Arrangement method and scheduling method for one-layer warehouse-in and warehouse-out side sky rail stacker of goods shelf

Abstract

The invention discloses a goods shelf one-layer in-out warehouse side sky rail stacking machine setting method and scheduling method, and the method comprises the following steps: setting a three-dimensional coordinate, and setting each operation direction of a stacking machine as an X direction, a Y direction and a Z direction; setting a system access unit; arranging layer numbers and goods location numbers of goods shelves in a roadway are set, and the overall structure and function of a stacking machine and the size of a pallet fork are set; setting structures and sizes of goods shelves and stacker roadway side rails; a stacking machine stand column structure is arranged. A side sky rail type stacking machine structure is arranged, bracket type cross beams and stacking machine side rails are additionally arranged on the two sides in a goods shelf roadway in the X direction, a double-side-rail guide type is arranged, and the problem that unloading cannot be conducted and blocking occurs when upstream equipment and downstream equipment do not have cache is thoroughly solved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment setting, and in particular to a setting method and a dispatching method of a overhead rail stacker on a shelf layer for inbound and outbound storage. Background Art

[0002] For the stacker crane system in the logistics field, where there is a large demand for inbound and outbound traffic, how to design the stacker crane structure directly affects the system's processing capacity.

[0003] The current mainstream structural design of stacker cranes in stereoscopic warehouses: most of them are floor-to-ceiling rail designs, and a small part are truss designs. For inbound goods, the conveyor system delivers the goods to one or both ends of a shelf layer → the stacker receives the goods for inbound goods; for outbound goods, the stacker delivers the goods to one or both ends of a shelf layer → the conveyor system delivers the goods. There is a situation where the stacker's inbound and outbound capacity is insufficient, and the system's processing capacity is low. Summary of the invention

[0004] The purpose of the present invention is to provide a method for setting up and dispatching a side rail stacker for entering and exiting the warehouse on the first floor of a shelf in response to the above-mentioned problems. By setting up a side rail stacker structure and setting up a bull leg type beam + stacker side rails in the X direction on both sides of the shelf aisle, a double side rail guiding type is formed, which completely solves the problem of unloading blockage when there is no buffering in the upstream and downstream equipment.

[0005] The technical solution of the present invention is as follows:

[0006] A method for setting up a side overhead rail stacker for loading and unloading a shelf layer, comprising the following steps:

[0007] Set the three-dimensional coordinates and set the running directions of the stacker to X, Y and Z respectively;

[0008] Set up system access units;

[0009] Set the shelf arrangement layer number and cargo position number in the aisle, and number the shelves in the aisle of the three-dimensional warehouse in sequence;

[0010] Set the stacker operation mode, with the 2# layer and above as storage layers, and the 1# layer as the entry and exit layer; leave space for the stacker on the 0# and 1# layers in the aisle for the operation of the supporting cargo AGV; when entering the warehouse, the stacker picks up the goods at the 1# layer and then moves to the 2# layer and above for storage; when leaving the warehouse, the stacker picks up the goods at the 2# layer and above and then moves down to the 1# layer to place the goods;

[0011] Set the overall structure, function and fork size of the stacker;

[0012] Set rack and stacker aisle side rail structure and dimensions;

[0013] Set up a stacker column structure, which adopts a two-level automatic telescopic structure. The first-level column is fixed from the top wheel position to the top of the 1# layer of storage materials. The second-level column is vertically lifted and lowered on the guide rail by means of guide wheels, embracing the first-level column; the cargo platform where the fork is located is also vertically lifted and lowered on the guide rail by means of guide wheels, embracing the second-level column;

[0014] When the fork is operating on the 2# layer and above, it is lifted and lowered to the designated layer through the linkage control of the secondary column and the fork. At this time, the secondary column will not leave the height range of the primary column in the Z direction, and will not affect the movement of the cargo-carrying AGV in the aisle; when the fork needs to access the 1# layer, it is controlled to descend through the linkage control of the secondary column and the fork. First, the fork descends to the bottom position of the secondary column, and then the secondary column descends until the bottom reaches the fork-taking height position on the 1# layer; after the fork is extended and the cargo is placed, it is retracted and lifted away from the 1# layer through the linkage control of the secondary column and the fork.

