A three-dimensional storage system for automatic loading and unloading of goods and its working method

Abstract

The present invention discloses a three-dimensional warehousing system for automatic loading and unloading of goods and a control method thereof, which relates to the technical field of logistics warehousing, including 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. A slide is provided on the mobile platform, and a material pulley is provided at the bottom of the material flatbed truck and is connected to the slide. 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. The present invention uses a double locking structure to improve the docking accuracy during the storage and retrieval of materials in the three-dimensional warehousing system, thereby improving the storage efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics and 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 the economy and production and life, the demand for warehousing of heavy mechanical parts has increased, and three-dimensional warehousing that can automatically load and unload goods has emerged. Traditional three-dimensional warehousing cannot achieve integrated loading and unloading, has a low level of intelligence, and usually requires manual assistance. For heavy mechanical parts, manual loading and unloading and warehousing pose many safety risks. In addition, heavy items usually take up a lot of space, and there is a lot of room for optimization in the overall warehouse layout. The existing three-dimensional warehousing system cannot maximize the use of vertical space, resulting in low space utilization and indirectly increasing storage costs. In addition, with rising labor costs, traditional three-dimensional warehousing cannot effectively control labor costs due to its low level of automation and intelligence, making it difficult to enhance the core competitiveness of enterprises.

[0003] Therefore, faced with the growing demand in 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 response to 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 utilizes the mutual cooperation of a mobile loading and unloading intelligent vehicle and a shelf storage platform to realize automatic storage and retrieval of goods, and improves docking accuracy through a double locking mode, thereby improving storage efficiency.

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

[0006] In a first aspect, a three-dimensional warehousing 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] The mobile platform is provided with a cylinder locking mechanism, which 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; the material flatbed truck is provided with a slider locking mechanism, which cooperates with the shelf storage platform for locking.

[0008] As a further implementation method, the slider locking mechanism includes a motor frame provided 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 block, which can drive the two locking blocks to rotate in the locking groove.

[0009] As a further implementation, the locking blocks are wedge-shaped structures, 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 drive motor is installed on one side of the shelf storage platform, the output shaft of the lever drive motor is connected to a lead screw, a lever plate is fixed 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; a cargo platform slider locking mechanism is provided on both sides of the shelf storage platform, and the cargo platform slider locking mechanism cooperates with the material rack pin for locking.

[0018] In a second aspect, a working method of a three-dimensional warehousing system for automatic loading and unloading of goods based on any 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] Material storage information confirmation 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 available shelf in a corresponding weight range according to the weight of the material includes confirming the available 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 the shelf with the closest weight load threshold as the target shelf according to the maximum threshold; if the target shelf is available, selecting a shelf in a larger weight range until an available 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 rises to the designated shelf height, the mobile platform extends toward the shelf, and the mobile platform slide docks with the loading platform slide;

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

[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 provided on the mobile loading and unloading intelligent vehicle, and a lever assembly and a cargo platform slider locking mechanism are provided 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 area, and the safety is 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. 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 can realize automatic traction of the shelf storage platform; and the moving speed and rotation angle of the lever can be adjusted according to actual conditions, and can be adaptively adjusted according to different stored materials, so as to meet different work requirements efficiently and accurately.

[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 application for heavy objects, better scalability, 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 achieving 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 drive system, ensuring 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 drive component and the auxiliary mobile component of the gear rack structure. It can be flexibly applied to the multi-layer shelf structure of the three-dimensional storage system, realizes double-sided loading and unloading, reduces loading and unloading costs, and ensures stability when transferring heavy weight and large volume materials.

[0029] 6. The three-dimensional storage system of the present invention has a simple structure and a tight docking structure. It 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, 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 structural diagram of a mobile loading and unloading intelligent vehicle according to one or more embodiments of the present invention;

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

[0035] Figure 5 A schematic structural diagram 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 an enlarged schematic diagram of a local structure of one or more embodiments of the present invention;

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

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

[0040] Figure 10 A schematic diagram of the shelf storage platform structure of one or more embodiments of the present invention;

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

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

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

[0044] Figure 14 This is 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. fixing plate; 11. movable platform frame; 12. cylinder fixing bolt; 13. cylinder fixing frame; 14. supporting cylinder; 15. support 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. Drag rod drive motor fixing frame; 43. Drag rod drive motor; 44. Drag rod; 45. Material rack slot; 46. Loading platform slider locking mechanism; 47. Screw; 48. Drag rod rotation motor frame; 49. Drag rod rotation motor; 50. Drag rod plate; 51. Moving 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 slide; 63. Loading platform outer frame. DETAILED DESCRIPTION

[0046] It should be noted that the following detailed description is illustrative and is 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 meaning as 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 the purpose of 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 those of ordinary skill in the art without making creative work are within the scope of protection of the present invention.

