Automatic stereoscopic warehouse

Abstract

The invention discloses an automatic stereoscopic warehouse, and relates to the technical field of stereoscopic warehouses, the automatic stereoscopic warehouse comprises a warehouse and a goods shelf mechanism, the goods shelf mechanism comprises supports, the three supports are transversely arranged in the warehouse at equal intervals, and the space between every two adjacent supports is a stacking passage; a plurality of goods placing long plates which are longitudinally distributed are vertically arranged on each support at equal intervals, goods box placing positions are longitudinally arranged on each goods placing long plate at equal intervals, and first bottom support grooves are formed in the positions, corresponding to the centers of the goods box placing positions, of the goods placing long plates; the automatic stereoscopic warehouse further comprises a cargo box lifting and overturning mechanism, a cargo box roll shaft conveying mechanism and a cargo location alignment moving mechanism, the cargo box lifting and overturning mechanism comprises a lifting circulating conveying assembly, a cargo box bearing assembly and an overturning limiting assembly, and the lifting circulating conveying assembly is installed on the front side of the middle support. Goods storage or goods taking operation of a plurality of containers can be rapidly and efficiently completed, and the storage and taking efficiency of the containers can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of stereoscopic warehouses, in particular to an automated stereoscopic warehouse. Background Art

[0002] At present, the automated three-dimensional warehouse is a new concept in logistics warehousing. The use of three-dimensional warehouse equipment can realize the rationalization of warehouse high-rise, automatic storage and retrieval, and simplified operation; in the existing technology, the automated three-dimensional warehouse generally uses a stacker to travel through the lanes between the shelves to complete the storage and retrieval of goods. The stacker completes the storage and retrieval operation of one cargo box at a time, which has low efficiency in picking and placing cargo boxes. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide an automated three-dimensional warehouse that can quickly and efficiently complete the storage or retrieval operations of multiple cargo boxes, which is conducive to improving the storage and retrieval efficiency of the cargo boxes and can effectively solve the problems in the background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automated stereoscopic warehouse, comprising a warehouse and a shelf mechanism, wherein the shelf mechanism comprises a bracket, wherein three brackets are arranged horizontally and equidistantly in the warehouse, and the space between two adjacent brackets is a stacking aisle, wherein each bracket is provided with a plurality of longitudinally distributed long boards for placing goods at equal distances in the vertical direction, wherein each long board for placing goods is provided with cargo box placement positions at equal distances in the vertical direction, and a bottom support groove 1 is respectively provided on the long board for placing goods at positions corresponding to the centers of the cargo box placement positions, and further comprising: The cargo box lifting and flipping mechanism includes a lifting and circulating conveying component, a cargo box supporting component and a flipping limiting component. The lifting and circulating conveying component is installed on the front side of the middle bracket, and the cargo box supporting component is installed at an equal distance on the lifting and circulating conveying component. The flipping limiting component is installed on the front top of the middle bracket; There are two cargo box roller conveyor mechanisms, which are respectively installed in front of the two stacking aisles; The cargo position alignment movable mechanism is installed in the stacking aisle at a position corresponding to the bottom of the long cargo board. The cargo position alignment movable mechanism is installed with a steering mechanism for picking up and placing cargo boxes. The steering mechanism for picking up and placing cargo boxes is installed with a feeding mechanism for picking up and placing cargo boxes. The feeding mechanism for picking up and placing cargo boxes is installed with a cargo box picking and placing mechanism.

[0005] The stacking aisle is used to install the cargo position alignment movable mechanism, and each cargo box placement position on the cargo long board can place a cargo box. When the lifting and circulating conveying assembly runs counterclockwise, the cargo box roller conveying mechanism on the left is used to convey the cargo box forward, and the cargo box is transferred out from the front side of the warehouse, while the cargo box roller conveying mechanism on the right is used to convey the cargo box backward, and the cargo box is sent into the warehouse from the front side of the warehouse. The lifting and circulating conveying assembly is used to drive the reciprocating activities of each cargo box supporting assembly. Cargo boxes can be placed on the cargo box supporting assembly. Through the operation of the lifting and circulating conveying assembly, the cargo boxes on the cargo box supporting assembly can be driven to lift up or drop down. The flip limit assembly limits the front and rear sides of the cargo box passing through the top of the lifting and circulating conveying assembly to prevent the cargo box from passing through the top of the lifting and circulating conveying assembly The cargo position alignment movable mechanism, the cargo box picking and placing steering mechanism, the cargo box picking and placing feeding mechanism and the cargo box picking and placing mechanism cooperate to transfer the cargo box from the cargo box supporting assembly to the cargo box placement position, thereby realizing the storage operation of the cargo box, and also can transfer the cargo box from the cargo box placement position to the cargo box supporting assembly, thereby realizing the removal operation of the cargo box.

[0006] Furthermore, the lifting circulation conveying assembly includes a support frame and a power motor, a vertical support frame is installed on the front side of the middle bracket, the top of the support frame is rotatably connected to a driven shaft, the bottom of the support frame is rotatably connected to a driving shaft, the front ends of the driving shaft and the driven shaft are respectively fixedly connected to lifting sprockets, the two lifting sprockets are connected by a lifting chain, the rear end of the driving shaft is fixedly connected to the output shaft of the power motor, and the power motor is installed at the bottom of the support frame through a motor seat. The motor seat is used to install the power motor, the power motor drives the driving shaft to rotate counterclockwise when it works, and the driving shaft drives the lifting chain to run counterclockwise through the cooperation of the two lifting sprockets and the driven shaft.

[0007] Furthermore, the cargo box supporting assembly includes a cargo box pallet, a rectangular roller groove, a bottom support groove II and a limit clamping plate. A plurality of mounting seats are equidistantly arranged on the outside of the lifting chain, each mounting seat is connected to a mounting block via a pin shaft, two limit clamping plates are fixedly connected to the two sides of each mounting block, the two limit clamping plates respectively clamp the outside of the lifting chain, one end of each mounting block away from the lifting chain is fixedly connected to a cargo box pallet, a plurality of rectangular roller grooves are longitudinally equidistantly provided on the side of each cargo box pallet away from the lifting chain, and two longitudinally distributed bottom support grooves II are respectively provided on the upper and lower sides of each cargo box pallet. The mounting seat, pin shaft and mounting block are used to install the cargo box pallet on the chain links of the lifting chain. The two limit and clamping plates on the mounting block allow the cargo box pallets on both sides of the lifting chain to be in a horizontal state. At this time, the cargo box can be stably placed on the upper side of the cargo box pallet. In order to keep the cargo box pallet in a stable horizontal state, the lifting chain needs to be tightened, and the two limit and clamping plates also need to be pressed against the outside of the lifting chain. The rectangular roller groove is convenient for cooperating with the cargo box roller conveying mechanism, so that the cargo box on the right side of the cargo box roller conveying mechanism can be quickly transferred to the cargo box pallet on the right side of the lifting chain as the lifting circulation conveying component operates, and the cargo box on the cargo box pallet on the left side of the lifting chain can be quickly transferred to the cargo box roller conveying mechanism on the left side as the lifting circulation conveying component operates.

