Three-dimensional warehousing system capable of automatically loading and unloading goods and working method of three-dimensional warehousing system

Abstract

The invention discloses a three-dimensional warehousing system capable of automatically loading and unloading goods and a control method thereof, and relates to the technical field of logistics warehousing, the three-dimensional warehousing system comprises a movable loading and unloading intelligent vehicle and a goods shelf storage platform, and the movable loading and unloading intelligent vehicle comprises a movable ground rail and a movable loading and unloading platform capable of moving along the movable ground rail; the movable loading and unloading platform comprises a movable platform and a material flat car used for bearing materials, a sliding way is formed in the movable platform, and material pulleys are arranged at the bottom of the material flat car and connected with the sliding way. An air cylinder locking mechanism is arranged on the movable platform and comprises an air cylinder and an air cylinder locking pin, and the air cylinder locking pin is fixed to the tail end of a telescopic rod of the air cylinder and can be pushed into a sliding way of the movable platform to be locked; a sliding block locking mechanism is arranged on the material flat car, and the sliding block locking mechanism is matched with the goods shelf storage platform for locking. By means of the double-locking structure, in the storing and taking process of materials in the three-dimensional warehousing system, the butt joint accuracy is improved, and then the storage efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics warehousing, and in particular to a three-dimensional warehousing system for automatic loading and unloading of goods and a working method thereof. Background Art

[0002] With the development of economy and production and life, three-dimensional warehouses capable of automatic loading and unloading of goods have emerged to meet the storage needs of heavy mechanical parts. Traditional three-dimensional warehouses cannot achieve the integration of loading and unloading, and the degree of intelligence is low. Manual assistance is usually required. For heavy mechanical parts, there are many safety risks in manual loading and unloading. In addition, heavy items usually take up a large space, and there is a large room for optimization of the overall warehouse layout. The existing three-dimensional storage system cannot maximize the use of vertical space, resulting in low space utilization, which indirectly increases storage costs. In addition, with the rise in labor costs, traditional three-dimensional warehouses cannot effectively control labor costs due to their low degree of automation and intelligence, making it difficult to enhance the core competitiveness of enterprises.

[0003] Therefore, faced with the growing demand of the heavy machinery parts market and the complex logistics environment, traditional three-dimensional warehousing technology is inefficient, has high operational risks, wastes space, and has high labor costs, making it difficult to efficiently respond to modern logistics needs. Summary of the invention

[0004] In view of one or more deficiencies in the above-mentioned prior art, the present invention provides a three-dimensional warehousing system for automatic loading and unloading of goods and a working method thereof, which realizes automatic storage and retrieval of goods by utilizing the mutual cooperation of a mobile loading and unloading intelligent vehicle and a shelf storage platform, improves docking accuracy through a double locking mode, and thereby improves storage efficiency.

[0005] In order to achieve the above object, the present invention adopts one or more of the following technical solutions:

[0006] In a first aspect, a three-dimensional storage system for automatic loading and unloading of goods is provided, comprising a mobile loading and unloading intelligent vehicle and a shelf storage platform, wherein the mobile loading and unloading intelligent vehicle comprises a mobile ground rail and a mobile loading and unloading platform movable along the mobile ground rail, wherein the mobile loading and unloading platform comprises a mobile platform and a material flatbed truck for carrying materials, wherein a mobile platform slideway is provided on the mobile platform, and the material flatbed truck is provided with a material pulley connected to the mobile platform;

[0007] A cylinder locking mechanism is provided on the mobile platform, and the cylinder locking mechanism includes a cylinder and a cylinder locking pin. The cylinder locking pin is fixed to the end of the telescopic rod of the cylinder and can be pushed into the slide of the mobile platform for locking; a slider locking mechanism is provided on the material flatbed truck, and the slider locking mechanism cooperates with the shelf storage platform for locking.

[0008] As a further implementation method, the slider locking mechanism includes a motor frame with a built-in motor, the motor frame has a locking groove in the horizontal direction, two locking blocks with intervals are provided in the locking groove, and the output shaft of the built-in motor is connected to the locking block, which can drive the two locking blocks to rotate in the locking groove.

[0009] As a further implementation, the locking block is a wedge-shaped structure, and pressure sensors are installed on opposite sides of the two locking blocks.

[0010] As a further implementation method, the material flatbed cart includes a material rack and a material pulley, and material rack pins are fixedly provided on both sides of the material rack.

[0011] As a further implementation, a lever driving motor is installed on one side of the shelf storage platform, the output shaft of the lever driving motor is connected to a lead screw, a lever plate is fixedly provided on the lead screw, and a lever is rotatably connected to the lever plate.

[0012] As a further implementation method, a lever rotating motor is provided under the lever plate, the output shaft of the lever rotating motor is connected to the lever, and a material rack groove is provided on the outer side of the material flatbed truck, and the material rack groove can be engaged with the lever.