[0015] Furthermore, the setting of the overall structure, function and fork size of the stacker specifically includes the following steps:

[0016] The stacker track adopts a side rail fork structure and is installed above the 1# layer of the shelf as a whole;

[0017] The X-direction running track includes the ceiling track and the side track. The ceiling track is the auxiliary track, responsible for Y-direction correction; the side track is the main track, responsible for the load-bearing of the machine body and X-direction running, and is designed in the same way as the shelf.

[0018] The base adopts a hollow design so that the fork can pick up goods from the 2# layer and above, and can also go down to the 1# layer to pick up goods;

[0019] The fork is a two-way automatic telescopic fork, and the retracted fork length is Y F , the height of the cargo fork is Z F .

[0020] Furthermore, the setting of the shelf and stacker lane side rail structure and size specifically includes the following steps:

[0021] The Y direction of the shelf 1# layer cargo position adopts a bracket structure to carry materials. After the unloaded AGV picks up the goods, it leaves in the Y direction, or the loaded AGV enters and exits the empty cargo position on the 1# layer along the Y direction;

[0022] The 2# layer and above layers are normally forked by stackers, and the 2# layer and above layers adopt the bracket type or beam type structure;

[0023] The 1# layer of the shelf is elevated, and a bracket-type beam structure is added to the shelves on both sides of the aisle from above the 1# layer to the 2# layer in the X direction. The stacker side rails are then set up on the bracket-type beams, and a double side rail guide type is set up, with double rows and double columns of 4 wheels.

[0024] The Y width of the single-sided bracket beam + guide rail is YP , the height from the bottom surface in the Z direction to the bottom surface of the 2# layer is Z P , the lifting height of the relevant cargo AGV is Z VU ;

[0025] Shelf width is Y R , the lane width is Y L The layer height boundaries are the ground, the bottom surface of each layer of storage materials, and the top surface of the shelf, which are Z 0 , Z 1 …….

[0026] Furthermore, the setting of the rack and stacker lane side rail structure and size also includes the following steps:

[0027] The minimum device spacing in the Y and Z directions is Y S , Z S , the relationship between various dimensions in two directions is as follows:

[0028] Y R ≥Y M ; Y F ≤Y L -2(Y P +Y S );Y M ≤Y L -2(Y P +Y S );

[0029] Z 1 >Z 0 ; Z 0 +Z 1 -Z P ≥Z VU +Z M +Z S ,

[0030] Among them, the three-dimensional size of the material is X M , Y M , Z M .

[0031] Furthermore, the setting of the three-dimensional coordinates specifically includes the following steps:

[0032] The stacker travels in the X direction, from the origin to the anti-origin end is the positive X direction; the horizontal plane perpendicular to the X direction is the Y direction, and the positive X direction rotates 90 degrees counterclockwise to the positive Y direction; the vertical lifting direction is the Z direction, from bottom to top is the positive Z direction.

[0033] Furthermore, the setting of the system access unit specifically includes the following steps:

[0034] The storage and retrieval unit of the system is the material, which includes pallet-borne materials and box-packed materials. The three-dimensional dimensions of the material when stored are XM , Y M , Z M .

[0035] Furthermore, the step of setting the shelf arrangement layer number and the cargo location number in the lane specifically includes the following steps:

[0036] The rack rows in the three-dimensional warehouse aisle are numbered sequentially from 1# along the positive Y direction. If the aisle is single-extended, there are 2 rows of racks on each side, numbered from 1# to 2#.