[0008] Furthermore, the flip limit assembly includes an arc flip limit plate and a U-shaped anti-slip baffle. Two arc flip limit plates are respectively provided on the front and rear sides of the top of the lifting chain. The center of the circle where the arc flip limit plate is located coincides with the axis of the driven shaft. The left and right ends of the two arc flip limit plates are respectively connected by two U-shaped anti-slip baffles, and the rear arc flip limit plate is installed on the front top of the middle bracket. As the lifting and circulating conveying assembly operates, the cargo box on the cargo box pallet on the right side of the lifting chain will gradually reach the top of the lifting chain, and then pass over the top of the lifting chain and fall to the upper side of the cargo box pallet on the top left. At this time, the cargo box will be flipped over. In order to prevent the cargo box from falling from the front and back sides of the top of the lifting chain, two arc flip limit plates are set to limit the front and back sides of the cargo box. In order to prevent the cargo box from falling from the outer edge of the cargo box pallet due to inertia after being flipped, two U-shaped anti-slip baffles are set, thereby limiting the cargo box that passes over the top of the lifting chain, so that the cargo box can accurately fall onto the cargo box pallet on the upper left side of the lifting chain after passing over the top of the lifting chain.

[0009] Furthermore, the cargo box roller conveying mechanism includes a conveying frame, a conveying roller, and a same-direction rotating component. Two conveying frames are respectively arranged in front of the two stacking aisles. The conveying frames are at the same height as the driving shaft. A notch is respectively opened on the side of the rear end of each conveying frame close to the lifting chain. The cargo box pallets located on both sides of the lifting chain are respectively arranged to correspond to the notches on the two conveying frames up and down, and a plurality of laterally distributed conveying rollers are connected to the conveying frame at equal longitudinal distances, and the conveying rollers are connected to the same-direction rotating component, and the conveying rollers at the rear end of the conveying frame are arranged to correspond to the rectangular roller grooves. The conveying frame is used to install conveying rollers and same-direction rotating components. The same-direction rotating components are used to drive each conveying roller in the conveying frame to rotate in the same direction, thereby realizing stable conveying of cargo boxes. The conveying rollers in the left cargo box roller conveying mechanism all rotate counterclockwise synchronously, and the conveying rollers in the right cargo box roller conveying mechanism all rotate clockwise synchronously. The gap is used to allow the cargo box pallet on the lifting chain to pass through. When the cargo box pallet passes through the gap, the rectangular roller groove on the cargo box pallet just corresponds to the conveying roller at the rear end of the conveying frame. At this time, the cargo box located at the rear end of the right conveying frame is lifted up by the cargo box pallet rising from the right bottom of the lifting chain for storing the cargo box. The cargo box on the cargo box pallet descending on the left side of the lifting chain will fall to the rear end of the left conveying frame and be supported by the conveying roller bearing at the rear end of the left conveying frame. Then, it is conveyed forward by the conveying roller at the rear end of the left conveying frame for taking out the cargo box.

[0010] Furthermore, the cargo box roller conveying mechanism also includes an end baffle, a side baffle and a transverse adjustment assembly. An end baffle is arranged on the upper side of the rear end of each conveying box, and two longitudinal side baffles are respectively arranged on the upper left and right sides of each conveying box, and the two side baffles are respectively connected to two transverse adjustment assemblies. The end baffle is used to limit the rear side of the cargo box transported on the conveying roller, especially for the cargo box roller conveying mechanism on the right side. When the cargo box roller conveying mechanism on the right side conveys the cargo box backward, the cargo box can no longer move backward after hitting the end baffle on the rear side. The transverse adjustment component is used to change the left and right positions of the two side baffles. The two side baffles are used to limit the two sides of the cargo box to keep the orientation stable during the forward and backward movement of the cargo box. The side baffle close to the notch is shorter, and the rear end of the side baffle close to the notch corresponds to the front end of the notch. The front ends of the two side baffles are opened to both sides, which is convenient for placing goods on the conveying roller at the front end of the cargo box roller conveying mechanism on the right side. As the conveying roller in the cargo box roller conveying mechanism on the right side transfers the cargo box backward, due to the guidance of the front ends of the two side baffles, the goods are neatly placed between the two side baffles.

[0011] Furthermore, the cargo position alignment movable mechanism includes a slide rail support frame, a slide rail, an alignment movable plate, a slide seat and a longitudinal linear power assembly. The positions corresponding to the bottom of each cargo placement long board in each stacking aisle are respectively installed with a slide rail support frame, and two longitudinal slide rails are installed on each slide rail support frame. Four slide seats are respectively installed at the four corners of the bottom of the alignment movable plate, and the slide seats are slidably connected to the corresponding slide rails at the bottom, and the bottom of the alignment movable plate is connected to the longitudinal linear power assembly. The slide rail support frame is used to install the slide rail and the longitudinal linear power assembly. The alignment movable plate can move forward and backward along the slide rail through the slide seat. The longitudinal linear power assembly is used to drive the alignment movable plate to move forward and backward along the slide rail. Each time the alignment movable plate stops, it will correspond to a cargo box placement position.

[0012] Furthermore, the steering mechanism for picking up and placing the cargo box includes a steering motor and a steering plate. The steering motor is installed at the bottom center of the alignment movable plate. The output shaft at the top of the steering motor passes through the middle of the alignment movable plate and is fixedly connected to the bottom center of the steering plate. The upper side of the steering plate is flush with the upper side of the corresponding long cargo placement board. The steering motor drives the steering plate to rotate relative to the alignment movable plate, thereby changing the direction of the feeding mechanism for picking up and placing the cargo box and the cargo box picking and placing mechanism, so that the feeding mechanism for picking up and placing the cargo box and the cargo box picking and placing mechanism face the upper side of the corresponding cargo box pallet or the corresponding cargo box placement position. Each time the power motor stops working, the upper side of each cargo box pallet on both sides of the lifting chain is flush with the upper side of the corresponding steering plate.

[0013] Furthermore, the feeding mechanism for picking up and placing the cargo box includes a bottom support groove three, a longitudinal slide groove, a feed cross plate, a support frame and a feed power assembly. A longitudinal bottom support groove three is respectively opened in the middle of each steering plate, and a longitudinal slide groove is respectively opened in the middle of each bottom support groove three. A feed cross plate is connected to the longitudinal slide groove through a feed power assembly, and a support frame is respectively connected to the position of the bottom of each feed cross plate corresponding to the bottom support groove three, and the upper side of the support frame is flush with the upper side of the steering plate. The feeding power assembly is used to drive the feeding cross plate to move along the longitudinal slide groove. When the longitudinal slide groove is toward the cargo box pallet, the bottom support groove three on the steering plate is corresponding to the bottom support groove two on the upper side of the cargo box pallet front and back. The feeding power assembly drives the feeding cross plate to move forward, and the support frame moves forward in the bottom support groove three until the front end of the support frame is inserted into the bottom support groove two. At this time, the support frame is used to block the gap between the steering plate and the cargo box pallet to prevent the gap here from interfering with the transfer of the cargo box between the steering plate and the upper side of the cargo box pallet; when the longitudinal slide groove is toward the cargo box placement position, the bottom support groove three on the steering plate is corresponding to the bottom support groove one on the cargo long board left and right. The feeding power assembly drives the feeding cross plate to move left and right until the support frame is inserted into the corresponding bottom support groove one. At this time, the support frame is used to block the gap between the steering plate and the cargo long board to prevent the gap here from interfering with the transfer of the cargo box between the steering plate and the cargo box placement position.

