C-shaped multi-ring rotary stereoscopic warehouse

Abstract

The invention relates to a C-shaped multi-ring rotary stereoscopic warehouse. The existing stereoscopic warehouse has the problem of insufficient space utilization rate. The automatic stacking device comprises a rotary storage cabinet and a stacking robot. The rotary storage cabinet comprises a plurality of rings of C-shaped storage columns which are concentrically arranged and can rotate around the circle center, the horizontal section of each C-shaped storage column is in a C shape, and a notch is formed in one side of each C-shaped storage column and serves as a stacking robot channel. The stacking robot comprises an L-shaped vertical frame, a vertical frame and a telescopic pallet fork, and the telescopic pallet fork is located on the inner side of the vertical frame. The top of the vertical frame can move into each stacking robot channel along a linear rail arranged on the L-shaped vertical frame. The C-shaped storage columns which are concentrically arranged in multiple rings are designed, the storage grids are arranged on the outer wall of each C-shaped storage column and can rotate, the palletizing robot can move to the outer wall of each layer of C-shaped storage column through the transverse beams to store and take goods, the whole space of the cylindrical stereoscopic warehouse is fully utilized, and the space utilization rate of the palletizing robot is improved. And the space utilization rate is further improved.

Description

Technical Field

[0001] The invention relates to a stereoscopic warehouse, in particular to a C-shaped multi-ring rotary stereoscopic warehouse. Background Art

[0002] Traditional storage warehouses are highly dependent on manual operations. Multiple large multi-layer shelves are deployed in the warehouse. The stored items are placed on the shelves and labeled for human identification, which is extremely inefficient. In addition, aisles must be set up between the shelves for manual movement and retrieval, resulting in a large warehouse footprint.

[0003] At present, in order to reduce the floor space of the warehouse and effectively improve the degree of automation of the warehouse, some circular warehouse structures with intelligent control have been proposed. For example, the invention patent with application number 202211707260.3 discloses a cylindrical stereoscopic warehouse, which includes shelves, circular tracks and stackers, wherein the shelves are annular structures, and the circular tracks are arranged on the outer ring of the shelves, including ceiling tracks and ground tracks. The stacker moves along the ceiling tracks and ground tracks, and rotates around the periphery of the shelves to obtain the goods stored in the cargo compartments on the outer walls of the shelves. However, the storage space of this structure is extremely limited, and the cargo compartments are only distributed on the outer walls of the shelves. The space inside the shelves is essentially useless, and the space utilization rate is insufficient.

[0004] Therefore, it is necessary to propose new measures to overcome the above-mentioned defects. Summary of the invention

[0005] The purpose of the present invention is to provide a C-type multi-ring rotary stereoscopic warehouse to solve the problem of insufficient space utilization in the prior art.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] A C-type multi-ring rotary high-rise warehouse, which includes a rotary locker and a stacking robot;

[0008] The rotary storage cabinet comprises a C-shaped storage column which is arranged concentrically in multiple rings and can rotate around the center of the circle. The horizontal cross section of the C-shaped storage column is C-shaped, and one side has a notch which is a passage for the stacking robot.

[0009] The stacking robot comprises an L-shaped frame, a vertical frame and a telescopic fork, wherein the telescopic fork is located on the inner side of the vertical frame; the top of the vertical frame can move to each stacking robot channel along a linear rail provided on the L-shaped frame.

[0010] Furthermore, the L-shaped frame includes a vertical column and a transverse beam on one side of its top, the vertical column is located at the center of the C-shaped storage column, and the linear rail is arranged at the bottom of the transverse beam.

[0011] Further, the transverse beam is located above the rotary locker, and an end of the transverse beam is located above the outer side of the rotary locker.

[0012] Furthermore, the stereoscopic warehouse further comprises a plurality of annular slide rails, and the plurality of annular slide rails are concentrically arranged on the ground;

[0013] A running wheel is provided at the bottom of the C-shaped storage column, and the running wheel moves in the annular slide rail, so that the C-shaped storage column rotates around the center of the circle.

[0014] Furthermore, the bottom end of the vertical frame is higher than the ground.

[0015] Furthermore, the C-shaped storage column includes multiple layers of C-shaped horizontal storage plates, and the multiple layers of horizontal storage plates are connected and supported to each other through vertical support columns.

[0016] Furthermore, the horizontal storage plate is circumferentially divided into a plurality of storage compartments, and the storage compartments are located on the outer wall of the C-shaped storage column.

[0017] Furthermore, a slider is provided at the end of the telescopic fork, a slideway is provided on the vertical frame, and the slider moves vertically along the vertical frame on the slideway, thereby driving the telescopic fork to move vertically.

