telescopic cylinder is used to adjust the relative position of the bottom plate and the box body;

[0031] The driving mechanism is fixedly mounted on the bottom plate, and the walking wheel is rotatably mounted on the bottom plate;

[0032] An electromagnet is fixedly mounted on the box body, and after the emergency passage is built, the electromagnet is continuously energized.

[0033] Preferably, the lifting plate consists of a connecting end and a folding end, the connecting end is fixedly connected to the lifting mechanism, and the folding end is rotatably mounted on the connecting end;

[0034] A linkage rope is fixedly installed on the connection end corresponding to the base, the linkage rope extends into the interior of the box, and the linkage rope is fixedly connected to the bottom plate.

[0035] Preferably, a telescopic slot is provided on the box body, and a T-shaped limit rod is slidably installed in the telescopic slot. The limit rod is fixedly connected to the output end of the telescopic cylinder. When the telescopic cylinder is in an expanded state, the limit rod extends to the top of the box body through the telescopic slot and is located on the rotation path of the extension frame.

[0036] The beneficial effects of the present invention are as follows:

[0037] 1. The emergency handling method and device for a warehousing system described in the present invention are used in conjunction with an intelligent warehousing system by setting up an emergency handling method. When a loading and unloading vehicle encounters an unexpected situation during normal operation, resulting in a transportation channel being blocked, the blocked transportation channel can be unblocked, thereby minimizing the duration of the transportation channel being blocked due to the unexpected situation, maintaining the normal operation of the intelligent warehousing system, and providing maintenance personnel with sufficient maintenance time.

[0038] 2. The present invention describes a method and device for emergency handling of a storage system. By extending the extension frame, on the one hand, the extension frame is retracted during the movement of the emergency handling device, so that the overall volume of the device is smaller, which is convenient for the emergency handling device to maintain balance. On the other hand, the expansion and contraction of the extension frame is linked with the state of the emergency handling device, which can further enhance the degree of automation of emergency channel construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] Figure 1 It is a stereogram of the assembly of the emergency treatment device in the present invention in an automated stereoscopic warehouse;

[0041] Figure 2 It is a three-dimensional diagram of the emergency handling device building an emergency passage;

[0042] Figure 3 yes Figure 2 A partial enlarged view of the middle part;

[0043] Figure 4 It is a stereoscopic diagram of the emergency handling device building the emergency passage from another perspective;

[0044] Figure 5 yes Figure 4 A partial enlarged view of point B in the middle;

[0045] Figure 6 It is a structural stereogram of the extension frame;

[0046] Figure 7It is a disassembled stereogram of the lifting plate;

[0047] Figure 8 is a cross-sectional view of the emergency treatment device;

[0048] In the figure: 1. base; 11. box body; 12. bottom plate; 13. telescopic cylinder; 14. electromagnet; 2. support seat; 21. lifting plate; 22. walking wheel; 23. mounting slot; 24. lifting mechanism; 25. connecting end; 26. folding end; 27. linkage rope; 3. extension frame; 31. telescopic plate; 32. telescopic frame; 33. transmission rod; 34. connecting plate; 35. slider; 36. arc rack; 37. transmission wheel; 4. rotating motor; 41. rotating shaft; 42. driving mechanism; 5. telescopic slot; 51. limiting rod. DETAILED DESCRIPTION

[0049] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0050] like Figures 1 to 8 As shown, a storage system emergency handling method described in the present invention is applied to an intelligent storage system, and the emergency handling method realizes emergency handling of cargo loading and unloading by cooperating with a loading and unloading vehicle and an emergency handling device;

[0051] The storage system emergency treatment method comprises the following steps:

[0052] Confirm the abnormal coordinates. The loading and unloading vehicle is equipped with a GPS positioning module for confirming the abnormal coordinates;

[0053] Build an emergency channel. The loading and unloading vehicle is connected to the emergency processing device through its own signal sending module and a pre-set transfer program. When the emergency processing device receives the abnormal coordinates, it moves closer to the abnormal coordinates and builds an emergency channel near the abnormal coordinates. By changing the transportation path, the normal operation of the warehousing and transportation system is achieved.

