Airborne vault system
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SUZHOU XINSHINUO SEMICON EQUIP CO LTD
- Filing Date
- 2025-04-29
- Publication Date
- 2026-05-12
Smart Images
Figure CN120413494B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of cargo storage technology, and in particular to an over-the-air storage system for temporary storage of FOUP (FrontOpening Unified Pod) in semiconductor device manufacturing plants. Background Technology
[0002] FOUPs are containers used for storing wafers in semiconductor manufacturing plants. FOUPs need to be transferred between different process equipment within the plant. Since a large number of FOUPs exist within the plant, overhead storage systems are required for their storage.
[0003] The invention patent application with publication number CN116685541A discloses an aerial storage system. In this system, a grid-like track is set up and a storage rack is set up at a certain distance below the track. Scaffolding units are set up on the storage rack. The scaffolding units require that the distance between the storage rack and the track be sufficient for the operator to walk.
[0004] This structure greatly increases the distance between the rails and the storage racks, resulting in only one layer of storage racks being installed under the rails, which significantly limits the storage capacity of the aerial storage system. Summary of the Invention
[0005] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide an airborne storage system.
[0006] The objective of this invention is achieved through the following technical solution:
[0007] An aerial storage system includes a vehicle track suspended in the air and having a set of square openings. At least two storage racks are provided below the vehicle track. The bottom storage rack includes a set of first storage positions that correspond one-to-one with some of the square openings of the vehicle track. Each first storage position and its corresponding square opening are arranged vertically opposite each other. Multiple first storage positions continuously distributed in the same horizontal direction constitute a first storage unit. Each upper storage rack above the bottom storage rack includes a second storage unit that corresponds to each first storage unit in the height direction. The second storage unit includes at least one second storage position and at least one open position. The second storage position is driven by a translation drive mechanism to switch positions in the distribution direction of the first storage positions of the first storage unit corresponding to its second storage unit, so that the open position of the second storage unit corresponds to a different first storage position of the first storage unit corresponding to the second storage unit.
[0008] Preferably, the storage rack has 2 or 3 layers.
[0009] Preferably, the first storage position includes a first storage plate, which is mounted on a set of support rods, and the support rods are provided with limiting nuts for restricting the position of the first storage plate.
[0010] Preferably, the first storage unit includes 2-4 first storage positions.
[0011] Preferably, when the first storage unit includes two first storage positions, the second storage unit includes one second storage position;
[0012] When the first storage unit includes three first storage positions, the second storage unit includes two second storage positions.
[0013] Preferably, a positioning mechanism is provided at the top of the second storage position.
[0014] Preferably, the second storage position is slidably or rollingly disposed within the unit frame of the second storage unit.
[0015] Preferably, when the second storage unit includes two second storage positions, both second storage positions can move between the end and middle positions of the second storage unit, and two translation drive mechanisms are distributed on both sides of the second storage unit.
[0016] Preferably, the track is equipped with trolleys for picking up and placing goods at the storage rack, which can move along the first horizontal direction and the second horizontal direction. When it is necessary to pick up or place goods at a position directly below a square opening, any one of the trolleys is moved directly above the square opening and the goods are picked up or placed through the square opening.
[0017] Preferred,
[0018] When the trolley needs to retrieve or place goods at a first storage location, the first storage unit where the first storage location is located and the second storage unit directly opposite the first storage unit are exclusively controlled so that other first storage locations of the first storage unit and the second storage locations of the second storage unit cannot retrieve or place goods.
[0019] When the trolley needs to retrieve or place goods at a second storage location, the second storage unit where the second storage location is located, as well as the first storage unit and the second storage unit directly opposite the second storage unit, are exclusively controlled so that the first storage location of the first storage unit and other second storage locations of the second storage unit cannot be retrieved or placed.
[0020] The advantages of the technical solution of this invention are mainly reflected in:
[0021] This invention features a multi-layer storage rack beneath the vehicle track. Multiple first storage positions, continuously distributed horizontally on the bottom storage rack, constitute a first storage unit. A second storage unit, corresponding to each first storage unit, is positioned on the upper storage rack. Switching between open positions via the second storage unit ensures that the upper second storage unit does not obstruct the first storage positions of the lower first storage unit. This satisfies the need for retrieval and placement of goods on different layers of the multi-layer storage rack. The multi-layer storage rack effectively increases storage capacity, facilitating convenient FOUP (Fulfilled Items and Units) storage and thus improving transportation efficiency.