[0018] Furthermore, there is a gap between radially adjacent C-shaped storage columns.

[0019] Furthermore, the three-dimensional warehouse also includes a delivery trolley;

[0020] A parking space is arranged on the ground at the bottom of the vertical frame, and mutually matching positioning sensing devices are arranged at the bottom of the delivery vehicle and on the parking space.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides a C-shaped multi-ring rotating stereoscopic warehouse, which designs multi-ring concentrically arranged C-shaped storage columns, the outer wall of each C-shaped storage column is provided with storage compartments, and all can rotate. The stacking robot can use the transverse beam to move to the outer wall of the C-shaped storage column on each layer to store and take out goods, thereby making full use of the entire space of the cylindrical stereoscopic warehouse and further improving the space utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a structural diagram of the present invention.

[0025] Figure 2 It is a structural diagram of a rotating locker.

[0026] Figure 3 It is a structural diagram of the L-shaped stand and the stacking robot.

[0027] Figure 4 This is a schematic diagram of the C-shaped storage column being rotated until the notch does not correspond.

[0028] The symbols in the figure are:

[0029] 1-rotating locker, 2-cargo tray, 3-storage grid, 4-stacking robot, 5-ground, 6-stacking robot channel, 7-vertical frame, 8-telescopic fork, 9-L-shaped frame, 10-linear rail, 11-vertical column, 12-transverse beam, 13-first annular slide rail, 14-second annular slide rail, 15-third annular slide rail, 16-first C-shaped storage column, 17-second C-shaped storage column, 18-third C-shaped storage column, 19-first notch, 20-second notch, 21-third notch. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0031] In the description of the present invention, it is necessary to understand that the terms "center of a circle", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connection", "setting", etc. should be understood in a broad sense, for example, it can be fixed connection, setting, or detachable connection, setting, or integral connection, setting. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Meanwhile, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance. Of course, such objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0034] In a specific implementation manner, the area close to the center of the C-shaped storage column is defined as the inner side, and the area far from the center of the C-shaped storage column is defined as the outer side.

[0035] The present invention provides a C-type multi-ring rotary stereoscopic warehouse, which automatically stores and retrieves goods based on intelligent warehousing technology and can meet large-scale storage needs. Specifically, the C-type multi-ring rotary stereoscopic warehouse mainly includes two structures, a rotary storage cabinet 1 and a stacking robot 4.

[0036] The rotary locker 1 comprises a plurality of C-shaped storage columns which are arranged concentrically and can rotate around the same center of a circle. Figure 2 The horizontal cross-section of the C-shaped storage column is C-shaped, with a notch on one side, which is the stacking robot channel 6. The multi-ring C-shaped storage column is ringed layer by layer from the center of the circle to the outside, and the outer diameter of each ring of C-shaped storage column is slightly smaller than the inner diameter of the outer ring of C-shaped storage column, so that there is a certain gap between radially adjacent C-shaped storage columns, which is convenient for relative rotation between C-shaped storage columns. The C-shaped storage column includes multiple layers of C-shaped horizontal storage plates, and the multiple layers of horizontal storage plates are connected and supported by vertical support columns. The horizontal storage plates are circumferentially divided into multiple storage compartments 3, and the storage compartments 3 are located on the outer wall of the C-shaped storage column.

[0037] The three-dimensional warehouse also includes a plurality of annular slide rails, which are concentrically arranged on the ground 5. A running wheel is provided at the bottom of the C-shaped storage column, and the running wheel moves in the annular slide rails, so that the C-shaped storage column rotates around the center of the circle. Figure 4 , the C-shaped storage columns in each ring rotate asynchronously, so that the stacking robot channel 6 is located at different positions.

[0038] The stacking robot 4 includes an L-shaped frame 9, a vertical frame 7 and a telescopic fork 8, wherein the telescopic fork 8 is located inside the vertical frame 7. The top of the vertical frame 7 can move along the linear rail 10 provided on the L-shaped frame 9 to each stacking robot channel 6. Specifically, a sliding wheel can be provided on the top of the vertical frame 7 and inserted into the linear rail 10 provided on the L-shaped frame 9, and the sliding wheel moves laterally in the linear rail 10. Figure 3 The L-shaped frame 9 includes a vertical column 11 and a transverse beam 12 on one side of its top, the vertical column 11 is located at the center of the C-shaped storage column, and the linear rail 10 is arranged at the bottom of the transverse beam 12. A slider is arranged at the end of the telescopic fork 8, and a slideway is arranged on the vertical frame 7. The slider moves vertically along the vertical frame 7 on the slideway, thereby driving the telescopic fork 8 to move vertically.