[0013] As a further implementation method, a mobile vehicle chassis is slidably connected in the mobile ground rail, a lifting platform frame with a scissor-type lifting structure is installed on the top of the mobile vehicle chassis, and the top of the lifting platform frame is connected to the mobile loading and unloading platform; a mobile vehicle roller is provided at the bottom of the mobile vehicle chassis, and the mobile vehicle roller can move horizontally along the mobile ground rail.

[0014] As a further implementation method, a cylinder support assembly is fixedly installed on the side of the mobile loading and unloading platform, and the cylinder support assembly includes a cylinder fixing frame, a supporting cylinder and a supporting block. The supporting cylinder is fixedly connected to the mobile loading and unloading platform through the cylinder fixing frame, and the supporting block is fixedly connected to the top of the supporting cylinder. The supporting block is located under the mobile platform and is used to provide support for the mobile platform.

[0015] As a further implementation, the mobile loading and unloading platform further comprises a movable platform frame, a roller slide is provided on the movable platform frame, rollers are fixedly provided at the bottom of the mobile platform, and the rollers and the roller slide form a rolling pair.

[0016] As a further implementation, a mobile platform driving component and auxiliary mobile components on both sides are provided below the mobile platform, and the mobile platform driving component and the auxiliary mobile components on both sides adopt a rack and pinion mechanism.

[0017] As a further implementation method, a loading platform slide is provided on the shelf storage platform, and the loading platform slide can be docked with the mobile platform slide; cargo platform slider locking mechanisms are provided on both sides of the shelf storage platform, and the cargo platform slider locking mechanisms cooperate with the material rack pins for locking.

[0018] In a second aspect, a working method of a three-dimensional storage system for automatic loading and unloading of goods based on any one of the above items is provided, including: confirming material storage information, operating a mobile loading and unloading intelligent vehicle, and operating a shelf storage platform, wherein:

[0019] Confirmation of material storage information includes: confirming that the cylinder locking mechanism and the slider locking mechanism are in the locked state, confirming the cargo storage information of each shelf group; detecting the material weight, and selecting an empty shelf in the corresponding weight range according to the material weight;

[0020] The method of selecting an empty shelf in a corresponding weight range according to the weight of the material includes confirming the empty information of the shelf group, obtaining the weight load thresholds of different shelves; determining the threshold to which the weight of the goods belongs, and selecting a shelf with a weight load threshold closest to the maximum threshold as the target shelf; if the target shelf is empty, selecting a shelf with a larger weight range until an empty shelf that meets the requirements is found;

[0021] The work of the mobile loading and unloading intelligent vehicle includes: the mobile loading and unloading intelligent vehicle moves along the ground rail to the corresponding position of the designated shelf, the lifting platform frame rises to the designated shelf height, the mobile platform extends toward the shelf, and the slideway of the mobile platform docks with the slideway of the loading platform;

[0022] The work of the shelf storage platform includes: pulling the materials to the designated shelf and locking the slider locking mechanism of the loading platform.

[0023] By adopting the above technical solution, the beneficial effects of the present invention are as follows:

[0024] 1. The mobile loading and unloading intelligent vehicle and the shelf storage platform of the present invention adopt wheeled movement to adjust the position and transfer materials, and a double locking structure formed by a slider locking mechanism and a cylinder locking mechanism is arranged on the mobile loading and unloading intelligent vehicle, and a lever assembly and a cargo platform slider locking mechanism are arranged on the shelf storage platform to cooperate to control the material position, so that the docking accuracy is improved during the storage and retrieval of materials in the three-dimensional storage system, thereby improving the storage efficiency; at the same time, the goods can be locked in a certain interval, and the safety can be improved by the reverse locking function, and the inertia and impact of the materials can be reduced, thereby effectively ensuring safety.

[0025] 2. In the present invention, a screw structure and a lever are provided on the shelf storage platform to cooperate with each other. The screw is rotated to drive the lever to move, thereby pulling the material to be transferred between the mobile loading and unloading intelligent vehicle and the shelf storage platform. At the same time, the motor drives the lever to rotate so that the lever is stuck in the material rack slot to achieve locking. The structure is simple and efficient, and automatic traction of the shelf storage platform can be realized; and the moving speed and rotation angle of the lever can be adjusted according to actual conditions, and adaptive adjustments can be made according to different stored materials to efficiently and accurately meet different work requirements.

[0026] 3. The storage system of the present invention adopts wheeled movement, which converts sliding friction into rolling friction, reduces friction resistance and work intensity, improves storage efficiency, and is better suitable for large-volume and heavy-weight materials such as heavy machinery accessories; at the same time, compared with the conveyor belt structure, it occupies less space, has a wider range of heavy object applications, better scalability, and is simple and convenient to maintain, and has strong sustainability.

[0027] 4. The double locking structure formed by the slider locking mechanism and the cylinder locking mechanism in the present invention is combined with a pressure sensor, which can automatically cooperate to complete the double locking and unlocking actions during operation, thereby realizing the precise locking of the storage system and improving storage efficiency.