[0022] The structure of the first storage position of the present invention facilitates the setting and adjustment of the first storage plate, and allows for easy switching between first storage plates of different sizes.
[0023] This invention maximizes storage capacity while reducing control complexity by designing the number of storage rack layers and the number of first and second storage positions. Attached Figure Description
[0024] Figure 1 This is a partial schematic diagram of the air-to-air storage system of the present invention;
[0025] Figure 2 This is a top view of the bottom storage rack of the air storage system of the present invention;
[0026] Figure 3 This is a perspective view of a first storage unit of a bottom storage rack and a second storage unit of an upper storage rack according to the present invention.
[0027] Figure 4 This is a top view of a second storage unit of the present invention having a second storage position and an open position;
[0028] Figure 5 This is a top view of a second storage unit of the present invention having two second storage positions and one open position;
[0029] Figure 6 This is a partial perspective view of the vehicle track of the present invention;
[0030] Figure 7 This is a partial top view of the track of the present invention;
[0031] Figure 8 This is a partial side view of the track of the present invention;
[0032] Figure 9 This is a partial cross-sectional view of the track of the present invention;
[0033] Figure 10 This is a front view of the first structure of the trolley of the present invention;
[0034] Figure 11 This is a top view of the first structure of the trolley of the present invention;
[0035] Figure 12 This is an end view of the blocking mechanism of the present invention;
[0036] Figure 13 This is a top view of the blocking mechanism of the present invention;
[0037] Figure 14 This is a front view of the second structure of the trolley of the present invention;
[0038] Figure 15 This is a front view of the second structure of the trolley of the present invention;
[0039] Figure 16 This is a schematic diagram of the gripping component of the trolley of the present invention moving downward to grip goods;
[0040] Figure 17 This is a schematic diagram of the gripping component of the trolley of the present invention gripping goods into the receiving space;
[0041] Figure 18 This is a schematic diagram showing the connection between the starting point of the next square interval requested by the trolley and the ending point of the already occupied square interval in this invention.
[0042] Figure 19 This is a schematic diagram showing that the starting point of the next square interval requested by the trolley in this invention is not connected to the ending point of the already occupied square interval. Detailed Implementation
[0043] The objectives, advantages, and features of this invention will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.
[0044] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0045] Example 1
[0046] The airborne storage system disclosed in this invention will now be described in conjunction with the accompanying drawings, as shown below. Figure 1 Appendix Figure 2 As shown, it includes a track 100 suspended in the air and having a set of square openings 110. At least two layers of storage racks are provided below the track 100. The storage racks are used for storing goods, which can be FOUP or other feasible goods, without limitation here.
[0047] For ease of explanation, the lowest storage rack is described as the bottom storage rack 300, and the storage racks above the bottom storage rack 300 are described as the upper storage rack 500. The bottom storage rack 300 includes a set of first storage positions 311 that correspond one-to-one with some of the square openings 110 of the track 100. Each first storage position 311 and its corresponding square opening 110 are arranged facing each other in the vertical direction. Multiple first storage positions 311 continuously distributed in the same horizontal direction constitute a first storage unit 310. Each storage rack above the bottom storage rack 300 (upper storage rack 500) The system includes a second storage unit 510 corresponding to each first storage unit 310 in the height direction. The second storage unit 510 includes at least one second storage position 511 and at least one open position 512. The second storage position 511 is driven by a translation drive mechanism 514 to switch the distribution direction of the first storage position 311 of the first storage unit 310 to which the second storage unit 510 belongs, so that the open position 512 of the second storage unit 510 corresponds to a different first storage position of the first storage unit 310 to which the second storage unit 510 belongs.
[0048] Specifically, the track 100 is used for the trolley 900 to travel on in order to transport the goods 400 to different locations. The track 100 may be, for example, the structure disclosed in the patent document CN116685541A cited in the background section.