[0039] The end surface of the telescopic fork 8 is made of rubber material, which is convenient for taking out and fixing the goods. The vertical frame 7 adopts a frame structure, and can also adopt a scissor truss structure or a gear rack structure.

[0040] The stacking robot 4 cooperates with the rotary locker 1, and the components of each other should be arranged reasonably. The transverse beam 12 is located above the rotary locker 1, and the end of the transverse beam 12 is located above the outer side of the rotary locker 1. The bottom end of the vertical frame 7 is higher than the ground 5.

[0041] In addition, the three-dimensional warehouse also includes a delivery trolley. A parking space is provided on the ground 5 at the bottom of the vertical frame 7, and mutually matching positioning sensing devices are provided at the bottom of the delivery trolley and on the parking space.

[0042] The warehouse operation of the present invention is controlled by the information control center, which can control the rotation angle of the C-shaped storage column, count the type, quantity, and specific location of the items stored in each storage compartment, transmit information to the stacking robot, delivery cart, etc., and coordinate the rotation relationship between the rotating C-shaped storage columns to control the entire process of storing and accessing goods. At the same time, the relevant information of each product, such as the specific image, weight of the product, storage and access time, etc., is recorded to achieve informatization, digitization, and intelligence.

[0043] The C-type multi-ring rotary stereoscopic warehouse of the present invention can be designed with different numbers of rings and different sizes (diameters) of C-shaped storage columns according to different space sizes and different actual needs. The following is a detailed description of the structural composition and operation process of the invention using an embodiment of a C-type three-ring rotary stereoscopic warehouse.

[0044] Example:

[0045] like Figure 1-4 In this embodiment, the rotary storage cabinet 1 includes three concentrically arranged C-shaped storage columns, which are the first C-shaped storage column 16, the second C-shaped storage column 17 and the third C-shaped storage column 18 from the center of the circle. The first C-shaped storage column 16 has a first notch 19, the second C-shaped storage column 17 has a second notch 20, and the third C-shaped storage column 18 has a third notch 21. The notches allow the stacking robot to move freely laterally.

[0046] Correspondingly, three annular rails are arranged on the ground 5, namely, a first annular rail 13, a second annular rail 14 and a third annular rail 15. The first C-shaped storage column 16 has running wheels at the bottom and moves in a circular direction in the first annular rail 13, the second C-shaped storage column 17 has running wheels at the bottom and moves in a circular direction in the second annular rail 14, and the third C-shaped storage column 18 has running wheels at the bottom and moves in a circular direction in the third annular rail 15.

[0047] The running wheel at the bottom of the C-shaped storage column is equipped with a driving device to control it to move to a specified position in the annular slide rail. The telescopic fork 8 is equipped with a driving device to control it to extend or retract horizontally. The slider at the end of the telescopic fork 8 is equipped with a driving device to control it to move up and down to a specified height. The sliding wheel at the top of the vertical frame 7 is equipped with a driving device to control it to move in the linear rail 10.

[0048] The delivery trolley is equipped with a weighing system, a camera and an operating host. The operating host is equipped with an RFID card reader, which uses a combination of RFID electronic tags and weighing to identify different items. In addition, technical means such as QR code recognition or image recognition can also be used. The top of the delivery trolley can carry a cargo tray 2. The delivery trolley and the parking space can be positioned by magnetic induction alignment, or by infrared alignment, laser alignment or visual calibration recognition.

[0049] The storage compartments are located on the outside of the C-shaped storage pillars, and each storage compartment can accommodate one item of cargo.

[0050] When the goods need to be stored in the designated storage compartment, first put the goods into the cargo tray 2, and the delivery trolley carrying the cargo tray 2 moves to the parking space near the vertical frame 7. The positioning sensing device at the bottom of the delivery trolley stops when it senses the parking space. Next, the telescopic fork 8 moves down to the bottom of the vertical frame 7, extends and lifts the cargo tray 2 to the top of the fork, and then moves upward to the height of the designated storage compartment. If the designated storage compartment is located at the second C-shaped storage column 17, rotate the third C-shaped storage column 18 so that the third notch 21 faces the vertical frame 7, and then rotate the second C-shaped storage column 17 so that the designated storage compartment faces the vertical frame 7. Finally, move the vertical frame 7 radially along the transverse beam 12 into the third notch 21. At this time, the telescopic fork 8 faces the designated storage compartment, extends and places the cargo tray 2 into the designated storage compartment.

[0051] The process of taking out goods from the designated storage compartment is the opposite of the process of storing goods described above.