[0054] It also includes the following steps: identifying abnormal states, the loading and unloading truck is equipped with a motion state detection module, the loading and unloading truck moves towards the target coordinates after receiving the transportation instruction, and the motion state detection module is started at the same time, the motion state detection module detects the motion state of the loading and unloading truck in real time, and can only send an abnormal signal when the loading and unloading truck is stagnant in a non-instruction control state. The motion state detection module described in the present invention can be a pre-set program, which is linked with the GPS positioning module. When the positioning of the GPS positioning module changes, it is determined that the loading and unloading truck is in a moving state, otherwise it is in a stagnant state. It can also be a camera and a picture recognition program set on the loading and unloading truck, which observes the environment around the loading and unloading truck and judges whether the loading and unloading truck is in a moving state according to whether the picture changes.

[0055] The motion state detection module also has a timing function. When the loading and unloading vehicle stops in a non-command state, the timing starts. When the timing exceeds a preset threshold, an abnormal signal is sent.

[0056] The information transmitted by the signal sending module carried by the loading and unloading vehicle at least includes the loading and unloading status of the cargo of the loading and unloading vehicle;

[0057] When the loading and unloading vehicle is in the cargo transportation state, the loading and unloading vehicle docks with the storage robot through its own onboard signal sending module and a pre-set transfer program to clean up the cargo with abnormal coordinates;

[0058] When the loading and unloading vehicle is in an empty transport state, the loading and unloading vehicle is connected to the emergency handling device through the signal sending module carried by the loading and unloading vehicle and a pre-set transfer program.

[0059] When the intelligent warehousing system is operating normally, the loading and unloading vehicles shuttle in the shelf tracks, and then transport and stack the goods in the corresponding shelves according to the pre-set procedures in the system, so as to realize the intelligent management of the goods. In order to save space and increase the utilization rate of space, the automated warehouse usually makes the channels in the shelves available for loading and unloading vehicles to operate relatively single. When the loading and unloading vehicles are stuck in the shelf channels due to their own failures, unexpected factors, etc., or the tracks that constitute the shelf channels are deformed, etc., resulting in the inability to pass the transportation channel normally, it will have a great impact on the automated loading and unloading of goods, and it is necessary to wait for maintenance personnel to eliminate and maintain the faults to ensure the normal operation of the automated warehouse. However, during the night shift or when the maintenance personnel are insufficient, when the transportation channel in the automated warehouse fails, emergency treatment is required for the corresponding position at this time, and the fault handling is delayed while ensuring the normal use of the transportation channel.

[0060] In order to improve this problem, the present invention provides an emergency treatment method to reduce the impact of channel failure on the automated warehouse. Specifically, when the loading and unloading truck is operating normally, the loading and unloading truck is bound to the corresponding shelf path. When goods need to be transported in this transportation route, the goods are transported to the designated location via the front-end transportation equipment. Then the corresponding loading and unloading truck receives the instruction sent by the intelligent warehousing system. After the loading and unloading truck moves to the designated location, it consigns the goods. Then, according to the unloading location specified in the instruction, it moves along the established route to the unloading location on this route, thereby realizing the transportation or storage of goods in the area. When the loading and unloading truck fails or the transportation channel is abnormal during the movement after receiving the instruction, the loading and unloading truck will stagnate in a non-instruction control state. When it is unable to move, the motion status detection module installed in the loading and unloading vehicle can detect that the loading and unloading vehicle is in a stagnant state, and synchronously start the timing program to count the duration of the stagnant state. When the stagnation duration reaches a preset threshold, the signal sending module on the loading and unloading vehicle will send the pre-edited and saved abnormal signal and the current GPS positioning module positioning coordinates to the transfer program. At the same time, based on the instructions sent by the intelligent warehousing system received by the loading and unloading vehicle and the current completion status of the instructions, it is judged in real time whether there are goods on the loading and unloading vehicle. For example, the instruction sent by the intelligent warehousing system received by the current loading and unloading vehicle is: first arrive at the first designated position to load the goods, and then move to the second designated position to unload the goods, and the loading and unloading vehicle is still approaching the first designated position, then it is judged that the loading and unloading vehicle is not carrying goods at this time.