[0028] 5. The mobile loading and unloading intelligent vehicle provided in the present invention can improve the stability and accuracy of material position transfer through the cooperation of the mobile ground rail and the ground rail driving system, and ensure the accurate alignment of materials and corresponding components; at the same time, the lifting and lowering of the mobile loading and unloading platform is realized by the lifting platform frame of the scissor-type lifting structure, and the horizontal movement of materials is realized by the mobile platform driving component and the auxiliary moving component of the gear rack structure. It can be flexibly applied to the multi-layer shelf structure of the three-dimensional storage system, realize double-sided loading and unloading, reduce the loading and unloading cost, and ensure the stability when transferring heavy weight and large volume materials.

[0029] 6. The three-dimensional storage system of the present invention has a simple structure, a tightly matched docking structure, and can efficiently complete the storage and retrieval of goods, greatly improving the automation and integration of the storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1 A schematic diagram of a three-dimensional storage shelf according to one or more embodiments of the present invention;

[0032] Figure 2 A side view of a three-dimensional storage system according to one or more embodiments of the present invention;

[0033] Figure 3A schematic diagram of the structure of a mobile loading and unloading intelligent vehicle according to one or more embodiments of the present invention;

[0034] Figure 4 A schematic diagram of the structure of a ground rail driving system according to one or more embodiments of the present invention;

[0035] Figure 5 A schematic diagram of the structure of a mobile loading and unloading platform according to one or more embodiments of the present invention;

[0036] Figure 6 A front view of a mobile loading and unloading platform structure according to one or more embodiments of the present invention;

[0037] Figure 7 It is a schematic diagram of a partial structure enlargement of one or more embodiments of the present invention;

[0038] Figure 8 A schematic diagram of the structure of a material flatbed truck according to one or more embodiments of the present invention;

[0039] Fig. 9 A schematic diagram of the structure of a slider locking mechanism according to one or more embodiments of the present invention;

[0040] Fig.10 A schematic diagram of a shelf storage platform structure according to one or more embodiments of the present invention;

[0041] Fig.11 A schematic diagram of a rack storage platform hauling materials according to one or more embodiments of the present invention;

[0042] Fig.12 A schematic diagram of a lever assembly according to one or more embodiments of the present invention;

[0043] Fig.13 A flowchart of the locking mechanism according to one or more embodiments of the present invention;

[0044] Fig.14 A material storage flow chart of a three-dimensional storage system according to one or more embodiments of the present invention.

[0045] In the figure: 1, material; 2, mobile loading and unloading platform; 3, mobile vehicle chassis; 4, mobile ground rail; 5, ground rail limit block; 6, lifting platform support frame; 7, mobile vehicle pulley; 8, lifting platform frame; 9, movable platform drive motor; 10, fixed plate; 11, movable platform frame; 12, cylinder fixing bolt; 13, cylinder fixing frame; 14, supporting cylinder; 15, supporting block; 16, mobile platform; 17, roller slide; 18, cylinder; 19, cylinder fixing piece; 20, mobile platform slide; 21, cylinder locking pin; 22, roller fixing frame; 23, roller limit bolt; 24, roller rod; 25, second rack; 26, second gear; 27, gear fixing block; 28, first material rack pin; 29, material pulley; 30, material rack; 31, second material rack pin; 32, limit mechanism frame; 33, first motor frame; 3 4. First locking block; 35. First fixing bolt; 36. Pressure sensor; 37. Second fixing bolt; 38. Second locking block; 39. Second motor frame; 40. Locking slide; 41. Loading platform connecting frame; 42. Lever drive motor fixing frame; 43. Lever drive motor; 44. Lever; 45. Material rack slot; 46. Cargo platform slider locking mechanism; 47. Lead screw; 48. Lever rotation motor frame; 49. Lever rotation motor; 50. Lever plate; 51. Mobile platform motor locking mechanism; 52. First rack; 53. First gear; 54. First drive rod; 55. First synchronous pulley; 56. Second drive rod; 57. Second synchronous pulley; 58. Synchronous belt; 59. Ground rail drive motor; 60. Drive side pulley; 61. Drive main pulley; 62. Loading platform slideway; 63. Loading platform outer frame. DETAILED DESCRIPTION

[0046] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0047] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] Embodiment 1

[0049] In a typical embodiment of the present application, a three-dimensional storage system for automatic loading and unloading of goods is provided, such as Figure 1-13 As shown, it includes a mobile loading and unloading intelligent vehicle and a shelf storage platform. The mobile loading and unloading intelligent vehicle includes a mobile ground rail 4 and a mobile loading and unloading platform 2 that can move along the mobile ground rail. The mobile loading and unloading platform 2 includes a mobile platform 16 and a material flatbed truck for carrying materials. A mobile platform slideway 20 is provided on the mobile platform 16. A material pulley 29 is provided at the bottom of the material flatbed truck and is connected to the mobile platform slideway 20.