[0014] Furthermore, the cargo box picking and placing mechanism includes a clamping plate, an electric roller and an opposite shift control component. Each feed cross plate is connected to the rear ends of the two clamping plates through the opposite shift control component. The front ends of the two clamping plates are respectively provided with roller mounting grooves, and vertical electric rollers are respectively installed in each roller mounting groove. When the feed power component drives the feed cross plate to approach the cargo box, the opposite shift control component needs to control the two clamping plates to move away from each other, and then the feed power component controls the feed cross plate to stop, and then the opposite shift control component controls the two clamping plates to move closer to each other, so as to complete the clamping of the cargo box. If the cargo box is not completely between the two clamping plates, the two electric rollers rotate in opposite directions, and the friction between the electric rollers and the two sides of the cargo box allows the cargo box to completely enter the space between the two clamping plates. At this time, the feed power component drives the feed cross plate to move, so that the cargo box between the two clamping plates gradually moves to the positive position of the steering plate. Above, the cargo box can be transferred from the cargo box placement position to the steering plate, and also from the cargo box pallet to the steering plate. If the two electric rollers rotate in opposite directions, the friction between the electric rollers and the two sides of the cargo box can be used to allow the cargo box to move outward from between the two clamping plates, so that the cargo box can be transferred from the steering plate to the cargo box placement position, and also from the steering plate to the cargo box pallet. Therefore, the cargo position alignment movable mechanism, the steering mechanism for cargo box picking and placing, the feeding mechanism for cargo box picking and placing, and the cargo box picking and placing mechanism cooperate to realize the transfer of goods between the cargo box placement position and the cargo box pallet.

[0015] Compared with the existing technology, the beneficial effects of this automated warehouse are: 1. The cargo position alignment movable mechanism is used to drive the steering mechanism for picking up and placing the cargo box to move back and forth in the stacking aisle. The steering mechanism for picking up and placing the cargo box is used to drive the feeding mechanism for picking up and placing the cargo box to rotate, and change the orientation of the feeding mechanism for picking up and placing the cargo box and the cargo box picking up and placing mechanism. The feeding mechanism for picking up and placing the cargo box is used to drive the cargo box picking up and placing mechanism to move, so that the cargo box picking up and placing mechanism can clamp the cargo box on the cargo box supporting assembly or the cargo box on the cargo box placement position. The cargo position alignment movable mechanism, the steering mechanism for picking up and placing the cargo box, the feeding mechanism for picking up and placing the cargo box and the cargo box picking up and placing mechanism can cooperate to transfer the cargo box from the cargo box supporting assembly to the cargo box placement position to realize the storage operation of the cargo box, and can also transfer the cargo box from the cargo box placement position to the cargo box supporting assembly to realize the removal operation of the cargo box.

[0016] 2. The automated stereoscopic warehouse can transfer multiple cargo boxes to the upper side of the cargo box pallet on the lifting chain through the cargo box roller conveyor mechanism on the right side, and can transfer these cargo boxes to the cargo box placement position with the help of multiple sets of cargo position alignment movable mechanisms, cargo box picking and placing steering mechanisms, cargo box picking and placing feeding mechanisms and cargo box picking and placing mechanisms to complete the inventory operation. At the same time, multiple cargo boxes at the cargo box placement position can also be transferred to the upper side of the cargo box pallet on the lifting chain, and then multiple cargo boxes can be taken out with the help of the cargo box roller conveyor mechanism on the left side, so that the inventory or picking operations of multiple cargo boxes can be completed quickly and efficiently, which is conducive to improving the storage and retrieval efficiency of cargo boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the automated three-dimensional warehouse of the present invention; Figure 2 The local structure of the automated warehouse of the present invention is shown in FIG. Figure 1 ; Figure 3 The local structure of the automated warehouse of the present invention is shown in FIG. Figure 2 ; Figure 4 The local structure of the automated warehouse of the present invention is shown in FIG. Figure 4 ; Figure 5 The present invention is an automated three-dimensional warehouse Figure 4 A schematic diagram of the partially enlarged structure at center A; Figure 6 It is a structural schematic diagram of a cargo position alignment movable mechanism and a cargo box picking and placing steering mechanism in an automated three-dimensional warehouse of the present invention; Figure 7 It is a schematic diagram of the rear structure of the cargo box lifting and flipping mechanism in the automated stereoscopic warehouse of the present invention; Figure 8 The present invention is an automated three-dimensional warehouse Figure 7 A schematic diagram of the partially enlarged structure at B in the middle; Fig. 9 It is a structural schematic diagram of a roller conveying mechanism for a cargo box in an automated stereoscopic warehouse of the present invention; Fig.10 It is a schematic diagram of the bottom structure of the roller conveying mechanism of the cargo box in the automated stereoscopic warehouse of the present invention; In the figure: 1 warehouse, 2 shelf mechanism, 21 bracket, 22 long board for placing goods, 23 arc groove, 24 bottom support groove 1, 3 cargo box lifting and flipping mechanism, 31 support frame, 32 driven shaft, 33 driving shaft, 34 power motor, 35 motor seat, 36 lifting sprocket, 37 lifting chain, 38 mounting seat, 39 pin shaft, 310 mounting block, 311 cargo box pallet, 312 rectangular roller shaft groove, 313 bottom support groove 2, 314 limit pressing plate, 315 arc flip limit plate, 316 U-shaped anti-slip baffle, 4 cargo box roller conveying mechanism, 41 conveying frame, 42 conveying roller, 43 driven sprocket, 44 conveying motor, 45 driving sprocket, 46 conveying chain, 47 end baffle, 48 side baffle, 49 support plate, 410 bottom frame, 411 horizontal axis, 412 fastening screw, 5 cargo position alignment movable mechanism, 51 slide rail support frame, 52 slide rail, 53 linear motor guide rail, 54 alignment movable plate, 55 slide seat, 56 linear motor, 6 cargo box pick-up and placement rotary Steering mechanism, 61 steering motor, 62 steering plate, 7 feeding mechanism for picking up and placing cargo boxes, 71 bottom support groove three, 72 longitudinal slide, 73 longitudinal screw, 74 longitudinal slider, 75 longitudinal movement screw nut, 76 feeding motor, 77 feeding cross plate, 78 support frame, 8 cargo box picking and placing mechanism, 81 cross slide, 82 bidirectional screw, 83 cross slider, 84 cross movement screw nut, 85 picking and discharging motor, 86 moving plate, 87 clamping plate, 88 electric roller, 89 rubber sleeve, 9 arc trough body. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] For example, see Figures 1 to 10 , this embodiment provides a technical solution: an automated stereoscopic warehouse, including a warehouse 1 and a shelf mechanism 2, the shelf mechanism 2 includes a bracket 21 and a long cargo board 22, three brackets 21 are arranged horizontally and equidistantly in the warehouse 1, and the space between two adjacent brackets 21 is a stacking aisle, and each bracket 21 is respectively provided with a plurality of longitudinally distributed long cargo boards 22 at equal distances vertically, and the specific number of the long cargo boards 22 can be selected according to actual needs, and each long cargo board 22 is respectively provided with a cargo box placement position at equal distances longitudinally, and the cargo box placement long board 22 is respectively provided with a bottom support groove 24 at the position corresponding to the center of each cargo box placement position, and also includes a cargo box lifting and flipping mechanism 3, a cargo box roller conveying mechanism 4 and a cargo position alignment movable mechanism 5; The cargo box lifting and flipping mechanism 3 includes a lifting and circulating conveying component, a cargo box supporting component and a flipping limiting component. The lifting and circulating conveying component is installed on the front side of the middle bracket 21, and the cargo box supporting component is installed at an equal distance on the lifting and circulating conveying component. The flipping limiting component is installed on the front top of the middle bracket 21; The lifting circulation conveying assembly includes a support frame 31, a driven shaft 32, a driving shaft 33, a power motor 34, a motor seat 35, a lifting sprocket 36 and a lifting chain 37. A vertical support frame 31 is installed on the front side of the middle bracket 21. The top of the support frame 31 is rotatably connected to the driven shaft 32, and the bottom of the support frame 31 is rotatably connected to the driving shaft 33. The front ends of the driving shaft 33 and the driven shaft 32 are respectively fixedly connected to the lifting sprocket 36. The two lifting sprockets 36 are connected by the lifting chain 37. The rear end of the driving shaft 33 is fixedly connected to the output shaft of the power motor 34. The power motor 34 is installed at the bottom of the support frame 31 through the motor seat 35. The motor seat 35 is used to install the power motor 34. The power motor 34 drives the driving shaft 33 to rotate counterclockwise when it works. The driving shaft 33 drives the lifting chain 37 to run counterclockwise through the cooperation of the two lifting sprockets 36 and the driven shaft 32.