[0061] The transfer program is a pre-set program, which is mainly used to connect with loading and unloading vehicles, storage robots and emergency processing devices. When the abnormal signal, GPS positioning coordinates and the status of the cargo are sent to the transfer program, the transfer program sends instructions to the storage robot or emergency processing device according to the pre-settings. The storage robot or emergency processing device moves closer to the abnormal position according to the instructions, recovers the cargo at the abnormal position, or builds an emergency channel in the abnormal area, and uses the emergency channel to replace the abnormal transportation channel. The subsequent loading and unloading vehicles will be connected with the normal transportation channel through the emergency channel when moving in this area, thereby delaying the maintenance of the abnormal fault without delaying the storage operation status.

[0062] The present invention sets up an emergency handling method and is used in conjunction with an intelligent warehousing system. When a loading and unloading vehicle encounters an unexpected situation during normal operation, which causes a transportation channel to be blocked, the blocked transportation channel can be unblocked, thereby reducing the duration of the transportation channel being blocked due to the unexpected situation as much as possible, maintaining the normal operation of the intelligent warehousing system, and providing maintenance personnel with sufficient maintenance time.

[0063] An emergency processing device for a storage system, the emergency processing device comprising a base 1, a support base 2, an extension frame 3 and a lifting plate 21;

[0064] The base 1 is a box-type structure with running wheels 22 rotatably mounted at the bottom, and the base 1 and the support seat 2 are located on both sides of the abnormal coordinates respectively;

[0065] The base 1 and the top of the support base 2 are jointly installed with an extension frame 3, and the base 1, the support base 2 and the extension frame 3 constitute an emergency passage;

[0066] The base 1 and the support base 2 are both provided with a mounting groove 23 at one side away from each other. A lifting mechanism 24 is installed in the mounting groove 23 . The lifting mechanism 24 is provided with a lifting plate 21 .

[0067] During emergency handling, an emergency passage is built above the loading and unloading vehicle in an abnormal state, which can provide a smooth transportation passage for the movement of the subsequent supplementary and dispatched loading and unloading vehicles. Specifically, when building the emergency passage, the base 1 and the support seat 2 are placed on both sides of the loading and unloading machine in a stagnant state, and then the extension frame 3 is mounted on the base 1 and the support seat 2. When the loading and unloading machine is re-dispatched to transport the goods, the loading and unloading machine carries the goods along the transportation passage on the shelf. As the loading and unloading machine gradually approaches and moves to the lifting plate 21 on the side wall of the base 1 or the support seat 2, the existence of the base 1 or the support seat 2 at this time makes the loading and unloading machine unable to move forward. After the sensor installed on the lifting plate 21 senses the existence of the loading and unloading machine, it controls the lifting mechanism 24 on the base 1 and the support seat 2 to start synchronously through a pre-set program. It should be noted that in the present invention, sensors and control programs are installed on the loading and unloading vehicle and the lifting plate 21. When the loading and unloading vehicle moves After reaching the specified position of the lifting plate 21, the sensor on the lifting plate 21 controls the movement of the loading and unloading vehicle to pause, and then after a preset period of time, the movement of the loading and unloading vehicle restarts automatically. The lifting mechanism 24 used in the present invention can be either a hydraulic lift or an electric lift. After starting, the lifting mechanism 24 pushes the lifting plate 21 to rise until the upper surface of the lifting plate 21 is flush with the upper surface of the extension frame 3. At this time, the loader loses the obstruction of the base 1 or the support seat 2 and continues to move forward according to the received instructions. Then, when the loader moves to the lifting plate 21 on the other side, under the linkage action of the sensor on the lifting plate 21 and the loading and unloading vehicle, the loader is controlled to stop moving again until the lifting plate 21 is completely lowered. At this time, the loader continues to move along the specified path, so that the loading and unloading vehicle can avoid abnormal areas when moving. If the fault in the abnormal area is not resolved in time, the transportation operation can proceed normally.