[0050] The mobile platform 16 is provided with a cylinder locking mechanism, which includes a cylinder 18 and a cylinder locking pin 21. The cylinder locking pin 21 is fixed to the end of the telescopic rod of the cylinder 18 and can be pushed into the mobile platform slide 20 for locking; the material flatbed truck is provided with a slider locking mechanism, which cooperates with the shelf storage platform for locking.

[0051] In this embodiment, the material is loaded and unloaded inside the material rack. Considering the weight of the goods, the material rack is equipped with a material pulley. The mobile loading and unloading intelligent vehicle is fixed to the mobile ground rail through the mobile vehicle chassis, and moves in the plane through the mobile vehicle pulley. The ground rail limit block is a limit device for the mobile intelligent vehicle. The mobile vehicle chassis cooperates with the ground rail through the driving side pulley and the driving main pulley, and is driven by the ground rail drive motor to achieve movement. The scissor mechanism lifting device composed of the lifting platform support frame and the lifting platform frame enables the mobile loading and unloading platform to be lifted up and down, and the lifting platform frame is connected to the mobile loading and unloading platform.

[0052] Specifically, Figure 3 As shown, the mobile loading and unloading intelligent vehicle includes a mobile ground rail 4 and a mobile vehicle chassis 3 slidably connected to the mobile ground rail. A cross-type lifting platform frame 8 is installed on the top of the mobile vehicle chassis, and a mobile loading and unloading platform 2 is installed on the top of the lifting platform frame, and the materials are placed on the mobile loading and unloading platform 2. Among them, the lifting platform frame 8 adopts a vertical scissor-type lifting structure, and a lifting platform support frame 6 is installed between the two side structures to enhance the support strength and ensure the stability of the lifting process. A mobile vehicle pulley 7 is fixedly installed at the bottom of the mobile vehicle chassis 3 and is slidably connected to the mobile ground rail 4. A ground rail limit block 5 is installed at the end of the mobile ground rail 4 to limit the moving range of the mobile loading and unloading intelligent vehicle to avoid derailment.

[0053] It should be noted that in this embodiment, a mobile ground rail is specially set to provide a more stable track, which can reduce the lateral displacement and shaking of the vehicle body during movement, which is particularly important for precision assembly work, reduces the difficulty of the control system, and can ensure the accurate alignment of goods and components. Moreover, the ground rail loading and unloading vehicle design adopted in this embodiment is more suitable for carrying a larger weight. Therefore, for the storage and loading and unloading of heavy mechanical accessories and large components, the mobile loading and unloading intelligent vehicle of this embodiment has better stability than the existing wheeled assembly vehicle. At the same time, the mobile ground rail also reduces friction loss and energy consumption, making the movement of the loading and unloading intelligent vehicle more efficient; the track design can be optimized according to the factory layout, reducing the space waste caused by turning and U-turning, allowing a more compact facility layout; and the mobile ground rail can also be equipped with electrified track technology, allowing precise control and positioning, suitable for assembly processes that require high precision and tracking, greatly improving the docking accuracy between the mobile loading and unloading intelligent vehicle and the goods, and thus improving the efficiency of cargo loading and unloading.

[0054] Combination Figure 4 As shown, the ground rail driving system includes a ground rail driving motor 59, a driving side pulley 60 and a driving main pulley 61, wherein the driving main pulley 61 is arranged in the mobile ground rail and can roll along the mobile ground rail, and the output shaft of the ground rail driving motor 59 is connected to the driving main pulley 61, and the driving main pulley 61 is driven by the ground rail driving motor 59 to achieve high-precision movement of the mobile loading and unloading intelligent vehicle. Two driving side pulleys 60 are installed on both sides of the driving main pulley 61 through shaft connection, located at the side of the mobile ground rail, and are used to assist the driving main pulley to improve the stability of the movement of the mobile loading and unloading intelligent vehicle.

[0055] Specifically, Figure 5 As shown, the mobile loading and unloading platform 2 includes a movable platform frame 11, and a cylinder support assembly for supporting the mobile platform is installed on the front side of the movable platform frame 11, and the cylinder support assembly includes a cylinder fixing bolt 12, a cylinder fixing frame 13, a supporting cylinder 14 and a supporting block 15, wherein the supporting block 15 is fixedly installed on the top of the supporting cylinder 14, and the lower part of the supporting cylinder 14 is fixedly installed on the cylinder fixing frame 13, and the cylinder fixing frame 13 is fixedly connected to the movable platform frame 11 through the cylinder fixing bolt 12; when the supporting cylinder 14 is extended, the supporting block 15 reaches the bottom of the mobile platform and contacts the bottom surface of the mobile platform 16, thereby playing a supporting role when transporting goods, avoiding deformation of the mobile platform when it extends outward and docks with the shelf storage platform, and improving the stability of the goods storage process.