[0037] If a single lane is double-extended, with 2 rows on each side, a total of 4 rows of shelves, they are numbered from row 1# to row 4#; the shelf numbers are numbered sequentially starting from 1# along the positive X direction;

[0038] The shelf layer numbers are numbered sequentially starting from 0# along the positive Z direction, where the 0# layer is designed as a supporting AGV walking layer and does not store or retrieve materials, while the 1# layer and above layers are used to store and retrieve materials.

[0039] The present application also includes a method for dispatching a rack-level overhead rail stacker for inbound and outbound storage, including a method for dispatching cargo in the same row and a method for dispatching operations of Z-downward through the 1# layer. The method for dispatching cargo in the same row includes:

[0040] When the stacker is loading, it only performs lifting and picking and placing operations in the same row, and can pick and place goods in both the left and right rows of cargo spaces in the aisle; when entering the warehouse, the stacker's empty fork passes under the 1# layer in the same row to pick up the goods, and then it rises vertically in the Z direction to the 2# layer or above to place the goods for storage; when leaving the warehouse, the stacker picks up the goods at the 2# layer or above, and then it descends vertically in the Z direction to the 1# layer to place the goods.

[0041] Furthermore, the Z downward through 1# layer operation scheduling method includes:

[0042] The unloaded stacker always stops at the 2# floor or above for rest;

[0043] After receiving the task of picking and placing goods, the stacker first moves in the X direction to the current column; if it is a storage task, the fork is lowered in the Z direction to the 2# layer; otherwise, it is an outbound task, the fork is raised in the Z direction to the outbound layer to pick up the goods; after picking up the goods, it is vertically lowered to the 2# layer; then the fork is lowered in the Z direction to the 1# layer to complete the picking and placing operation;

[0044] Then the cargo is lifted to the 2# layer in the Z direction. If the current task is an outbound task, the task will be completed and the cargo will be stopped for a rest. Otherwise, if it is an inbound task, the cargo will continue to be lifted vertically to the target layer or the cargo will be placed on the 2# layer to continue the subsequent operations of the task.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] A method for setting up and dispatching a stacker crane on the side of a shelf for inbound and outbound storage on the first floor, so as to achieve the effect of smooth collaborative operation between the stacker crane and AGV in different spaces of the three-dimensional warehouse area when the stacker crane is inbound and outbound on the 1# floor. Compared with the design and dispatching method for inbound and outbound storage solutions at one or both ends of the shelf area, the inbound and outbound storage capacity of the stacker crane is significantly improved. The fewer the storage layers, the greater the capacity improvement, achieving the goal of significantly improving the system processing capacity; the 1# floor is all inbound and outbound storage sites, and there are a large number of interface cache stations between the stacker crane and the AGV, which completely solves the problem of unloading blockage when there is no cache for upstream and downstream equipment, and a large amount of stock can be prepared before centralized outbound storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The present invention is a flow chart of a method for setting up a side overhead rail stacker for loading and unloading on the first floor of a shelf.

[0048] Figure 2 This is a top view schematic diagram of the first 20 columns of the three-dimensional warehouse area configuration method of this application.

[0049] Figure 3 This is a front view structural diagram of the three-dimensional warehouse area configuration method authorized by this license. DETAILED DESCRIPTION

[0050] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0051] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0052] See also Figure 1-3 , a method for setting up a side rail stacker for loading and unloading on a shelf, comprising the following steps:

[0053] Set the three-dimensional coordinates and set the running directions of the stacker to X, Y and Z respectively;

[0054] Set up system access units;

[0055] Set the shelf arrangement layer number and cargo position number in the aisle, and number the shelves in the aisle of the three-dimensional warehouse in sequence;

[0056] Set the stacker operation mode, with the 2# layer and above as storage layers, and the 1# layer as the entry and exit layer; leave space for the stacker on the 0# and 1# layers in the aisle for the operation of the supporting cargo AGV; when entering the warehouse, the stacker picks up the goods at the 1# layer and then moves to the 2# layer and above for storage; when leaving the warehouse, the stacker picks up the goods at the 2# layer and above and then moves down to the 1# layer to place the goods;