[0068] As a preferred embodiment of the present invention, the emergency handling device further comprises a self-building component, and the self-building component is installed on the base 1;

[0069] The self-building assembly includes a rotating motor 4, a rotating shaft 41 and a driving mechanism 42;

[0070] A rotating motor 4 is fixedly mounted on the base 1, a rotating shaft 41 is rotatably mounted on the output end of the rotating motor 4, the extending frame 3 is fixedly connected to the rotating shaft 41, and the extending frame 3 is rotatably connected to the base 1 via the rotating shaft 41;

[0071] A driving mechanism 42 is installed inside the base 1 , and the driving mechanism 42 is used to control the movement of the walking wheel 22 .

[0072] In order to enhance the automation of emergency handling, a self-building component is provided in the present invention. Through the cooperation of the self-building component and the preset control program, the emergency handling device can build an emergency channel by itself. Specifically, after the transit program receives the abnormal signal, it sends an instruction to the emergency handling device according to the preset program. At this time, the driving mechanism 42 inside the base 1 operates to control the movement of the walking wheel 22, so that the emergency handling device moves closer to the target coordinate according to the instruction. When the emergency handling device moves to the specified coordinate, the rotating motor 4 is started, and the output end of the rotating motor 4 drives the rotating shaft 41 to rotate. Since the extension frame 3 is fixedly mounted on the rotating shaft 41, when the rotating motor 4 is started, the extension frame 3 and the base 1 rotate relative to each other, and the extension frame 3 gradually rotates from a vertical state to a horizontal state, and the support seat 2 fixedly mounted at the other end of the extension frame 3 moves synchronously. When the extension frame 3 is completely horizontal, the base 1 and the support seat 2 are respectively located on both sides of the abnormal coordinate, and the extension frame 3 is located above the loading and unloading vehicle in the abnormal state, forming an emergency channel, providing an emergency channel for the loading and unloading vehicle dispatched subsequently.

[0073] It should be noted that in the present invention, a remote control component and a camera are also installed on the emergency treatment equipment. After the emergency treatment equipment receives the command, the on-duty personnel monitor the emergency treatment equipment throughout the process, and the self-built component can be operated automatically or under the remote control of the on-duty personnel, which is convenient for the staff to adjust the position of the emergency channel built by the emergency treatment device according to the status of the abnormal area.

[0074] As a preferred embodiment of the present invention, the extension frame 3 includes a telescopic plate 31, a telescopic frame 32 and a transmission rod 33;

[0075] The telescopic plate 31 is formed by a plurality of C-shaped plates connected in a sliding manner and sleeved together. The innermost and outermost telescopic plates 31 are both fixedly mounted with connecting plates 34, and the connecting plates 34 are connected via a telescopic frame 32;

[0076] The telescopic frame 32 is a scissor-type telescopic structure, and a transmission rod 33 is rotatably mounted on one end of the telescopic plate 31 close to the base 1; two sets of spiral grooves are opened on the transmission rod 33, and the two sets of spiral grooves are symmetrically designed and rotated in opposite directions. The telescopic frame 32 is hinged with a slider 35 at one end facing the transmission rod 33, and the slider 35 is connected to the transmission rod 33 in a spiral transmission manner;

[0077] An arc-shaped rack 36 is fixedly mounted on the base 1 , and a transmission wheel 37 is fixedly mounted on the end of the transmission rod 33 . The transmission wheel 37 is meshedly connected with the arc-shaped rack 36 .