[0048] Example 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, and a material pulley 29 is provided at the bottom of the material flatbed truck to connect with 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, materials are loaded and unloaded within a material rack. Considering the weight of the cargo, the material rack is equipped with material pulleys. The mobile loading and unloading intelligent vehicle is fixed to the mobile ground rail via the vehicle chassis and moves within a plane via the vehicle pulleys. The ground rail limit blocks serve as the mobile intelligent vehicle's limiting device. The vehicle chassis and ground rails cooperate through drive side pulleys and drive main pulleys, and movement is achieved by the ground rail drive motor. A scissor-type lifting mechanism, consisting of a lifting platform support frame and a lifting platform frame, enables the mobile loading and unloading platform to be raised and lowered. The lifting platform frame is connected to the mobile loading and unloading platform.

[0052] Specifically, if Figure 3 As shown, the mobile loading and unloading intelligent vehicle includes a mobile ground rail 4 and a mobile vehicle chassis 3 that is 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. 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 and prevent derailment.

[0053] It should be noted that in this embodiment, a mobile ground rail is specifically provided to provide a more stable track, which can reduce the lateral displacement and shaking of the vehicle body during movement. This 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 larger weights. Therefore, for the storage and loading and unloading of heavy mechanical parts 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 wasted due to turns and U-turns, and allowing for a more compact facility layout; and the mobile ground rail can also be equipped with electrified track technology, allowing for precise control and positioning, which is 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, thereby improving the efficiency of cargo loading and unloading.

[0054] Combine Figure 4 As shown, the ground rail drive system includes a ground rail drive motor 59, a drive side pulley 60, and a drive main pulley 61. The drive main pulley 61 is mounted within the mobile ground rail and can roll along the moving ground rail. The output shaft of the ground rail drive motor 59 is connected to the drive main pulley 61, which is driven by the ground rail drive motor 59 to achieve high-precision movement of the mobile loading and unloading intelligent vehicle. Two drive side pulleys 60 are mounted on either side of the drive main pulley 61 via shaft connections, located to the sides of the mobile ground rail. They assist the drive main pulley in improving the stability of the mobile loading and unloading intelligent vehicle.

[0055] Specifically, if 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, wherein 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 support 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] Combine 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 set on the top of the movable platform frame 11. The material 1 and the material flatbed truck are placed on the mobile platform 16. 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, thereby adjusting the position of the material relative to the shelf storage platform. A roller assembly is fixedly installed under the mobile platform 16 to enable the mobile platform to move 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. Rollers that can roll along the roller slide 17 are installed in the roller fixing frames 22, and the rollers are connected to the roller fixing frames 22 by using the roller rods 24 and roller limiting bolts 23. A mobile platform drive assembly consisting of a second gear 26, a gear fixing block 27 and a second rack 25 is also provided in the middle below the mobile platform 16. Among them, 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 meshes with the second rack 25. Therefore, the motor drives the gear rack structure to drive the upper mobile platform 16 to move horizontally along the roller slide 17 in the second direction, which can adjust the front and rear position of the material 1 and facilitate the subsequent material handling.

[0057] In addition, auxiliary moving components are symmetrically installed on the left and right sides of the mobile platform 16. The auxiliary moving components include a movable platform drive motor 9. The movable platform drive motor 9 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. The mounting plate 10 is a hollow frame structure. The movable platform drive motor 9 is installed in the mounting plate 10, thereby protecting the movable platform drive motor. 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 drive motor 9 is connected to the second drive rod 56, and the second drive rod 56 can drive the first drive 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 drive 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 drive component to achieve smooth movement of the mobile platform 46, and better meet the transportation needs during the storage and retrieval of goods with larger volume and weight.