[0057] Set the overall structure, function and fork size of the stacker;

[0058] Set rack and stacker aisle side rail structure and dimensions;

[0059] Set up a stacker column structure, which adopts a two-level automatic telescopic structure. The first-level column is fixed from the top wheel position to the top of the 1# layer of storage materials. The second-level column is vertically lifted and lowered on the guide rail by means of guide wheels, embracing the first-level column; the cargo platform where the fork is located is also vertically lifted and lowered on the guide rail by means of guide wheels, embracing the second-level column;

[0060] When the fork is operating on the 2# layer and above, it is lifted and lowered to the designated layer through the linkage control of the secondary column and the fork. At this time, the secondary column will not leave the height range of the primary column in the Z direction, and will not affect the movement of the cargo-carrying AGV in the aisle; when the fork needs to access the 1# layer, it is controlled to descend through the linkage control of the secondary column and the fork. First, the fork descends to the bottom position of the secondary column, and then the secondary column descends until the bottom reaches the fork-taking height position on the 1# layer; after the fork is extended and the cargo is placed, it is retracted and lifted away from the 1# layer through the linkage control of the secondary column and the fork.

[0061] Setting the overall structure, function and fork size of the stacker includes the following steps:

[0062] The stacker track adopts a side rail fork structure and is installed above the 1# layer of the shelf as a whole;

[0063] The X-direction running track includes the ceiling track and the side track. The ceiling track is the auxiliary track, responsible for Y-direction correction; the side track is the main track, responsible for the load-bearing of the machine body and X-direction running, and is designed in the same way as the shelf.

[0064] The base adopts a hollow design so that the fork can pick up goods from the 2# layer and above, and can also go down to the 1# layer to pick up goods;

[0065] The fork is a two-way automatic telescopic fork, and the retracted fork length is Y F , the height of the cargo fork is Z F .

[0066] Setting the rack and stacker aisle side rail structure and dimensions specifically includes the following steps:

[0067] The Y direction of the shelf 1# layer cargo position adopts a bracket structure to carry materials. After the unloaded AGV picks up the goods, it leaves in the Y direction, or the loaded AGV enters and exits the empty cargo position on the 1# layer along the Y direction;

[0068] The 2# layer and above layers are normally forked by stackers, and the 2# layer and above layers adopt the bracket type or beam type structure;

[0069] The 1# layer of the shelf is elevated, and a bracket-type beam structure is added to the shelves on both sides of the aisle from above the 1# layer to the 2# layer in the X direction. The stacker side rails are then set up on the bracket-type beams, and a double side rail guide type is set up, with double rows and double columns of 4 wheels.

[0070] The Y width of the single-sided bracket beam + guide rail is Y P , the height from the bottom surface in the Z direction to the bottom surface of the 2# layer is Z P , the lifting height of the relevant cargo AGV is Z VU ;

[0071] Shelf width is Y R , the lane width is Y L The layer height boundaries are the ground, the bottom surface of each layer of storage materials, and the top surface of the shelf, which are Z 0 , Z 1 …….

[0072] Setting the rack and stacker aisle side rail structure and dimensions also includes the following steps:

[0073] The minimum device spacing in the Y and Z directions is Y S , Z S , the relationship between various dimensions in two directions is as follows:

[0074] Y R ≥Y M ; Y F ≤Y L -2(Y P +Y S );Y M ≤Y L -2(Y P +Y S );

[0075] Z 1 >Z 0 ; Z 0 +Z 1 -Z P ≥Z VU +Z M +Z S ,

[0076] Among them, the three-dimensional size of the material is X M , Y M , Z M .

[0077] Setting the three-dimensional coordinates specifically includes the following steps:

[0078] The stacker travels in the X direction, from the origin to the anti-origin end is the positive X direction; the horizontal plane perpendicular to the X direction is the Y direction, and the positive X direction rotates 90 degrees counterclockwise to the positive Y direction; the vertical lifting direction is the Z direction, from bottom to top is the positive Z direction.