[0020] The cargo box supporting assembly includes a mounting seat 38, a pin 39, a mounting block 310, a cargo box pallet 311, a rectangular roller shaft through groove 312, a bottom support groove 2 313 and a limit pressing plate 314. A plurality of mounting seats 38 are arranged at equal distances on the outside of the lifting chain 37. The number of mounting seats 38 is selected as needed. Each mounting seat 38 is connected to a mounting block 310 through a pin 39. Two sides of each mounting block 310 are fixedly connected to two limit pressing plates 314. The two limit pressing plates 314 are respectively The mounting blocks 310 are respectively pressed against the outer sides of the lifting chains 37, and one end of each mounting block 310 away from the lifting chains 37 is respectively fixedly connected to a cargo box pallet 311, and the distance between two adjacent cargo box pallets 311 is greater than the height of the cargo box, and a plurality of rectangular roller slots 312 are respectively longitudinally and equidistantly provided on one side of each cargo box pallet 311 away from the lifting chains 37, and the number of the rectangular roller slots 312 can be specifically set to four, and two longitudinally distributed bottom support grooves 313 are respectively provided on the upper and lower sides of each cargo box pallet 311. The mounting seat 38, the pin shaft 39, and the mounting block 310 are used to mount the cargo box pallet 311 on the chain links of the lifting chain 37. The two limit and clamping plates 314 on the mounting block 310 allow the cargo box pallets 311 on both sides of the lifting chain 37 to be in a horizontal state. At this time, the cargo box can be stably placed on the upper side of the cargo box pallet 311. In order to keep the cargo box pallet 311 in a stable horizontal state, the lifting chain 37 needs to be tightened, and the two limit and clamping plates 314 also need to be pressed against the outer side of the lifting chain 37. The rectangular roller groove 312 is conveniently matched with the cargo box roller conveying mechanism 4, so that the cargo box on the right cargo box roller conveying mechanism 4 can be quickly transferred to the cargo box pallet 311 on the right side of the lifting chain 37 as the lifting circulation conveying assembly operates, and the cargo box on the cargo box pallet 311 on the left side of the lifting chain 37 can be quickly transferred to the cargo box roller conveying mechanism 4 on the left side as the lifting circulation conveying assembly operates.

[0021] As the lifting chain 37 moves, the cargo box pallet 311 located below the lifting chain 37 can easily contact the ground of the warehouse 1. Therefore, an arc groove 9 is provided at a position of the ground in the warehouse 1 corresponding to the lifting chain 37. The cargo box pallet 311 below the lifting chain 37 is in the arc groove 9 and will not come into frictional contact with the ground. Therefore, the cargo box pallet 311 below the lifting chain 37 will not be damaged.

[0022] The flip limit assembly includes an arc flip limit plate 315 and a U-shaped anti-slip baffle 316. Two arc flip limit plates 315 are respectively provided on the front and rear sides of the top of the lifting chain 37. The center of the circle where the arc flip limit plate 315 is located coincides with the axis of the driven shaft 32. The left and right ends of the two arc flip limit plates 315 are respectively connected by two U-shaped anti-slip baffles 316, and the rear arc flip limit plate 315 is installed on the front top of the middle bracket 21. As the lifting and circulating conveying assembly operates, the cargo box on the cargo box pallet 311 on the right side of the lifting chain 37 will gradually reach the top of the lifting chain 37, and then pass over the top of the lifting chain 37 and fall to the upper side of the cargo box pallet 311 on the left top. At this time, the cargo box will be turned over. In order to prevent the cargo box from falling from the front and back sides of the top of the lifting chain 37, two arc turning limit plates 315 are set to limit the front and back sides of the cargo box. In order to prevent the cargo box from falling from the outer edge of the cargo box pallet 311 due to inertia after the flip, two U-shaped anti-slip baffles 316 are set, thereby limiting the cargo box that passes over the top of the lifting chain 37, so that the cargo box can pass over the top of the lifting chain 37 and accurately fall on the cargo box pallet 311 on the upper left side of the lifting chain 37.

[0023] There are two cargo box roller conveyor mechanisms 4, and the two cargo box roller conveyor mechanisms 4 are respectively installed in front of the two stacking aisles; The cargo box roller conveying mechanism 4 includes a conveying frame 41, a conveying roller 42, and a same-direction rotating component. Two conveying frames 41 are respectively arranged in front of the two stacking aisles. The conveying frame 41 is at the same height as the driving shaft 33. A notch is respectively opened on the side of the rear end of each conveying frame 41 close to the lifting chain 37. The cargo box pallets 311 located on both sides of the lifting chain 37 are respectively arranged correspondingly to the notches on the two conveying frames 41, and the conveying frame 41 is longitudinally equidistantly connected to a plurality of laterally distributed conveying rollers 42. The number of conveying rollers 42 is selected according to needs, and the conveying rollers 42 are connected to the same-direction rotating component. The conveying roller 42 at the rear end of the conveying frame 41 is arranged correspondingly to the rectangular roller groove 312, and the number of conveying rollers 42 corresponding to the notch is four.

[0024] Specifically, one end of the conveying roller shaft 42 away from the notch is rotatably connected to the side surface of the conveying frame 41 through a bearing.