[0056] Combination Figure 5 , 6As shown, in order to achieve the change of the front and rear position of the material, a roller slide 17 along the second direction and a mobile platform 16 connected to the roller slide are arranged on the top of the movable platform frame 11. The material 1 and the material flatbed truck are placed on the mobile platform 16, and the position in the second direction can be adjusted with the horizontal movement of the mobile platform. The second direction is perpendicular to the first direction mentioned above, so as to adjust the position of the material relative to the shelf storage platform. A roller assembly is fixedly installed under the mobile platform 16 to realize the movement of the mobile platform along the roller slide, as shown in FIG. Figure 5 , 6 As shown, the roller assembly is arranged on the left and right sides of the mobile platform, including rollers, roller fixing frames 22, roller rods 24 and roller limiting bolts 23. The roller fixing frames 22 are provided with rollers that can roll along the roller slideway 17. The rollers are connected to the roller fixing frames 22 by using the roller rods 24 and roller limiting bolts 23. A mobile platform driving assembly composed of a second gear 26, a gear fixing block 27 and a second rack 25 is also arranged in the middle below the mobile platform 16, wherein the gear fixing block 27 is installed on the top of the movable platform frame 11 and has a built-in motor, which can fix and drive the second gear 26. The second rack 25 is fixedly connected to the mobile platform 16 at the top, and the second gear 26 is meshed with the second rack 25, so that the gear rack structure driven by the motor drives the upper mobile platform 16 to move horizontally along the roller slideway 17 along the second direction, and the front and rear positions of the material 1 can be adjusted to facilitate the handling of the material in the later stage.

[0057] In addition, auxiliary moving components are symmetrically installed on the left and right sides of the mobile platform 16, and the auxiliary moving components include a movable platform drive motor 9, which is installed at both ends of the movable platform frame 11. Figure 5 As shown, the left and right ends of the movable platform frame 11 are respectively fixed with mounting plates 10, which are hollow frame structures. The movable platform drive motor 9 is installed in the mounting plate 10, so as to protect the movable platform drive motor, and the top of the mounting plate 10 can be opened to facilitate the installation and maintenance of the motor. Figure 7 As shown, the output shaft of the movable platform driving motor 9 is connected to the second driving rod 56, and the second driving rod 56 can drive the first driving rod 54 to rotate through a synchronous pulley mechanism composed of a second synchronous pulley 57, a synchronous belt 58 and a first synchronous pulley 55. The bottom end of the first driving rod 54 is fixedly connected to the first synchronous pulley 55, and the top is coaxially connected to the first gear 53. The first rack 54 is connected to the bottom of the mobile platform 16. The first gear 53 cooperates with the first rack 54 to provide a driving force for the mobile platform 16 to move in the second direction, which can assist the mobile platform driving component to achieve smooth movement of the mobile platform 46, and better meet the transportation needs of goods with larger volume and weight during storage and retrieval.

[0058] Specifically, the material 1 is placed on a material flatbed truck, and a mobile platform slideway 20 along the second direction is fixedly provided on both sides of the top of the mobile platform 16, and a material flatbed truck that can move horizontally along the slideway is provided in the mobile platform slideway. Figure 8 As shown, the material flatbed truck includes a material rack 30 and a material pulley 29 at the bottom of the material rack. When the material pulley 29 rolls along the mobile platform slideway 20, the material rack 30 and the material 1 carried on the top thereof are moved.

[0059] In order to improve the safety and stability of storage and retrieval of materials in the three-dimensional storage system, this embodiment designs a double locking mode for the movement of the material flatbed truck. Double locking is formed on the mobile loading and unloading intelligent vehicle through a slider locking mechanism and a cylinder locking mechanism, and double locking is formed on the shelf storage platform through a loading platform slider locking mechanism and a lever assembly.

[0060] Specifically, Figure 7 , 8 As shown, the left and right sides of the material rack 30 are respectively fixedly installed with a horizontally arranged first material rack pin 28 and a second material rack pin 31, and the first material rack pin 28 and the second material rack pin 31 cooperate with the mobile platform motor locking mechanism 51 fixed on the mobile platform to lock the slider.

[0061] In this embodiment, the mobile platform motor locking mechanism 51 is used as a slider locking mechanism on the mobile loading and unloading intelligent vehicle, and its structure is as follows: Fig. 9 As shown, the mobile platform motor locking mechanism 51 includes a limit mechanism frame 32, which is fixedly mounted on the top of the mobile platform 16 by a first fixing bolt 35 and a second fixing bolt 37, and can cooperate with the first material frame pin and the second material frame pin to lock the position of the material within a small range. Fig. 9 As shown, a parallel first motor frame 33 and a second motor frame 39 are fixedly installed on one side of the limit mechanism frame 32 facing the material frame, and both motor frames are equipped with drive motors. The ends of the output shafts of the two drive motors are respectively connected to the first locking block 34 and the second locking block 38. A horizontal locking groove 40 is provided on the outer side of the motor frame. The first locking block 34 and the second locking block 38 are arranged in the locking groove 40 at a certain interval. The two locking blocks are wedge-shaped structures and can rotate in a single direction in the locking groove under the drive of the drive motor. The rotation directions of the first locking block 34 and the second locking block 38 are opposite, so that the slider locking mechanism can lock the first material frame pin or the second material frame pin through the two locking blocks, thereby limiting the transfer of materials.