[0079] Setting up the system access unit specifically includes the following steps:

[0080] The storage and retrieval unit of the system is the material, which includes pallet-borne materials and box-packed materials. The three-dimensional dimensions of the material when stored are X M , Y M , Z M .

[0081] Setting the shelf arrangement layer number and shelf location number in the aisle includes the following steps:

[0082] The rack rows in the three-dimensional warehouse aisle are numbered sequentially from 1# along the positive Y direction. If the aisle is single-extended, there are 2 rows of racks on each side, numbered from 1# to 2#.

[0083] If a single lane is double-extended, with 2 rows on each side, a total of 4 rows of shelves, they are numbered from row 1# to row 4#; the shelf numbers are numbered sequentially starting from 1# along the positive X direction;

[0084] The shelf layer numbers are numbered sequentially starting from 0# along the positive Z direction, where the 0# layer is designed as a supporting AGV walking layer and does not store or retrieve materials, while the 1# layer and above layers are used to store and retrieve materials.

[0085] The present application also includes a method for dispatching a rack-level overhead rail stacker for inbound and outbound storage, including a method for dispatching cargo in the same row and a method for dispatching operations of Z-downward through the 1# layer. The method for dispatching cargo in the same row includes:

[0086] When the stacker is loading, it only performs lifting and picking operations in the same row, and can pick up and put goods in both rows of cargo positions on the left and right sides of the aisle; when entering the warehouse, the stacker's empty fork goes down to the 1# layer of the same row to pick up the goods, and then rises vertically in the Z direction to the 2# layer and above to store the goods; when leaving the warehouse, the stacker picks up the goods on the 2# layer and above, and then descends vertically in the Z direction to the 1# layer to put the goods. The advantage of this scheduling strategy is that it can not only eliminate the problem of material loosening caused by acceleration and deceleration in the X direction of the load, but also simplify the design difficulty and reduce the mass of the stacker.

[0087] The scheduling method of the operation of Z passing through the 1# layer downward includes:

[0088] The unloaded stacker always stops at the 2# floor or above for rest;

[0089] After receiving the task of picking and placing goods, the stacker first moves in the X direction to the current column; if it is a storage task, the fork is lowered in the Z direction to the 2# layer; otherwise, it is an outbound task, the fork is raised in the Z direction to the outbound layer to pick up the goods; after picking up the goods, it is vertically lowered to the 2# layer; then the fork is lowered in the Z direction to the 1# layer to complete the picking and placing operation;

[0090] Then the cargo is lifted to the 2# layer in the Z direction. If the current task is an outbound task, the task is completed and the vehicle stops to rest. Otherwise, if the task is an inbound task, the vehicle continues to lift the cargo vertically to the target layer or puts the cargo on the 2# layer to continue the subsequent tasks. The advantage of this scheduling strategy is that it can minimize the time of entering the interference zone and reduce the probability of interference with the cargo AGV.

[0091] In another specific embodiment, an embodiment of a shelf-layer access side overhead rail stacker and a shelf includes the following steps:

[0092] S1. Define a 3D coordinate system. Figure 2 , Figure 3 They are respectively the top view and front view schematic diagrams of the three-dimensional warehouse area configuration, defining a three-dimensional coordinate system: the west end of the three-dimensional warehouse area is defined as the origin end, and the east end is defined as the anti-origin end; thus, the positive direction from west to east is the X direction, the positive direction from south to north is the Y direction, and the positive direction from bottom to top is the Z direction.

[0093] S2. Define the system access unit. The system access unit is a plastic flat pallet carrying 2 rows and 2 columns of 3 layers of cartons. The 3D dimensions are X M =1m, Y M =1.2m, Z M =1.2m, weight <600kg.