[0025] The same-direction rotating component includes a driven sprocket 43, a conveying motor 44, a driving sprocket 45, and a conveying chain 46. The ends of the conveying roller shafts 42 away from the notch are fixedly connected with the driven sprockets 43. The conveying motor 44 is installed on the side of the rear end of the conveying frame 41 away from the notch. The output shaft of the conveying motor 44 is fixedly connected with the driving sprocket 45. The driving sprocket 45 is connected to the corresponding driven sprockets 43 in front through the conveying chain 46. When the conveying motor 44 works, the transmission of the driven sprocket 43, the driving sprocket 45 and the conveying chain 46 drives the conveying roller shafts 42 to rotate synchronously in the same direction.

[0026] The conveying frame 41 is used to install the conveying roller shaft 42 and the same-direction rotating assembly. The same-direction rotating assembly is used to drive each conveying roller shaft 42 in the conveying frame 41 to rotate in the same direction, so as to realize the stable conveying of the cargo box. The conveying roller shafts 42 in the left cargo box roller conveying mechanism 4 all rotate counterclockwise synchronously, and the conveying roller shafts 42 in the right cargo box roller conveying mechanism 4 all rotate clockwise synchronously. The gap is used to allow the cargo box pallet 311 on the lifting chain 37 to pass through. When the cargo box pallet 311 passes through the gap, the cargo box pallet 311 on the lifting chain 37 is The rectangular roller slot 312 corresponds exactly to the conveying roller 42 at the rear end of the conveying frame 41. At this time, the cargo box located at the rear end of the right conveying frame 41 is lifted up by the cargo box pallet 311 rising from the right bottom of the lifting chain 37 for storing the cargo box. The cargo box on the cargo box pallet 311 descending on the left side of the lifting chain 37 will fall to the rear end of the left conveying frame 41, be supported by the conveying roller 42 at the rear end of the left conveying frame 41, and then be conveyed forward by the conveying roller 42 at the rear end of the left conveying frame 41 for taking out the cargo box.

[0027] The cargo box roller conveyor mechanism 4 also includes an end baffle 47, a side baffle 48 and a transverse adjustment component. An end baffle 47 is arranged on the upper side of the rear end of each conveying frame 41, and two longitudinal side baffles 48 are respectively arranged on the upper left and right sides of each conveying frame 41. The two side baffles 48 are respectively connected to two transverse adjustment components.

[0028] The lateral adjustment assembly includes a support plate 49, a base frame 410, a transverse axis 411, and a fastening screw 412. Two base frames 410 are fixedly connected to the two sides of the bottom of each conveying frame 41, and two transverse axes 411 are fixedly connected to the side of each base frame 410 close to the center of the conveying frame 41. The two transverse axes 411 are respectively slidably sleeved on the bottoms of the two support plates 49, and the tops of the two support plates 49 are fixedly connected to the bottoms of the corresponding side baffles 48. The bottoms of the support plates 49 are threadedly connected with fastening screws 412, and the fastening screws 412 are pressed against the corresponding transverse axis 411. When the lateral position of the side baffle 48 needs to be adjusted, the fastening screws 412 are loosened, and the support plates 49 are driven to slide along the transverse axis 411 by the side baffles 48. After the side baffles 48 are in a suitable position, the fastening screws 412 are tightened to fix the position of the side baffles 48 again.

[0029] The end baffle 47 is used to limit the rear side of the cargo box transported on the conveying roller 42, especially for the cargo box roller conveying mechanism 4 on the right side. During the process of the cargo box roller conveying mechanism 4 on the right side conveying the cargo box backwards, the cargo box cannot continue to move backwards after hitting the end baffle 47 on the rear side. The lateral adjustment component is used to change the left and right positions of the two side baffles 48. The two side baffles 48 limit the two sides of the cargo box to keep the orientation stable during the forward and backward movement of the cargo box. The side baffle 48 close to the notch is shorter, and the rear end of the side baffle 48 close to the notch corresponds to the front end of the notch. The front ends of the two side baffles 48 are opened to both sides, making it convenient to put the goods into the conveying roller 42 at the front end of the cargo box roller conveying mechanism 4 on the right side. As the conveying roller 42 in the cargo box roller conveying mechanism 4 on the right side transfers the cargo box backwards, due to the guidance of the front ends of the two side baffles 48, the goods are neatly placed between the two side baffles 48.

[0030] The cargo position alignment movable mechanism 5 is installed in the stacking aisle at a position corresponding to the bottom of the long cargo board 22, and a steering mechanism 6 for picking up and placing cargo boxes is installed on the cargo position alignment movable mechanism 5, a feeding mechanism 7 for picking up and placing cargo boxes is installed on the steering mechanism 6 for picking up and placing cargo boxes, and a cargo box picking up and placing mechanism 8 is installed on the feeding mechanism 7 for picking up and placing cargo boxes.

[0031] The stacking aisle is used to install the cargo position alignment movable mechanism 5. Each cargo box placement position on the cargo release long board 22 can place a cargo box. When the lifting and circulating conveying assembly runs counterclockwise, the cargo box roller conveying mechanism 4 on the left is used to convey the cargo box forward, and the cargo box is transferred out from the front side of the warehouse 1, while the cargo box roller conveying mechanism 4 on the right is used to convey the cargo box backward, and the cargo box is sent into the warehouse 1 from the front side of the warehouse 1. The lifting and circulating conveying assembly is used to drive the reciprocating activities of each cargo box supporting assembly. Cargo boxes can be placed on the cargo box supporting assembly. Through the operation of the lifting and circulating conveying assembly, the cargo boxes on the cargo box supporting assembly can be driven to lift up or drop down. The flip limit assembly limits the front and rear sides of the cargo box passing through the top of the lifting and circulating conveying assembly to prevent the cargo box from passing through the top of the lifting and circulating conveying assembly The cargo box falls from the cargo box supporting assembly, the cargo position alignment movable mechanism 5 is used to drive the steering mechanism 6 for cargo box picking and placing to move back and forth in the stacking aisle, the steering mechanism 6 for cargo box picking and placing is used to drive the feeding mechanism 7 for cargo box picking and placing to rotate, and change the orientation of the feeding mechanism 7 and the cargo box picking and placing mechanism 8, the feeding mechanism 7 for cargo box picking and placing is used to drive the cargo box picking and placing mechanism 8 to move, so that the cargo box picking and placing mechanism 8 can clamp the cargo box on the cargo box supporting assembly or the cargo box on the cargo box placement position, the cargo position alignment movable mechanism 5, the steering mechanism 6 for cargo box picking and placing, the feeding mechanism 7 and the cargo box picking and placing mechanism 8 can cooperate to transfer the cargo box from the cargo box supporting assembly to the cargo box placement position, so as to realize the storage operation of the cargo box, and can also transfer the cargo box from the cargo box placement position to the cargo box supporting assembly, so as to realize the removal operation of the cargo box.

[0032] For example 2, please refer to Figures 1 to 10 This embodiment provides a technical solution: an automated three-dimensional warehouse. This embodiment is a further description of the structure of the first embodiment: The cargo position alignment movable mechanism 5 includes a slide rail support frame 51, a slide rail 52, an alignment movable plate 54, a slide seat 55 and a longitudinal linear power component. A slide rail support frame 51 is installed at the position corresponding to the bottom of each cargo placement long board 22 in each stacking aisle. Two longitudinal slide rails 52 are installed on each slide rail support frame 51. Four slide seats 55 are installed at the four corners of the bottom of the alignment movable plate 54. The slide seat 55 is slidably connected to the corresponding slide rail 52 at the bottom, and the bottom of the alignment movable plate 54 is connected to the longitudinal linear power component.