[0049] The multi-layered storage racks are connected to the bottom of the rail 100 via connecting columns 700. The storage racks preferably have two or three layers. The bottom storage rack 300 can be a horizontally positioned tray at the lower end of the column. For example, a support frame 320 is provided below the column, and the support frame 320 has a limiting groove in which the tray is positioned. A first storage position 311 is located on the tray directly opposite each of the square openings 110. The area of the first storage position 311 can also be smaller than the area of the square opening 110.
[0050] In other embodiments, the bottom storage rack 300 may also adopt other structures, such as those shown in the attached diagram. Figure 3As shown, the bottom storage rack 300 includes a support frame 320 disposed below the connecting column 700. The support frame 320 has grids 321 corresponding to each of the square openings 110. Each grid 321 is a rectangular space enclosed by four rectangularly distributed beam segments. Among the four beam segments enclosing each grid 321, at least two horizontally extending support rods 322 are provided on the inner side of at least one pair of parallel beam segments. The support rods 322 are perpendicular to the beam segments in which they are located. Of course, only one support rod 322 may be provided on the four beam segments enclosing a grid. Each of the support rods 322 is threaded with a limiting nut. Preferably, the support rods 322 are installed on all four beam segments that enclose a grid 321. A placement plate 323 is mounted on each support rod 322 at each grid. The placement plate 323 is positioned between the limiting nuts 324 of the support rods 322, and each placement plate 323 serves as a first storage position 311. This facilitates the adjustment and limitation of the placement plate's position and makes assembly easier.
[0051] As attached Figure 1 Appendix Figure 2 As shown, each first storage unit 310 includes 2-4 first storage positions 311, which can be distributed in a first horizontal direction F1 or a second horizontal direction F2. Preferably, the first storage unit 310 includes 2 or 3 first storage positions 311. Furthermore, the first storage positions 311 of multiple first storage units 310 can all be distributed in one horizontal direction, that is, all the first storage positions 311 of the first storage units 310 are distributed in either the first horizontal direction F1 or the second horizontal direction F2. Of course, the distribution direction of the first storage positions 311 in multiple first storage units 310 can also be different, that is, some of the first storage positions 311 of the first storage units 310 are distributed along the first horizontal direction F1, while the first storage positions 311 of other first storage units 310 are distributed along the second horizontal direction F2.
[0052] When the first storage position 311 of the first storage unit 310 is distributed along the first horizontal direction F1, the second storage position 511 of the second storage unit 510, which is directly opposite the first storage unit 310 in the height direction, moves along the first horizontal direction F1. When the first storage position 311 of the first storage unit 310 is distributed along the second horizontal direction F2, the second storage position 511 of the second storage unit 510, which is directly opposite the first storage unit 310 in the height direction, moves along the second horizontal direction F2.
[0053] The number of second storage positions 511 of the second storage unit 510 can be determined according to the number of first storage positions 311 of the corresponding first storage unit 310.
[0054] As attached Figure 2 Appendix Figure 3 As shown, when the first storage unit 310 has two first storage positions 311 distributed along the first horizontal direction F1, the second storage unit 510 includes one second storage position 511 and one open position 512. The second storage position 511 is, for example, a horizontal carrier plate with the same area as the placement plate 323. The horizontal carrier plate is movably disposed within the unit frame 513 of the second storage unit 510 along the first horizontal direction F1 and connected to a translation drive mechanism 514 that drives its translation. Specifically, at least one pair of moving wheels 515 can be provided on both sides of the horizontal carrier plate. The axis of the moving wheels 515 is perpendicular to the moving direction of the second storage position 511 and is rolled on the side beam 516 extending along the first horizontal direction F1 of the unit frame 513. The side beam 516 is L-shaped. The translation drive mechanism 514 can be a servo module or a linear motor, or a structure composed of a motor and a lead screw, and the translation drive mechanism 514 is disposed on one side of the horizontal carrier plate.