[0094] S3, define the aisle number, stacker number, shelf arrangement layer number, cargo location number and size of the three-dimensional warehouse. The three-dimensional warehouse has two single-extended aisles in the Y direction, and only one stacker is configured in the same aisle. There are 4 rows of shelves in total, one row on each side; there are 100 rows in the X direction. Figure 2 Only the first 20 columns of the layout are shown; there are 5 layers in the Z direction.

[0095] The aisles and stackers are numbered sequentially from 1# to 2# aisles along the Y positive direction, and the stacker numbers are the same as the aisles; the shelf rows are numbered sequentially from 1# to 4# rows along the Y positive direction; the shelf columns are numbered sequentially from 1# to 100# columns along the X positive direction; and the shelf layers are numbered sequentially from 0# to 5# layers along the Z positive direction.

[0096] S4. Design the structure and dimensions of the stacker. The stacker adopts a side rail fork structure; the length of the fork retracted is Y F =1.2m, fork height Z F =0.15m.

[0097] S5. Design the shelf structure and dimensions. Single-sided bracket beam + guide rail Y P =0.15m, Z P =0.35m, related cargo AGV lifting height Z VU =0.55m; shelf width Y R =1.2m, tunnel width Y L =1.6m; the 5-layer shelf adopts the bracket structure, and the layer height is Z 0 =0.5m, Z 1 =2m, Z 2 ~Z 4 =1.5m, Z 5 =2m, total height is 9m.

[0098] S6. Set the stacker operating parameters, see Table 1 for details.

[0099] Table 1 Equipment operating parameters

[0100]

[0101]

[0102] S7. Process flow requirements.

[0103] The embodiment is a two-end inbound and outbound warehouse layout, and the process flow requirements are shown in Table 2.

[0104] Table 2 Process flow table

[0105]

[0106] S17, 3D simulation modeling verifies system processing capabilities.

[0107] Using 3D simulation software, simulation modeling was performed on three possible solutions of one-end warehousing and unloading, two-end warehousing and unloading, and one shelf layer warehousing and unloading, and the simulation conclusions are shown in Table 3.

[0108] Table 3 Simulation conclusions

[0109] plan Number of configured units Single unit capacity Capacity requirements Utilization rate One-end storage 2 64.3 128 99.5％ In and out of storage at both ends 2 45.5 128 140.5％ Shelf level 1 in and out 2 73.1 128 87.6％

[0110] 7. Scheme design and scheduling optimization effect

[0111] The utilization rate of the logistics system subsystem should be controlled within the range of 80% to 90%. As can be seen from Table 3: the utilization rate of the stacker in the one-end storage and warehousing solution is close to 100%; the utilization rate of the stacker in the two-end storage and warehousing solution is far more than 100%. Both solutions do not meet the system processing capacity requirements.

[0112] The optimal utilization rate of the stacker crane in and out of the warehouse on the first shelf is controlled within the range of 80% to 90%. Compared with the previous two solutions, the stacker crane capacity increased by 13.6% and 60.5% respectively.

[0113] The 2# layer and above of the shelf are storage layers, and the 1# layer is the entry and exit layer; the stacker in the aisle leaves space for the 0# and 1# layers to operate, which can be used for the supporting cargo AGV to travel; when entering the warehouse, the stacker picks up the goods at the 1# layer and then lifts them to the 2# layer and above for storage; when leaving the warehouse, the stacker picks up the goods at the 2# layer and above and then descends to the 1# layer to place the goods; the stacker track adopts a side rail fork structure, which is erected above the 1# layer of the shelf as a whole; the 1# layer of the shelf is designed to be elevated, and the shelves on both sides of the aisle are equipped with a bracket-type crossbeam structure from above the 1# layer to the 2# layer in the X direction. The stacker side rails are designed as a double-side rail guide type with double-row and double-column 4 wheels. The stacker column structure adopts a two-stage automatic telescopic design. The first-stage column is fixed above the 1# layer of stored materials to the top wheel position. The second-stage column is lifted and lowered vertically on the guide rails through the guide wheels, embracing the first-stage column. The cargo platform where the fork is located (hereinafter referred to as the cargo fork) is also lifted and lowered vertically on the guide rails through the guide wheels, embracing the second-stage column. The same-row loading and Z-down 1# layer operation scheduling method is adopted to achieve the goal of significantly improving the stacker's warehousing and outbound capabilities.