[0078] In order to reduce the floor space occupied by the emergency handling device during its movement, the telescopic frame 32 is in a retracted state. Then, when the emergency passage is being built, when the rotating motor 4 is started and the rotating shaft 41 is controlled to rotate, the telescopic frame 32 fixedly mounted with the rotating shaft 41 rotates synchronously. At the same time, since the transmission wheel 37 is meshed and connected with the arc-shaped rack 36, and the arc-shaped rack 36 is fixedly mounted on the base 1, the rotation of the telescopic frame 32 prompts the transmission wheel 37 to drive the transmission rod 33 to rotate, and the two groups of sliders 35 spirally mounted on the transmission rod 33 gradually approach each other. Since the two groups of sliders 35 are respectively mounted at the ends of the telescopic frame 32, as the sliders 35 approach each other, the telescopic frame 32 composed of a scissor-type telescopic structure gradually changes from a retracted state to an expanded state, and the two ends of the telescopic frame 32 are respectively connected to two connecting plates 34. Therefore, when the telescopic frame 32 is expanded, the telescopic plates 31 that are mutually sleeved are pulled to gradually expand, thereby gradually increasing the length of the extension frame 3, thereby completing the construction of the emergency passage.

[0079] The present invention extends the extension frame 3. On the one hand, during the movement of the emergency handling device, the extension frame 3 is retracted, so that the overall volume of the device is smaller, which is convenient for the emergency handling device to maintain balance. On the other hand, the expansion and contraction of the extension frame 3 is linked with the state of the emergency handling device, which can further enhance the degree of automation of emergency channel construction.

[0080] As a preferred embodiment of the present invention, the base 1 is composed of a box body 11, a bottom plate 12 and a telescopic cylinder 13;

[0081] The box body 11 is a hollow structure with an opening at the bottom. The bottom plate 12 is slidably mounted at the bottom opening of the box body 11. A telescopic cylinder 13 is fixedly mounted on the bottom plate 12. The telescopic cylinder 13 extends into the inside of the box body 11. The telescopic cylinder 13 is used to adjust the relative position of the bottom plate 12 and the box body 11.

[0082] The driving mechanism 42 is fixedly mounted on the bottom plate 12, and the walking wheel 22 is rotatably mounted on the bottom plate 12;

[0083] An electromagnet 14 is fixedly mounted on the box body 11 , and after the emergency passage is built, the electromagnet 14 is continuously energized.

[0084] When the emergency handling device moves, the telescopic cylinder 13 is in an extended state. At this time, under the support and limiting action of the telescopic cylinder 13, the box body 11 is separated from the ground, and the walking wheels 22 installed on the bottom plate 12 are in contact with the ground. Therefore, under the control of the driving mechanism 42, the emergency handling device is easy to move. Then, when the emergency handling device moves to the specified coordinates and is ready to build an emergency passage, the telescopic cylinder 13 gradually contracts and the electromagnet 14 is energized under the control of the program. Under the action of the gravity of the box body 11, the box body 11 gradually moves downward, and the electromagnet 14 on the box body 11 is close to the bottom surface of the transport passage composed of the shelf rails, so that the base 1 is stably fixed on the transport passage, providing stable support for the subsequent deflection of the extension frame 3 and the support seat 2, and also providing support for the stability of the constructed emergency passage.

[0085] As a preferred embodiment of the present invention, the lifting plate 21 is composed of a connecting end 25 and a folding end 26, the connecting end 25 is fixedly connected to the lifting mechanism 24, and the folding end 26 is rotatably mounted on the connecting end 25;

[0086] A linkage rope 27 is fixedly mounted on the connection end 25 of the corresponding base 1 . The linkage rope 27 extends into the interior of the box body 11 , and the linkage rope 27 is fixedly connected to the bottom plate 12 .

[0087] When the base 1 is transformed from a moving state to a stable supporting state, that is, when the telescopic cylinder 13 gradually contracts, the box body 11 loses support and gradually moves downward, thereby storing the bottom plate 12 in the inner cavity of the box body 11. At this time, the linkage rope 27 loses its restriction, and under the gravity pull of the folding end 26, the folding end 26 that is initially attached to the side wall of the base 1 gradually turns into a horizontal state, and the lifting plate 21 located on the side wall of the support seat 2 folds and unfolds itself under the action of gravity when the support seat 2 rotates with the extension frame 3.