[0062] In this embodiment, a patch pressure sensor 36 is installed on the side opposite to the first locking block 34 and the second locking block 38. When the material shelf pin contacts the first locking block or the second locking block, the pressure sensor is used to detect the pressure value. When the material shelf pin is stuck in the middle of the two locking blocks, the slider is locked. When unlocking, when the material shelf pin approaches the locking block on one side, the pressure sensor on this side detects that it reaches the set threshold, and the built-in drive motor drives the locking block on the other side to rotate, so that the material shelf pin can move to the other side, thereby unlocking the material flatbed truck. The slider locking mechanism of this embodiment is usually locked at the end of loading and unlocked when picking up the goods; this locking structure only needs to be powered on during the picking process, and the rest is locked by the structure itself, saving electricity and energy.

[0063] Specifically, the cylinder locking mechanism is arranged on the mobile platform 16 and is located between the mobile platform slideways 20 on the left and right sides. Figure 5 , 6 As shown, the cylinder locking structure includes a cylinder 18 installed on the mobile platform through a cylinder fixing part 19. The telescopic rod of the cylinder 18 can be extended to the left and right sides. The end of the telescopic rod is connected to a cylinder locking pin 21. When the cylinder 18 is started and the telescopic rod is extended to both sides, the cylinder locking pin 21 can be pushed into the mobile platform slide 20, thereby blocking the movement of the material flatbed truck on the mobile platform slide 20 and locking the material 1 inside the mobile platform.

[0064] In this embodiment, the cylinder locking mechanism has a simple structure and complements the slider locking mechanism: the slider locking can lock the goods in a certain area, and even if the power is off, there will be no accidents due to its reverse locking function; the cylinder locking can ensure that the inertia and impact of the material are reduced when moving on the mobile intelligent loading and unloading vehicle, and can effectively prevent the material from slipping and falling after the slider locking fails. On the basis of using pulley transmission to reduce energy consumption, simple maintenance and good scalability, the double locking mode is used to fully ensure the safety of large-volume and heavy-weight goods in storage.

[0065] Specifically, the shelf storage platform of this embodiment includes multiple layers and multiple rows of shelves, such as Fig.11 , 12As shown, the shelf storage platform includes an outer loading platform connecting frame 41, and a lever locking structure is arranged on the side of the loading platform connecting frame 41. The lever locking structure includes a lever driving motor 43, and the lever driving motor 43 is fixedly mounted on the loading platform connecting frame 41 through a lever driving motor fixing frame 42. The output shaft of the lever driving motor 43 is connected to a lead screw 47, and a lever plate 50 is fixedly mounted on the outer surface of the lead screw 47. A lever driving motor 49 is fixedly mounted on the lever plate 50 through a lever rotating motor frame 48. The lever rotating motor 49 is located below the lever plate, and its output shaft is connected to the lever 44, and one end of the lever 44 is rotatably connected to the lever plate 50. In this embodiment, the lever driving motor 43 is used to drive the lead screw 47, and then the lever 44 is driven to move horizontally through the lever plate 50, so that the lever 44 is close to or away from the mobile loading and unloading intelligent vehicle. The lever rotating motor 49 is used to drive the lever 41 to rotate, so that the lever 41 is stuck with the material rack slot 45 at the edge of the material rack 30, and then the lever driving motor can drive the material flatbed truck to move the material as a whole, so that the material can be transferred between the mobile loading and unloading platform and the shelf storage platform.

[0066] In addition, in order to achieve that the material flatbed truck can be smoothly moved inward and automatically locked in position after being transferred to the shelf storage platform, such as Fig.10 As shown, similar to the mobile platform, the shelf storage platform is provided with a loading platform slideway 62, and the material pulley 29 of the material flatbed truck can slide along the loading platform slideway 62. The two sides of the shelf storage platform are fixedly provided with a loading platform outer frame 63, combined with Fig.11 As shown, a loading platform outer frame 63 is provided with a loading platform slider locking mechanism, and its structure is similar to Fig. 9 The structure of the mobile platform motor locking mechanism shown is similar. Through the motor, locking block, locking slide and pressure sensor, it cooperates with the first material rack pin 28 and the second material rack pin 29 set on the material rack to lock the material within a small position range of the shelf storage platform, so that the material can be automatically and safely transferred to a specific position inside the shelf.