[0114] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A method for setting up a shelf-level access side overhead rail stacker, characterized in that: The following steps are involved: Set the three-dimensional coordinates and set the running directions of the stacker to X, Y and Z respectively; Set up system access units; Set the shelf arrangement layer number and cargo position number in the aisle, and number the shelves in the aisle of the three-dimensional warehouse in sequence; Set the stacker operation mode, with the 2# layer and above as storage layers, and the 1# layer as the entry and exit layer; leave space for the stacker on the 0# and 1# layers in the aisle for the operation of the supporting cargo AGV; when entering the warehouse, the stacker picks up the goods at the 1# layer and then moves to the 2# layer and above for storage; when leaving the warehouse, the stacker picks up the goods at the 2# layer and above and then moves down to the 1# layer to place the goods; Set the overall structure, function and fork size of the stacker; Set rack and stacker aisle side rail structure and dimensions; Set up a stacker column structure, which adopts a two-level automatic telescopic structure. The first-level column is fixed from the top wheel position to the top of the 1# layer of storage materials. The second-level column is vertically lifted and lowered on the guide rail by means of guide wheels, embracing the first-level column; the cargo platform where the fork is located is also vertically lifted and lowered on the guide rail by means of guide wheels, embracing the second-level column; When the fork is operating on the 2# layer and above, it is lifted and lowered to the designated layer through the linkage control of the secondary column and the fork. At this time, the secondary column will not leave the height range of the primary column in the Z direction, and will not affect the movement of the cargo-carrying AGV in the aisle; when the fork needs to access the 1# layer, it is controlled to descend through the linkage control of the secondary column and the fork. First, the fork descends to the bottom position of the secondary column, and then the secondary column descends until the bottom reaches the fork-taking height position on the 1# layer; after the fork is extended and the cargo is placed, it is retracted and lifted away from the 1# layer through the linkage control of the secondary column and the fork.

2. A method for setting up a shelf first-layer access side overhead rail stacker according to claim 1, characterized in that: The setting of the overall structure, function and fork size of the stacker specifically includes the following steps: The stacker track adopts a side rail fork structure and is installed above the 1# layer of the shelf as a whole; The X-direction running track includes the ceiling track and the side track. The ceiling track is the auxiliary track, responsible for Y-direction correction; the side track is the main track, responsible for the load-bearing of the machine body and X-direction running, and is designed in the same way as the shelf. The base adopts a hollow design so that the fork can pick up goods from the 2# layer and above, and can also go down to the 1# layer to pick up goods; The fork is a two-way automatic telescopic fork, and the retracted fork length is Y F , the height of the cargo fork is Z F .

3. A method for setting up a shelf first-layer access side overhead rail stacker according to claim 2, characterized in that: The steps of setting the rack and stacker lane side rail structure and size specifically include the following steps: The Y direction of the shelf 1# layer cargo position adopts a bracket structure to carry materials. After the unloaded AGV picks up the goods, it leaves in the Y direction, or the loaded AGV enters and exits the empty cargo position on the 1# layer along the Y direction; The 2# layer and above layers are normally forked by stackers, and the 2# layer and above layers adopt the bracket type or beam type structure; The 1# layer of the rack is elevated, and a bracket-type beam structure is set up on the shelves on both sides of the aisle from above the 1# layer to the 2# layer in the X direction. The stacker side rails are set up on the bracket-type beams, and set up in a double-side rail guide type, with double-row and double-column 4-wheel running; The Y width of the single-sided bracket beam + guide rail is Y P , the height from the bottom surface in the Z direction to the bottom surface of the 2# layer is Z P , the lifting height of the relevant cargo AGV is Z VU ; Shelf width is Y R , the lane width is Y L The layer height boundaries are the ground, the bottom surface of each layer of storage materials and the top surface of the shelf, which are Z0, Z1, etc.