[0088] As a preferred embodiment of the present invention, a telescopic slot 5 is provided on the box body 11, and a T-shaped limit rod 51 is slidably installed in the telescopic slot 5. The limit rod 51 is fixedly connected to the output end of the telescopic cylinder 13. When the telescopic cylinder 13 is in the expanded state, the limit rod 51 extends to the top of the box body 11 through the telescopic slot 5 and is located on the rotation path of the extension frame 3.

[0089] The telescopic slot 5 and the limit rod 51 are arranged so that, when the telescopic cylinder 13 is not retracted, the limit rod 51 extends through the telescopic slot 5 to the top of the box body 11, thereby limiting the deflection of the extension frame 3 until the extension frame 3 cannot be deflected. Therefore, in actual application, after the telescopic cylinder 13 in the base 1 is retracted and the base 1 is transformed from a moving state to a stable supporting state, the limit rod 51 descends and the extension frame 3 can be deflected, thereby reducing the probability of imbalance caused by the instability of the overall center of gravity of the device when the extension frame 3 is deflected.

[0090] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A storage system emergency handling method, applied to an intelligent storage system, the emergency handling method realizes emergency handling of cargo loading and unloading through the coordinated operation of a loading and unloading vehicle and an emergency handling device; Features: The storage system emergency treatment method comprises the following steps: Confirm the abnormal coordinates. The loading and unloading vehicle is equipped with a GPS positioning module for confirming the abnormal coordinates; Building an emergency channel. The loading and unloading vehicle is connected to the emergency processing device through its own signal sending module and the pre-set transfer program. When the emergency processing device receives the abnormal coordinates, it moves closer to the abnormal coordinates and builds an emergency channel near the abnormal coordinates. By changing the transportation path, the normal operation of the storage and transportation system is realized; The base (1) and the support base (2) are placed on both sides of the loader in a stagnant state, and then the extension frame (3) is mounted on the base (1) and the support base (2). As the loader gradually approaches and moves to the lifting plate (21) on the side wall of the base (1) or the support base (2), the lifting mechanism (24) on the base (1) and the support base (2) is controlled to start synchronously through a pre-set program. After starting, the lifting mechanism (24) pushes the lifting plate (21) to rise until the upper surface of the lifting plate (21) is flush with the upper surface of the extension frame (3). The loader continues to move forward according to the received instructions. Then, when the loader moves to the lifting plate (21) on the other side, the sensor on the lifting plate (21) and the loader are linked to each other to control the loader to stop moving again until the lifting plate (21) is completely lowered. At this time, the loader continues to move along the specified path. The emergency treatment device comprises a base (1), a support base (2), an extension frame (3) and a lifting plate (21); The base (1) is a box-type structure with running wheels (22) rotatably mounted on the bottom, and the base (1) and the support seat (2) are respectively located on both sides of the abnormal coordinate; An extension frame (3) is installed on the top of the base (1) and the support base (2), and the base (1), the support base (2) and the extension frame (3) constitute an emergency passage; The base (1) and the support seat (2) are both provided with a mounting groove (23) on the side away from each other, a lifting mechanism (24) is installed in the mounting groove (23), and a lifting plate (21) is installed on the lifting mechanism (24).

2. The storage system emergency handling method according to claim 1, characterized in that: The following steps are also included: To identify abnormal conditions, the loading and unloading vehicle is equipped with a motion state detection module. After receiving the transportation instruction, the loading and unloading vehicle moves toward the target coordinates, and the motion state detection module is started at the same time. The motion state detection module performs real-time detection of the motion state of the loading and unloading vehicle. Only when the loading and unloading vehicle is stagnant in a non-command control state can an abnormal signal be sent.

3. A storage system emergency handling method according to claim 2, characterized in that: The motion state detection module also has a timing function. When the loading and unloading vehicle stops in a non-command state, the timing starts. When the timing exceeds a preset threshold, an abnormal signal is sent.