[0033] The longitudinal linear power assembly includes a linear motor guide 53 and a linear motor 56. The slide rail support frame 51 is located between the two slide rails 52 and is fixedly connected to the longitudinal linear motor guide 53. The linear motor 56 is installed on the linear motor guide 53. The top of the linear motor 56 is fixedly connected to the bottom of the alignment movable plate 54. When the linear motor 56 is working, it will move back and forth along the linear motor guide 53, thereby driving the alignment movable plate 54 to move back and forth along the slide rail 52.

[0034] The slide rail support frame 51 is used to install the slide rail 52 and the longitudinal linear power assembly. The alignment movable plate 54 can move forward and backward along the slide rail 52 through the slide seat 55. The longitudinal linear power assembly is used to drive the alignment movable plate 54 to move forward and backward along the slide rail 52. Each time the alignment movable plate 54 stops, it will correspond to a cargo box placement position.

[0035] The steering mechanism 6 for picking up and placing the cargo box includes a steering motor 61 and a steering plate 62. The steering motor 61 is installed at the bottom center of the movable plate 54. The output shaft at the top of the steering motor 61 passes through the middle of the movable plate 54 and is fixedly connected to the bottom center of the steering plate 62. The upper side of the steering plate 62 is flush with the upper side of the corresponding cargo placement long plate 22. The steering motor 61 drives the steering plate 62 to rotate relative to the movable plate 54, so that the direction of the feeding mechanism 7 and the cargo box picking and placing mechanism 8 for picking up and placing the cargo box can be changed, so that the feeding mechanism 7 and the cargo box picking and placing mechanism 8 are directed to the upper side of the corresponding cargo box pallet 311 or the corresponding cargo box placement position. Every time the power motor 34 stops working, the upper side of each cargo box pallet 311 on both sides of the lifting chain 37 is flush with the upper side of the corresponding steering plate 62.

[0036] The corners of the steering plate 62 may be interfered by the cargo plate 22 when it rotates, so arc grooves 23 are respectively provided at the positions corresponding to the cargo box placement positions on both sides of the cargo plate 22 to prevent the corners of the steering plate 62 from scratching the cargo plate 22 when it rotates.

[0037] The feeding mechanism 7 for picking up and placing cargo boxes includes a bottom supporting groove three 71, a longitudinal slide groove 72, a feeding cross plate 77, a supporting frame 78 and a feeding power assembly. A longitudinal bottom supporting groove three 71 is respectively opened in the middle of each steering plate 62, and a longitudinal slide groove 72 is respectively opened in the middle of each bottom supporting groove three 71. A feeding cross plate 77 is connected to the longitudinal slide groove 72 through a feeding power assembly. A supporting frame 78 is respectively connected to the position of the bottom of each feeding cross plate 77 corresponding to the bottom supporting groove three 71, and the upper side of the supporting frame 78 is flush with the upper side of the steering plate 62.

[0038] The feed power assembly includes a longitudinal screw 73, a longitudinal slider 74, a longitudinal screw nut 75, and a feed motor 76. The longitudinal screw 73 is rotatably connected in the longitudinal slide groove 72 through a bearing. The rear end of the longitudinal screw 73 is fixedly connected to the output shaft of the feed motor 76. The feed motor 76 is installed on the rear side of the steering plate 62. The longitudinal slider 74 is slidably connected in the longitudinal slide groove 72. The longitudinal slider 74 is inlaid with a longitudinal screw nut 75. The longitudinal screw nut 75 is matched with the longitudinal screw 73. The top of the longitudinal slider 74 is fixedly connected to the bottom center of the feed cross plate 77. The feed motor 76 drives the longitudinal screw 73 to rotate when it works. The threaded action of the longitudinal screw 73 and the longitudinal screw nut 75 can drive the longitudinal slider 74 to move forward and backward along the longitudinal slide groove 72. When the longitudinal screw 73 rotates clockwise, the longitudinal slider 74 moves forward along the longitudinal slide groove 72.

[0039] The feeding power assembly is used to drive the feeding cross plate 77 to move along the longitudinal slide groove 72. When the longitudinal slide groove 72 is toward the cargo box pallet 311, the bottom support groove 311 on the steering plate 62 is arranged in front and back correspondence with the bottom support groove 213 on the upper side of the cargo box pallet 311. The feeding power assembly drives the feeding cross plate 77 to move forward, and the support frame 78 moves forward in the bottom support groove 311 until the front end of the support frame 78 is inserted into the bottom support groove 213. At this time, the support frame 78 is used to block the gap between the steering plate 62 and the cargo box pallet 311 to avoid the gap here. The gap interferes with the transfer of the cargo box between the steering plate 62 and the upper side of the cargo box support plate 311; when the longitudinal slide groove 72 is toward the cargo box placement position, the bottom support groove three 71 on the steering plate 62 is arranged to correspond to the bottom support groove one 24 on the cargo release long plate 22, and the feeding power assembly drives the feeding cross plate 77 to move left and right until the support frame 78 is inserted into the corresponding bottom support groove one 24. At this time, the support frame 78 is used to block the gap between the steering plate 62 and the cargo release long plate 22 to prevent the gap here from interfering with the transfer of the cargo box between the steering plate 62 and the cargo box placement position.

[0040] The cargo box picking and placing mechanism 8 includes a clamping plate 87, an electric roller 88 and a relative shift control component. The rear ends of the two clamping plates 87 are connected to each other on the feeding cross plate 77 through the relative shift control component. The front ends of the two clamping plates 87 are respectively provided with roller mounting grooves. A vertical electric roller 88 is respectively installed in each roller mounting groove. The outer side of the electric roller 88 is fixedly sleeved with a rubber sleeve 89, which can increase the friction with the outer side of the cargo box.

[0041] The opposite shift control assembly includes a transverse slide groove 81, a bidirectional lead screw 82, a transverse slider 83, a transverse screw nut 84, a discharge motor 85 and a moving plate 86. A transverse slide groove 81 is provided in the middle of the feed transverse plate 77. A transverse bidirectional lead screw 82 is rotatably connected in the transverse slide groove 81 through a bearing. The threads at both ends of the bidirectional lead screw 82 are in opposite directions. Two transverse sliders 83 are slidably connected at both ends of the transverse slide groove 81. The front sides of the two transverse sliders 83 are connected to the rear ends of the two clamping plates 87 through two moving plates 86, respectively. The moving plate 86 and the corresponding clamping plate 87 are integrally formed and connected. Two transverse screw nuts 84 are respectively installed on the two transverse sliders 83. The two transverse screw nuts 84 are respectively connected to the two ends of the bidirectional screw 82. One end of the bidirectional screw 82 is fixedly connected to the output shaft of the discharge motor 85. The discharge motor 85 is installed at the end of the feed cross plate 77. The discharge motor 85 drives the bidirectional screw 82 to rotate clockwise. Due to the threaded action of the bidirectional screw 82 and the transverse screw nut 84, the two transverse sliding blocks 83 are driven to approach each other along the transverse sliding groove 81, thereby driving the two clamping plates 87 to approach each other. The discharge motor 85 drives the bidirectional screw 82 to rotate counterclockwise, which can drive the two transverse sliding blocks 83 to move away from each other along the transverse sliding groove 81, thereby driving the two clamping plates 87 to move away from each other.