[0052] The fully automated process is:

[0053] After the staff issues the order to take out the goods, the control system determines the location of the goods through the warehousing information, that is, which specific storage compartment the goods are located in, and controls the corresponding C-shaped storage column to rotate. The storage compartment containing the goods is rotated to a position directly opposite the vertical frame 7, and the gap of the C-shaped storage column on its outer ring is rotated to a position directly opposite the vertical frame 7. The vertical frame 7 passes through the gap to the designated storage compartment, adjusts the height of the fork, and extends the fork to take out the goods. Finally, the stacking robot delivers the goods to the top of the delivery cart located in the parking space. After that, the stacking robot returns to the top and waits for the next instruction.

[0054] This embodiment adopts the outside pickup mode. In other embodiments, according to different needs, the warehouse can be designed as an inside and outside single-layer pickup method, an inside and outside double-sided pickup method, or a wall-embedded structure.

[0055] The present invention expands the storage capacity of the warehouse within a limited space, greatly saves the channel space required for storing and retrieving items, can significantly improve space utilization, and reduce the space required for storing goods by 60%. Combined with intelligent equipment such as stacking robots and delivery carts, goods can be automatically stored and retrieved from the warehouse, effectively improving work efficiency, reducing labor intensity, and being safe and efficient. The staff only needs to input the required goods, and the stacking robot can automatically sort the required items and deliver them to the designated location through the delivery cart. By binding RFID electronic tags to the goods and setting a card reader on the delivery cart, automatic registration of the storage and retrieval of goods is realized, and the image data is retained by the camera, which effectively reduces the labor intensity of personnel and avoids the error-prone problems caused by manual operation.

[0056] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. C-type multi-ring rotary warehouse, characterized by: The three-dimensional warehouse comprises a rotary storage cabinet (1) and a stacking robot (4); The rotary storage cabinet (1) comprises a plurality of C-shaped storage columns which are arranged concentrically and can rotate around the center of the circle, wherein the horizontal cross section of the C-shaped storage column is C-shaped and has a notch on one side, which is a stacking robot passage (6); The stacking robot (4) comprises an L-shaped frame (9), a vertical frame (7) and a telescopic fork (8), wherein the telescopic fork (8) is located on the inner side of the vertical frame (7); the top of the vertical frame (7) can move along a linear rail (10) provided on the L-shaped frame (9) into each of the stacking robot channels (6).

2. The C-type multi-ring rotary stereoscopic warehouse according to claim 1 is characterized in that: The L-shaped frame (9) comprises a vertical column (11) and a transverse beam (12) on one side of its top, wherein the vertical column (11) is located at the center of the C-shaped storage column, and the linear rail (10) is arranged at the bottom of the transverse beam (12).

3. The C-type multi-ring rotary stereoscopic warehouse according to claim 2 is characterized in that: The transverse beam (12) is located above the rotary locker (1), and the end of the transverse beam (12) is located above the outer side of the rotary locker (1).

4. The C-type multi-ring rotary stereoscopic warehouse according to claim 3 is characterized in that: The three-dimensional warehouse further comprises a plurality of annular slide rails, wherein the plurality of annular slide rails are concentrically arranged on the ground (5); A running wheel is provided at the bottom of the C-shaped storage column, and the running wheel moves in the annular slide rail, so that the C-shaped storage column rotates around the center of the circle.

5. The C-type multi-ring rotary stereoscopic warehouse according to claim 4 is characterized in that: The bottom end of the vertical frame (7) is higher than the ground (5).

6. The C-type multi-ring rotary stereoscopic warehouse according to claim 5 is characterized in that: The C-shaped storage column includes multiple layers of C-shaped horizontal storage plates, and the multiple layers of horizontal storage plates are connected and supported to each other through vertical support columns.

7. The C-type multi-ring rotary stereoscopic warehouse according to claim 6 is characterized in that: The horizontal storage plate is divided into a plurality of storage compartments (3) in a circular direction, and the storage compartments (3) are located on the outer wall of the C-shaped storage column.

8. The C-type multi-ring rotary stereoscopic warehouse according to claim 7 is characterized in that: A slider is provided at the end of the telescopic fork (8), and a slideway is provided on the vertical frame (7). The slider moves vertically along the vertical frame (7) on the slideway, thereby driving the telescopic fork (8) to move vertically.

9. The C-type multi-ring rotary stereoscopic warehouse according to claim 8, characterized in that: There is a gap between the radially adjacent C-shaped storage columns.

10. The C-type multi-ring rotary stereoscopic warehouse according to claim 9, characterized in that: The three-dimensional warehouse also includes a delivery trolley; A parking space is provided on the ground (5) at the bottom of the vertical frame (7), and mutually matching positioning sensing devices are provided at the bottom of the delivery vehicle and on the parking space.

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