4. The storage system emergency handling method according to claim 3, characterized in that: The information transmitted by the signal sending module carried by the loading and unloading vehicle at least includes the loading and unloading status of the cargo of the loading and unloading vehicle; When the loading and unloading vehicle is in the cargo transportation state, the loading and unloading vehicle docks with the storage robot through its own onboard signal sending module and a pre-set transfer program to clean up the cargo with abnormal coordinates; When the loading and unloading vehicle is in an empty transport state, the loading and unloading vehicle is connected to the emergency handling device through the signal sending module carried by the loading and unloading vehicle and a pre-set transfer program.

5. An emergency handling device for a storage system, characterized in that: The emergency handling device is applicable to the storage system emergency handling method described in claim 4 above.

6. The storage system emergency handling device according to claim 5, characterized in that: The emergency handling device further comprises a self-building component, wherein the self-building component is mounted on a base (1); The self-building assembly comprises a rotating motor (4), a rotating shaft (41) and a driving mechanism (42); A rotating motor (4) is fixedly mounted on the base (1); a rotating shaft (41) is rotatably mounted on the output end of the rotating motor (4); the extension frame (3) is fixedly connected to the rotating shaft (41); and the extension frame (3) is rotatably connected to the base (1) via the rotating shaft (41); A driving mechanism (42) is installed inside the base (1), and the driving mechanism (42) is used to control the movement of the walking wheel (22).

7. The storage system emergency handling device according to claim 6, characterized in that: The extension frame (3) comprises a telescopic plate (31), a telescopic frame (32) and a transmission rod (33); The telescopic plates (31) are formed by a plurality of C-shaped plates that are slidably connected and sleeved together, and connecting plates (34) are fixedly mounted on the innermost and outermost telescopic plates (31), and the connecting plates (34) are connected via telescopic frames (32); The telescopic frame (32) is a scissor-type telescopic structure, and a transmission rod (33) is rotatably mounted on one end of the telescopic plate (31) close to the base (1); two groups of spiral grooves are provided on the transmission rod (33), and the two groups of spiral grooves are symmetrically designed and rotate in opposite directions; a slider (35) is hingedly connected to one end of the telescopic frame (32) facing the transmission rod (33), and the slider (35) is connected to the transmission rod (33) by spiral transmission; An arc-shaped rack (36) is fixedly mounted on the base (1), a transmission wheel (37) is fixedly mounted on the end of the transmission rod (33), and the transmission wheel (37) is meshingly connected with the arc-shaped rack (36).

8. The storage system emergency handling device according to claim 6, characterized in that: The base (1) is composed of a box body (11), a bottom plate (12) and a telescopic cylinder (13); The box body (11) is a hollow structure with an opening at the bottom, the bottom plate (12) is slidably mounted at the bottom opening of the box body (11), a telescopic cylinder (13) is fixedly mounted on the bottom plate (12), the telescopic cylinder (13) extends into the interior of the box body (11), and the telescopic cylinder (13) is used to adjust the relative position of the bottom plate (12) and the box body (11); The driving mechanism (42) is fixedly mounted on the base plate (12), and the running wheel (22) is rotatably mounted on the base plate (12); An electromagnet (14) is fixedly mounted on the box body (11), and after the emergency passage is built, the electromagnet (14) is continuously energized.

9. The storage system emergency handling device according to claim 7, characterized in that: The lifting plate (21) is composed of a connecting end (25) and a folding end (26), wherein the connecting end (25) is fixedly connected to the lifting mechanism (24), and the folding end (26) is rotatably mounted on the connecting end (25); A linkage rope (27) is fixedly installed on the connection end (25) corresponding to the base (1), the linkage rope (27) extends into the interior of the box body (11), and the linkage rope (27) is fixedly connected to the bottom plate (12).

10. The storage system emergency handling device according to claim 8, characterized in that: The box body (11) is provided with a telescopic slot (5), a T-shaped limiting rod (51) is slidably installed in the telescopic slot (5), and the limiting rod (51) is fixedly connected to the output end of the telescopic cylinder (13). When the telescopic cylinder (13) is in an expanded state, the limiting rod (51) extends to the top of the box body (11) through the telescopic slot (5) and is located on the rotation path of the extension frame (3).

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