[0042] When the feed power assembly drives the feed cross plate 77 to approach the cargo box, the opposite shift control assembly needs to control the two clamping plates 87 to move away from each other, and then the feed power assembly controls the feed cross plate 77 to stop, and then the opposite shift control assembly controls the two clamping plates 87 to move closer to each other, so as to complete the clamping of the cargo box. If the cargo box is not completely between the two clamping plates 87, the two electric rollers 88 rotate in opposite directions, and the friction between the electric rollers 88 and the two sides of the cargo box allows the cargo box to completely enter the space between the two clamping plates 87. At this time, the feed power assembly drives the feed cross plate 77 to move, so that the cargo box between the two clamping plates 87 gradually moves to the top of the steering plate 62 , thereby allowing the cargo box to be transferred from the cargo box placement position to the steering plate 62, and also allowing the cargo box to be transferred from the cargo box pallet 311 to the steering plate 62. If the two electric rollers 88 both rotate in opposite directions, the friction between the electric rollers 88 and the two sides of the cargo box allows the cargo box to move outward from between the two clamping plates 87, allowing the cargo box to be transferred from the steering plate 62 to the cargo box placement position, and also allowing the cargo box to be transferred from the steering plate 62 to the cargo box pallet 311. Thus, the cargo position alignment movable mechanism 5, the cargo box picking and placing steering mechanism 6, the cargo box picking and placing feeding mechanism 7 and the cargo box picking and placing mechanism 8 cooperate to realize the transfer of goods between the cargo box placement position and the cargo box pallet 311.

[0043] See also Figures 1 to 10 , a method for storing cargo boxes in an automated three-dimensional warehouse, comprising the following steps: Place the cargo box on the cargo box roller conveyor mechanism 4 on the right side, and the conveying roller 42 in the cargo box roller conveyor mechanism 4 on the right side conveys the cargo box backwards so that the cargo box is aligned with the gap; The power motor 34 works, driving the lifting chain 37 to rotate counterclockwise, and the lifting chain 37 drives the cargo box pallet 311 on the right side to move up. When the cargo box pallet 311 passes through the gap, the rectangular roller slot 312 on the cargo box pallet 311 just corresponds to the conveying roller 42 at the rear end of the conveying frame 41. At this time, the cargo box located at the rear end of the right conveying frame 41 is lifted by the cargo box pallet 311 rising at the bottom right side of the lifting chain 37; The container roller conveying mechanism 4 on the right side continuously conveys multiple containers backwards, and the container pallet 311 on the right side of the lifting chain 37 lifts up the multiple containers, and the lifting chain 37 continues to operate, transferring the multiple container pallets 311 on the right side of the lifting chain 37 over the top to the left side, thereby also transferring the containers to the container pallet 311 on the left side of the lifting chain 37; Then the power motor 34 stops working, the upper sides of the cargo box pallets 311 on both sides of the lifting chain 37 are flush with the upper sides of the steering plates 62 of each group, and the cargo position alignment movable mechanism 5 works to drive the steering mechanism 6 for picking up and placing the cargo box to approach the cargo box pallet 311 on the lifting chain 37; The box picking and placing feeding mechanism 7 drives the box picking and placing mechanism 8 to approach the box on the box pallet 311, and then the box picking and placing mechanism 8 clamps the box, and the box picking and placing feeding mechanism 7 drives the box picking and placing mechanism 8 and the box back to the upper side of the steering plate 62; The cargo position alignment movable mechanism 5 drives the cargo box picking and placing steering mechanism 6, the cargo box picking and placing feeding mechanism 7 and the cargo box picking and placing mechanism 8 to align with the cargo box placement position to be placed on the shelf mechanism 2; The steering mechanism 6 for picking up and placing the cargo box rotates to make the feeding mechanism 7 and the cargo box picking and placing mechanism 8 face the cargo box placement position on the shelf mechanism 2 where the cargo box needs to be placed. With the help of the feeding mechanism 7 and the cargo box picking and placing mechanism 8, the cargo box is placed at the cargo box placement position to complete the operation of storing the cargo box.

[0044] Since there are multiple sets of cargo position alignment movable mechanisms 5, steering mechanisms 6 for picking up and placing cargo boxes, feeding mechanisms 7 for picking up and placing cargo boxes, and cargo box picking up and placing mechanisms 8, cargo boxes on multiple cargo box pallets 311 on both sides of the lifting chain 37 can be quickly stored.

[0045] Among them, Figures 2 to 3 As shown, each bracket 21 is respectively provided with four long cargo boards 22, so each stacking aisle is also provided with four sets of cargo position alignment movable mechanisms 5, steering mechanisms 6 for picking up and placing cargo boxes, feeding mechanisms 7 for picking up and placing cargo boxes, and cargo box picking up and placing mechanisms 8, which can quickly store cargo boxes on each of the long cargo boards 22 of the three shelf mechanisms 2.

[0046] The method of taking out cargo boxes in the automated stereoscopic warehouse is opposite to the method of storing cargo boxes. With the help of the cargo position alignment movable mechanism 5, the cargo box picking and placing steering mechanism 6, the cargo box picking and placing feeding mechanism 7 and the cargo box picking and placing mechanism 8, the cargo box on the cargo box placement position is clamped and then transferred to the upper side of the cargo box pallet 311 on both sides of the lifting chain 37. As the lifting chain 37 rotates counterclockwise, the cargo box falls onto the conveying roller 42 at the rear end of the left cargo box roller conveyor mechanism 4, and then the left cargo box roller conveyor mechanism 4 conveys the cargo box forward to complete the cargo box taking out operation.

[0047] It is worth noting that if some cargo boxes are not suitable for overturning, that is, not suitable for crossing the top of the lifting chain 37, then it is necessary to allow the power motor 34 and the conveying motor 44 to rotate forward and reverse, so that the two cargo box roller conveying mechanisms 4 can convey the cargo boxes forward or backward. The forward and reverse rotation of the power motor 34 can allow the lifting chain 37 to operate clockwise or counterclockwise, so the cargo box pallets 311 on both sides of the lifting chain 37 can also each hold the cargo box up or down. In this way, since the lifting chain 37 needs to switch the operating direction from time to time, and the two cargo box roller conveying mechanisms 4 also need to switch the forward and backward conveying direction, the efficiency of storing and retrieving the cargo boxes will be reduced to a certain extent.