[0058] Specifically, the material 1 is placed on a material flatbed truck, and a mobile platform slideway 20 along the second direction is fixed on both sides of the top of the mobile platform 16. 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 material storage and retrieval 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 the slider locking mechanism and the cylinder locking mechanism, and double locking is formed on the shelf storage platform through the loading platform slider locking mechanism and the lever assembly.

[0060] Specifically, if Figure 7 、 8 As shown, the left and right sides of the material rack 30 are respectively fixed with a horizontally arranged first material rack pin 28 and a second material rack pin 31. 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 serves as a slider locking mechanism on the mobile loading and unloading intelligent vehicle, and its structure is as follows: Figure 9 As shown, the mobile platform motor locking mechanism 51 includes a limiter frame 32, which is fixed to the top of the mobile platform 16 by a first fixing bolt 35 and a second fixing bolt 37. The limiter frame 32 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. Figure 9 As shown, a parallel first motor frame 33 and a second motor frame 39 are fixedly installed on the side of the limit mechanism frame 32 facing the material frame, and both motor frames are equipped with a driving motor. The ends of the output shafts of the two driving motors are respectively connected to a first locking block 34 and a second locking block 38. A horizontal locking slot 40 is provided on the outside of the motor frame. The first locking block 34 and the second locking block 38 are arranged in the locking slot 40 at a certain interval. The two locking blocks are wedge-shaped structures and can rotate in a single direction in the locking slot under the drive of the driving 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 be used to 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 opposite side of 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 that side detects that it has reached 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 of the time it is locked by the structure itself, saving electricity and energy.

[0063] Specifically, the cylinder locking mechanism is provided 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 is simple in structure and complements the slider locking mechanism: the slider locking mechanism secures cargo within a certain area, preventing accidents even in the event of a power outage due to its reverse locking function. The cylinder locking mechanism reduces the inertia and impact of materials during movement on the mobile intelligent loading and unloading vehicle, effectively preventing them from slipping and falling if the slider locking mechanism fails. While utilizing pulley transmission to reduce energy consumption, simplify maintenance, and enhance scalability, this dual locking mechanism fully ensures the safety of large and heavy cargo during storage.

[0065] Specifically, the shelf storage platform of this embodiment includes multiple layers and multiple rows of shelves, such as Figure 11 、 12As shown, the shelf storage platform includes an outer loading platform connecting frame 41. A lever locking structure is provided on the side of the loading platform connecting frame 41. The lever locking structure includes a lever drive motor 43, which is fixed to the loading platform connecting frame 41 via a lever drive motor fixing frame 42. The output shaft of the lever drive 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 drive motor 49 is fixedly mounted to the lever plate 50 via a lever rotation motor bracket 48. The lever rotation motor 49 is located below the lever plate. Its output shaft is connected to the lever 44, and one end of the lever 44 is rotationally connected to the lever plate 50. In this embodiment, the lever drive motor 43 drives the lead screw 47, which in turn drives the lever 44 to move horizontally via the lever plate 50, causing the lever 44 to move closer to or further 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 on 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 realize that the material flatbed truck can be smoothly moved to the inside and automatically locked in position after being transferred to the shelf storage platform, such as Figure 10 As shown, similar to the mobile platform, the shelf storage platform is provided with a loading platform slide 62, and the material pulley 29 of the material flatbed truck can slide along the loading platform slide 62. The two sides of the shelf storage platform are fixed with a loading platform outer frame 63, combined with Figure 11 As shown, the loading platform outer frame 63 is provided with a loading platform slider locking mechanism, and its structure is similar to Figure 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] Combine 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 driven 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 stuck with the material rack slot 45. At this time, 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 Figure 13 As shown, the locking process between the mobile loading and unloading intelligent vehicle and the shelf loading and unloading platform in this embodiment is as follows: the slider locking mechanism on the mobile platform is locked until the pressure sensor on the surface of the first locking block 34 detects a pressure value that exceeds a set threshold, and the lever pulls the material and the material rack in the opposite direction until the pressure sensor on the second locking block 38 detects a pressure value. The drive motor built into the motor frame is energized, driving the first locking block 34 to rotate and unlock. The cylinder locking mechanism then activates, and the cylinder 18 retracts the cylinder locking pin 21, unlocking the cylinder locking mechanism and allowing the material 1 to be fully moved to the shelf storage platform. Once the material has been moved to the designated location on the shelf storage platform, the first and second material rack pins 32, 36 cooperate with the loading platform slider locking mechanism 46 to lock the material. At this point, the locking motor is de-energized, indicating automatic locking of the structure. This is achieved by pulling the lever during material storage.