[0067] Combination Figure 1 , 2As shown, after the goods are loaded onto the mobile loading and unloading platform 2, the mobile loading and unloading intelligent vehicle is aligned with the corresponding shelf in horizontal position and height through the scissor-type lifting mechanism and the mobile ground rail 4, and the mobile platform 16 is extended outward by the motor to align with the loading platform slide 62. Since the bending moment generated on one side of the scissor-type mechanism is large, a cylinder support assembly is provided to push the support block 15 to the mobile platform 16 for safety protection. The lever drive motor 43 drives the lever 44 to move to the material 1, and the lever rotating motor 49 rotates to make the lever 44 and the material rack slot 45 stuck, and the motor of the slider locking mechanism is in a power-off state. When the lever 44 pulls the material 1 and the material rack 30 to move as a whole, the material flatbed truck moves on the mobile platform and gradually approaches the shelf storage platform. Combined with Fig.13 As shown, the locking cooperation process on the mobile loading and unloading intelligent vehicle and the shelf loading and unloading platform in this embodiment is that the slider locking mechanism on the mobile platform is in a locked state until the pressure sensor on the surface of the first locking block 34 detects that the pressure value increases to the set threshold, and the lever pulls the material and the material rack to move in the opposite direction to the pressure sensor on the second locking block 38 to detect the pressure value, and the drive motor built into the motor rack is energized to drive the first locking block 34 to rotate and unlock. Then the cylinder locking mechanism is actuated, and the cylinder 18 drives the cylinder locking pin 21 to retract, thereby unlocking the cylinder locking mechanism, so that the material 1 can be completely moved to the shelf storage platform. When the material is moved to the designated position of the shelf storage platform, the first material rack pin 32 and the second material rack pin 36 cooperate with the cargo platform slider locking mechanism 46 to achieve locking. At this time, the locking motor is not energized, and the structure is automatically locked, which can be achieved by the traction of the lever during the material storage process.

[0068] When picking up goods, the lever drives the material to move outward, and the slider locking mechanism is unlocked in the same way as the inventory process. The mobile loading and unloading platform is aligned with the shelf storage platform, and is moved to the mobile loading and unloading platform by the traction of the lever, so that the slider locking mechanism and the cylinder locking mechanism are locked, and finally the goods are picked up by the mobile loading and unloading intelligent vehicle.

[0069] Embodiment 2

[0070] In another typical embodiment of the present invention, a working method of a three-dimensional storage system for automatic loading and unloading of goods based on the first embodiment is provided, such as Fig.14 As shown, it includes material storage information confirmation, mobile loading and unloading intelligent vehicle operation and shelf storage platform operation, among which,

[0071] Confirmation of material storage information includes: confirming that the cylinder locking mechanism and the slider locking mechanism are in the locked state, confirming the cargo storage information of each shelf group; detecting the material weight, and selecting an empty shelf in the corresponding weight range according to the material weight;

[0072] The method of selecting an empty shelf in a corresponding weight range according to the weight of the material includes confirming the empty information of the shelf group, obtaining the weight load thresholds of different shelves; determining the threshold to which the weight of the goods belongs, and selecting a shelf with a weight load threshold closest to the maximum threshold as the target shelf; if the target shelf is empty, selecting a shelf with a larger weight range until an empty shelf that meets the requirements is found;

[0073] The work of the mobile loading and unloading intelligent vehicle includes: the mobile loading and unloading intelligent vehicle moves along the ground rail to the corresponding position of the designated shelf, the lifting platform frame rises to the designated shelf height, the mobile platform extends toward the shelf, and the slideway of the mobile platform docks with the slideway of the loading platform;

[0074] The work of the shelf storage platform includes: pulling the materials to the designated shelf and locking the slider locking mechanism of the loading platform.

[0075] Specifically, the material storage information confirmation includes: after the material is assembled onto the mobile loading and unloading intelligent vehicle, check whether the cylinder of each shelf group is ejected, ensure that the cylinder locking mechanism and the slider locking mechanism are in a locked state, and confirm the material storage information of each shelf group; after the cylinder locking mechanism and the slider locking mechanism are locked, detect the material weight; select an empty shelf in the corresponding weight range according to the material weight; including: confirming the empty information of all shelf sequences, obtaining the weight bearing thresholds of different shelves; judging the threshold to which the cargo weight belongs, and selecting the shelf with the closest weight bearing threshold as the target shelf according to the maximum threshold; if the target shelf is empty, select a shelf with a larger weight range, and so on, until an empty shelf that meets the requirements is found, and then dial to confirm the loading information and print the barcode.

[0076] The work of the mobile loading and unloading intelligent vehicle includes: the mobile loading and unloading intelligent vehicle moves to the corresponding position along the ground rail, and the lifting platform frame rises to the designated shelf height; the mobile platform extends toward the shelf, and the slideway of the mobile platform docks with the slideway of the loading platform; the support cylinder extends to support the mobile platform to ensure efficient and smooth transfer of materials;

[0077] The work of the shelf storage platform includes: the lever moves to the side close to the material, the lever rotation motor starts, and the lever is clamped with the material rack slot; the slider locking mechanism and the cylinder locking mechanism are unlocked, the lever drive motor starts, and the lever pulls the material to the shelf; after the material arrives at the designated position, the cargo platform slider locking mechanism is locked, and the material storage is completed, realizing the automated storage of the three-dimensional warehousing system, effectively improving the storage and retrieval efficiency of goods, and further improving the automation and intelligence of the warehousing system.