[0048] The power motor 34, conveying motor 44, linear motor 56, steering motor 61, feed motor 76, discharge motor 85 and electric roller 88 disclosed in the above embodiments are all controlled by an external PLC controller, and the control method adopts the method commonly used in the prior art. Among them, the power motor 34, conveying motor 44, steering motor 61, feed motor 76, discharge motor 85 are all servo motors, and the specific model and power are selected according to actual conditions.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated three-dimensional warehouse, comprising a warehouse (1) and a shelf mechanism (2), the shelf mechanism (2) comprising a bracket (21), three brackets (21) being arranged at equal intervals in the horizontal direction in the warehouse (1), the space between two adjacent brackets (21) being a stacking aisle, a plurality of longitudinally distributed cargo placement long boards (22) being arranged at equal intervals in the vertical direction on each bracket (21), each cargo placement long board (22) being arranged at equal intervals in the vertical direction with cargo box placement positions, a transverse bottom support groove (24) being respectively provided at a position corresponding to the center of each cargo box placement position on the cargo placement long board (22), characterized in that: Also includes: The cargo box lifting and turning mechanism (3) comprises a lifting and circulating conveying component, a cargo box supporting component and a turning limit component, wherein the lifting and circulating conveying component is installed on the front side of the middle bracket (21), the cargo box supporting component is installed at an equal distance on the lifting and circulating conveying component, and the turning limit component is installed on the front top of the middle bracket (21); Two cargo box roller conveying mechanisms (4) are provided, and the two cargo box roller conveying mechanisms (4) are respectively installed in front of the two stacking aisles; A cargo position alignment movable mechanism (5) is installed at a position corresponding to the bottom of the cargo placement long board (22) in the stacking aisle, a cargo box picking and placing steering mechanism (6) is installed on the cargo position alignment movable mechanism (5), a cargo box picking and placing feeding mechanism (7) is installed on the cargo box picking and placing steering mechanism (6), and a cargo box picking and placing feeding mechanism (8) is installed on the cargo box picking and placing feeding mechanism (7).

2. The automated high-bay warehouse according to claim 1, characterized in that: The lifting circulation conveying assembly comprises a support frame (31) and a power motor (34); a vertical support frame (31) is installed on the front side of the middle bracket (21); the top of the support frame (31) is rotatably connected to a driven shaft (32); the bottom of the support frame (31) is rotatably connected to a driving shaft (33); the front ends of the driving shaft (33) and the driven shaft (32) are respectively fixedly connected to lifting sprockets (36); the two lifting sprockets (36) are connected by a lifting chain (37); the rear end of the driving shaft (33) is fixedly connected to the output shaft of the power motor (34); and the power motor (34) is installed at the bottom of the support frame (31) via a motor seat (35).

3. The automated high-bay warehouse according to claim 2, characterized in that: The cargo box supporting assembly comprises a cargo box support plate (311), a rectangular roller shaft groove (312), a second bottom support groove (313) and a limit pressing plate (314). A plurality of mounting seats (38) are arranged at equal distances on the outer side of the lifting chain (37). Each mounting seat (38) is connected to a mounting block (310) via a pin shaft (39). Two limit pressing plates (314) are fixedly connected to the two sides of each mounting block (310). The two limit pressing plates (314) are respectively pressed against the outer side of the lifting chain (37). One end of each mounting block (310) away from the lifting chain (37) is fixedly connected to a cargo box support plate (311). A plurality of rectangular roller shaft grooves (312) are longitudinally equidistantly provided on one side of each cargo box support plate (311) away from the lifting chain (37). Two second bottom support grooves (313) distributed longitudinally are respectively provided on the upper and lower sides of each cargo box support plate (311).

4. The automated high-bay warehouse according to claim 2, characterized in that: The flip limit assembly comprises an arc flip limit plate (315) and a U-shaped anti-slip baffle (316). Two arc flip limit plates (315) are respectively arranged on the front and rear sides of the top of the lifting chain (37). The center of the circle where the arc flip limit plate (315) is located coincides with the axis of the driven shaft (32). The left and right ends of the two arc flip limit plates (315) are respectively connected by two U-shaped anti-slip baffles (316), and the rear arc flip limit plate (315) is installed on the front top of the middle bracket (21).

5. The automated high-bay warehouse according to claim 3, characterized in that: The cargo box roller conveying mechanism (4) comprises a conveying frame (41), a conveying roller (42), and a co-rotating assembly. Two conveying frames (41) are respectively arranged in front of the two stacking aisles. The conveying frames (41) are at the same height as the driving shaft (33). A notch is respectively provided on one side of the rear end of each conveying frame (41) close to the lifting chain (37). The cargo box pallets (311) located on both sides of the lifting chain (37) are respectively arranged in upper and lower correspondence with the notches on the two conveying frames (41). A plurality of transversely distributed conveying rollers (42) are rotatably connected in the longitudinal direction at equal distances in the conveying frame (41). The conveying rollers (42) are connected to the co-rotating assembly. The conveying rollers (42) at the rear end of the conveying frame (41) are arranged in correspondence with the rectangular roller slots (312).

6. The automated high-bay warehouse according to claim 5, characterized in that: The cargo box roller conveying mechanism (4) further comprises an end baffle (47), a side baffle (48) and a transverse adjustment assembly, wherein an end baffle (47) is arranged on the upper side of the rear end of each conveying box (41), and two longitudinal side baffles (48) are arranged on the upper left and right sides of each conveying box (41), and the two side baffles (48) are respectively connected to the two transverse adjustment assemblies.

7. The automated high-bay warehouse according to claim 1, characterized in that: The cargo position alignment movable mechanism (5) comprises a slide rail support frame (51), a slide rail (52), an alignment movable plate (54), a slide seat (55) and a longitudinal linear power assembly. A slide rail support frame (51) is respectively installed at a position corresponding to the bottom of each cargo placement long plate (22) in each stacking aisle. Two longitudinal slide rails (52) are installed on each slide rail support frame (51). Four slide seats (55) are respectively installed at the four corners of the bottom of the alignment movable plate (54). The slide seats (55) are slidably connected to the corresponding slide rails (52) at the bottom, and the bottom of the alignment movable plate (54) is connected to the longitudinal linear power assembly.

8. The automated high-bay warehouse according to claim 7, characterized in that: The cargo box picking and placing steering mechanism (6) comprises a steering motor (61) and a steering plate (62), wherein the steering motor (61) is installed at the bottom center of the alignment movable plate (54), and the output shaft at the top of the steering motor (61) passes through the middle of the alignment movable plate (54) and is fixedly connected to the bottom center of the steering plate (62), and the upper side of the steering plate (62) is flush with the upper side of the corresponding cargo placing long plate (22).

9. The automated high-bay warehouse according to claim 8, characterized in that: The feeding mechanism (7) for picking up and placing the cargo box comprises a bottom supporting groove three (71), a longitudinal slide groove (72), a feeding transverse plate (77), a supporting frame (78) and a feeding power assembly. A longitudinal bottom supporting groove three (71) is respectively opened in the middle of each steering plate (62). A longitudinal slide groove (72) is respectively opened in the middle of each bottom supporting groove three (71). A feeding transverse plate (77) is connected to the longitudinal slide groove (72) via a feeding power assembly. A supporting frame (78) is respectively connected to the bottom of each feeding transverse plate (77) at a position corresponding to the bottom supporting groove three (71). The upper side of the supporting frame (78) is flush with the upper side of the steering plate (62).

10. The automated high-bay warehouse according to claim 9, characterized in that: The cargo box pick-up and placement mechanism (8) comprises a clamping plate (87), a motorized roller (88) and a shift control assembly, wherein each feed transverse plate (77) is connected to the rear ends of two clamping plates (87) via the shift control assembly, and the front ends of the two clamping plates (87) are respectively provided with roller mounting grooves, and each roller mounting groove has a vertical motorized roller (88) mounted therein.

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