[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 to lock the slider locking mechanism and the cylinder locking mechanism. Finally, the goods are picked up by the mobile loading and unloading intelligent vehicle.

[0069] Example 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 Figure 14 As shown, it includes material storage information confirmation, mobile loading and unloading smart car work and shelf storage platform work, among which,

[0071] Material storage information confirmation 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 available shelf in a corresponding weight range according to the weight of the material includes confirming the available 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 the shelf with the closest weight load threshold as the target shelf according to the maximum threshold; if the target shelf is available, selecting a shelf in a larger weight range until an available 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 rises to the designated shelf height, the mobile platform extends toward the shelf, and the mobile platform slide docks with the loading platform slide;

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

[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 vacant information of all shelf sequences, obtaining the weight load threshold of different shelves; judging the threshold to which the cargo weight belongs, and selecting the shelf with the closest weight load threshold as the target shelf based on the maximum threshold; if the target shelf is vacant, 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 mobile loading and unloading intelligent vehicle's operation includes: the mobile loading and unloading intelligent vehicle moves along the ground rail to the corresponding position, the lifting platform frame rises to the designated shelf height; the mobile platform extends toward the shelf, and the mobile platform slide docks with the loading platform slide; the support cylinder extends to support the mobile platform to ensure efficient and smooth material transfer;

[0077] The operation 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 loading 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 intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Those skilled in the art will appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of protection 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. The mobile platform is provided with a cylinder locking mechanism, which 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 slideway of the mobile platform for locking. The mobile platform is provided with a mobile platform slider locking mechanism; The movable platform 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 block; the locking block is a wedge-shaped structure, and pressure sensors are installed on the opposite sides of the two locking blocks. The movable platform slider locking mechanism has a reverse locking function; the material flatbed truck includes a material rack and a material pulley, and material rack pins are fixed on both sides of the material rack, and the material rack pins cooperate with the locking blocks on the movable platform slider locking mechanism to lock; The shelf storage platform is provided with a loading platform slide, and the loading platform slide can be docked with the mobile platform slide; a cargo platform slider locking mechanism is provided on both sides of the shelf storage platform, and the cargo platform slider locking mechanism cooperates with the material rack pin for locking, and the cargo platform slider locking mechanism has a similar structure to the mobile platform slider locking mechanism; 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.

2. The three-dimensional storage system for automatic loading and unloading of goods according to 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 fixed on the lead screw. A lever is rotatably connected to the lever plate.

3. The three-dimensional storage system for automatic loading and unloading of goods according to claim 2, characterized in that: A shift lever rotating motor is provided below the shift lever plate, and an output shaft of the shift lever rotating motor is connected to the shift lever. 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 shift lever.

4. The three-dimensional storage system for automatic loading and unloading of goods according to claim 1, characterized in that: A cylinder support assembly is fixedly installed on the side of the mobile loading and unloading platform. 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. The support block is fixedly connected to the top of the support cylinder. The support block is located below the mobile platform.

5. The three-dimensional storage system for automatic loading and unloading of goods according to claim 1, characterized in that: The mobile loading and unloading platform further comprises a movable platform frame, a roller slide is provided on the movable platform frame, a roller is fixedly provided on the bottom of the mobile platform, and the roller and the roller slide form a rolling pair.

6. A method for operating a three-dimensional storage system for automatic loading and unloading of goods according to any one of claims 1 to 5, characterized in that: Including material storage information confirmation, mobile loading and unloading smart car work and shelf storage platform work, among which, Material storage information confirmation includes: confirming that the cylinder locking mechanism and the mobile platform 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 available shelf in a corresponding weight range according to the weight of the material includes confirming the available 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 the shelf with the closest weight load threshold as the target shelf according to the maximum threshold; if the target shelf is available, selecting a shelf in a larger weight range until an available 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 rises to the designated shelf height, the mobile platform extends toward the shelf, and the mobile platform slide docks with the loading platform slide; The work of the shelf storage platform includes: pulling the materials to the designated shelf and locking the loading platform slider locking mechanism.

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