[0078] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Those skilled in the art should understand that the present invention may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A three-dimensional storage system for automatic loading and unloading of goods, characterized in that: It includes a mobile loading and unloading intelligent vehicle and a shelf storage platform. The mobile loading and unloading intelligent vehicle includes a mobile ground rail and a mobile loading and unloading platform that can move along the mobile ground rail. The mobile loading and unloading platform includes a mobile platform and a material flatbed truck for carrying materials. The mobile platform is provided with a mobile platform slideway, and the material flatbed truck is provided with a material pulley connected to the mobile platform. A cylinder locking mechanism is provided on the mobile platform, and the cylinder locking mechanism includes a cylinder and a cylinder locking pin. The cylinder locking pin is fixed to the end of the telescopic rod of the cylinder and can be pushed into the slide of the mobile platform for locking; a slider locking mechanism is provided on the material flatbed truck, and the slider locking mechanism cooperates with the shelf storage platform for locking.

2. A three-dimensional storage system for automatic loading and unloading of goods as claimed in claim 1, characterized in that: The slider locking mechanism includes a motor frame with a built-in motor, the motor frame is provided with a locking groove in the horizontal direction, two locking blocks with a gap are provided in the locking groove, and the output shaft of the built-in motor is connected to the locking blocks; the locking blocks are wedge-shaped structures, and pressure sensors are installed on the opposite sides of the two locking blocks.

3. A three-dimensional storage system for automatic loading and unloading of goods as claimed in claim 2, characterized in that: The material flatbed cart comprises a material rack and a material pulley, and material rack pins are fixedly provided on both sides of the material rack.

4. A three-dimensional storage system for automatic loading and unloading of goods as claimed in claim 3, characterized in that: The shelf storage platform is provided with a loading platform slide, and the loading platform slide can be docked with the moving platform slide; the two sides of the shelf storage platform are provided with a cargo platform slider locking mechanism, and the cargo platform slider locking mechanism cooperates with the material rack pin for locking.

5. The three-dimensional storage system for automatic loading and unloading of goods as claimed in claim 1, characterized in that: A lever driving motor is installed on one side of the shelf storage platform, the output shaft of the lever driving motor is connected to a lead screw, a lever plate is fixedly provided on the lead screw, and a lever is rotatably connected to the lever plate.

6. A three-dimensional storage system for automatic loading and unloading of goods as claimed in claim 5, characterized in that: A lever rotating motor is provided below the lever plate, and an output shaft of the lever rotating motor is connected to the lever. A material rack groove is provided on the outer side of the material flatbed vehicle, and the material rack groove can be engaged with the lever.

7. The three-dimensional storage system for automatic loading and unloading of goods as claimed in claim 1, characterized in that: A cylinder support assembly is fixedly installed on the side of the mobile loading and unloading platform, and the cylinder support assembly includes a cylinder fixing frame, a support cylinder and a support block. The support cylinder is fixedly connected to the mobile loading and unloading platform through the cylinder fixing frame, and the support block is fixedly connected to the top of the support cylinder. The support block is located below the mobile platform.

8. The three-dimensional storage system for automatic loading and unloading of goods as claimed in claim 1, characterized in that: The mobile loading and unloading platform also includes a movable platform frame, a roller slide is provided on the movable platform frame, a roller is fixedly provided at the bottom of the mobile platform, and the roller and the roller slide form a rolling pair.

9. The three-dimensional storage system for automatic loading and unloading of goods as claimed in claim 1, characterized in that: A mobile vehicle chassis is slidably connected inside the mobile ground rail, a lifting platform frame adopting a scissor-type lifting structure is installed on the top of the mobile vehicle chassis, and the top of the lifting platform frame is connected to the mobile loading and unloading platform; a mobile vehicle roller is provided at the bottom of the mobile vehicle chassis, and the mobile vehicle roller can move horizontally along the mobile ground rail.

10. A working method of a three-dimensional storage system for automatic loading and unloading of goods according to any one of claims 1 to 9, characterized in that: Including material storage information confirmation, mobile loading and unloading intelligent vehicle work and shelf storage platform work, among which, Confirmation of material storage information includes: confirming that the cylinder locking mechanism and the slider locking mechanism are in the locked state, confirming the cargo storage information of each shelf group; detecting the material weight, and selecting an empty shelf in the corresponding weight range according to the material weight; The method of selecting an empty shelf in a corresponding weight range according to the weight of the material includes confirming the empty information of the shelf group, obtaining the weight load thresholds of different shelves; determining the threshold to which the weight of the goods belongs, and selecting a shelf with a weight load threshold closest to the maximum threshold as the target shelf; if the target shelf is empty, selecting a shelf with a larger weight range until an empty shelf that meets the requirements is found; The work of the mobile loading and unloading intelligent vehicle includes: the mobile loading and unloading intelligent vehicle moves along the ground rail to the corresponding position of the designated shelf, the lifting platform frame rises to the designated shelf height, the mobile platform extends toward the shelf, and the slideway of the mobile platform docks with the slideway of the loading platform; The work of the shelf storage platform includes: pulling the materials to the designated shelf and locking the slider locking mechanism of the loading platform.

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