4. A method for setting up a shelf first-layer access side overhead rail stacker according to claim 3, characterized in that: The method of setting the rack and stacker lane side rail structure and size also includes the following steps: The minimum device spacing in the Y and Z directions is Y S , Z S , the relationship between various dimensions in two directions is as follows: AND R ≥And M ;AND F ≤And L -2(And P +Y S );AND M ≤And L -2(And P +Y S ); Z1>Z0;Z0+Z1-Z P ≥Z VU +Z M +Z S , Among them, the three-dimensional size of the material is X M , Y M , Z M .

5. The method for setting up a shelf first-layer access side overhead rail stacker according to claim 1, characterized in that: The three-dimensional coordinate setting specifically comprises the following steps: The stacker travels in the X direction, from the origin to the anti-origin end is the positive X direction; the horizontal plane perpendicular to the X direction is the Y direction, and the positive X direction rotates 90 degrees counterclockwise to the positive Y direction; the vertical lifting direction is the Z direction, from bottom to top is the positive Z direction.

6. The method for setting up a shelf first-layer access side overhead rail stacker according to claim 1, characterized in that: The setting of the system access unit specifically comprises the following steps: The storage and retrieval unit of the system is the material, which includes pallet-borne materials and box-packed materials. The three-dimensional dimensions of the material when stored are X M , Y M , Z M .

7. The method for setting up a shelf first-layer access side overhead rail stacker according to claim 1, characterized in that: The step of setting the shelf arrangement layer number and the cargo location number in the lane specifically comprises the following steps: The rack rows in the three-dimensional warehouse aisle are numbered sequentially from 1# along the positive Y direction. If the aisle is single-extended, there are 2 rows of racks on each side, numbered from 1# to 2#. If a single lane is double-extended, with 2 rows on each side, a total of 4 rows of shelves, they are numbered from row 1# to row 4#; the shelf numbers are numbered sequentially starting from 1# along the positive X direction; The shelf layer numbers are numbered sequentially starting from 0# along the positive Z direction, where the 0# layer is designed as a supporting AGV walking layer and does not store or retrieve materials, while the 1# layer and above layers are used to store and retrieve materials.

8. A method for dispatching a stacker crane on the side of a shelf for inbound and outbound storage, characterized in that: It includes the same-train cargo dispatching method and the Z downward through 1# layer operation dispatching method. The same-train cargo dispatching method includes: When the stacker is loading, it only performs lifting and picking and placing operations in the same row, and can pick and place goods in both the left and right rows of cargo spaces in the aisle; when entering the warehouse, the stacker's empty fork passes under the 1# layer in the same row to pick up the goods, and then it rises vertically in the Z direction to the 2# layer or above to place the goods for storage; when leaving the warehouse, the stacker picks up the goods at the 2# layer or above, and then it descends vertically in the Z direction to the 1# layer to place the goods.

9. A method for dispatching a stacker crane on the side of a shelf for loading and unloading as claimed in claim 8, characterized in that: The method for scheduling the operation of Z passing downward through the 1# layer includes: The unloaded stacker always stops at the 2# floor or above for rest; After receiving the task of picking and placing goods, the stacker first moves in the X direction to the current column; if it is a storage task, the fork is lowered in the Z direction to the 2# layer; otherwise, it is an outbound task, the fork is raised in the Z direction to the outbound layer to pick up the goods; after picking up the goods, it is vertically lowered to the 2# layer; then the fork is lowered in the Z direction to the 1# layer to complete the picking and placing operation; Then it is lifted to the 2# layer in the Z direction. If the current task is to ship out of the warehouse, it will be unloaded and stop for rest after the task is completed. Otherwise, if it is a warehousing task, the cargo will be loaded and then vertically lifted to the target layer or the cargo will be placed on the 2# layer, and the subsequent operations of the task will be continued.

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