[0055] When goods 400 need to be placed into the bottom storage rack 300, the position of the second storage position 511 of the upper storage rack can be moved, thereby exposing the first storage position 311 of the bottom rack. For example, the overhead storage system includes two storage racks. A first storage unit 310 of the bottom storage rack 300 includes a first storage position 311 numbered 01 and a first storage position 311 numbered 02. The second storage unit 510 of the upper storage rack 500 includes a second storage position 511 numbered 03. When goods 400 need to be placed into the first storage position 311 numbered 01, the second storage position 511 numbered 03 is moved directly above the first storage position 311 numbered 02. At this time, the open slot 512 is directly opposite the first storage position 311 numbered 01. Goods 400 can then be placed into the first storage position 311 numbered 01 through the open slot 512. When it is necessary to place the goods 400 into the first storage position 311 numbered 02, the second storage position 511 numbered 03 is moved to be directly above the first storage position 311 numbered 01. At this time, the empty slot 512 is directly opposite the first storage position 311 numbered 02. At this time, the goods 400 can be placed into the first storage position 311 numbered 02 through the empty slot 512.
[0056] Of course, in other embodiments, as shown in the appendix Figure 1 Appendix Figure 4As shown, if a first storage unit 310 includes three first storage positions 311, then the corresponding second storage unit can have only one second storage position 511. To further increase storage capacity, preferably, a second storage unit has two second storage positions 511, and the two second storage positions 511 can move along the distribution direction of the first storage positions 311 of the first storage unit 310. The movement range of each second storage position 511 is from one end of the second storage unit to the exact center of the second storage unit, that is, a second storage position 511 can move between two consecutive first storage positions 311 of the fixed unit. In this case, to make the weight of the second storage unit 510 more even and to avoid interference between the two translation drive mechanisms 514, the two translation drive mechanisms 514 are positioned on both sides of the second storage unit 510.
[0057] Furthermore, since the second storage position 511 needs to be moved frequently, there is a possibility of item displacement when items are placed on it. To avoid this, a positioning mechanism (not shown in the figure) is provided at the top of each second storage position 511. The positioning mechanism is, for example, a set of positioning pins that match the positioning hole at the bottom of the item, or a positioning groove that matches the shape of the item is provided at the second storage position 511 to limit the item. At the same time, the opening of the positioning groove is shaped like an inverted frustum to facilitate the guidance of the item.
[0058] As attached Figure 1 As shown, the track 100 is used for the trolley 900 to move on it. The trolley 900 can move on the track 100 along the first horizontal direction F1 and the second horizontal direction F2. The specific structure of the trolley 900 can adopt the structure disclosed in the patent document with application publication number CN116685541A.
[0059] The aerial storage system also includes a storage rack control system, which communicates with the trolley 900 to enable the storage rack and the trolley 900 to cooperate in picking up and placing goods 400 at the storage rack.
[0060] When the trolley 900 needs to retrieve or place goods 400 at a first storage position 311, the storage rack control system performs exclusive control on the first storage unit 310 where the first storage position 311 is located and the second storage unit 510 directly opposite the first storage unit 310, so that goods cannot be retrieved or placed at other first storage positions 311 and second storage positions 511 of the first storage unit 310 and the second storage unit 510.
[0061] When the trolley 900 needs to retrieve or place goods 400 at a second storage location 511, the storage rack control system performs exclusive control on the second storage unit 510 where the second storage location 511 is located and the first storage unit 310 or the first storage unit 310 and the second storage unit 510 directly opposite the second storage unit 511, so that goods cannot be retrieved or placed at other first storage locations 311 and second storage locations 511 of the first storage unit 310 and the second storage unit 510.
[0062] Specifically, when a vehicle 900 determines that it needs to retrieve or place goods 400 at a first storage location 311, and the vehicle 900 has obtained the right to use the square opening 110 directly above the first storage location 311, the vehicle 900 sends a request to the storage rack control system to retrieve or place goods 400. The storage rack control system determines which vehicle 900 to grant the right to use the first storage unit 310 where the first storage location 311 is located and the second storage unit 510 directly opposite the first storage unit 310, based on the request to retrieve or place goods 400 and the order in which the requests to retrieve or place goods 400 are sent by different vehicles 900. When the right to use the first storage unit 310 where the first storage location 311 is located and the second storage unit 510 directly opposite the first storage unit 310 is granted to a vehicle 900, only that vehicle 900 can perform the operation of picking up and placing goods 400 at the first storage unit 310 and the second storage unit 510 directly opposite the first storage unit 310. That is, the vehicle 900 places the goods 400 it has grabbed onto the first storage unit 311 or the second storage unit 511, or the vehicle 900 removes the goods 400 from the first storage unit 311 or the second storage unit 511. Other vehicles 900 cannot perform the operation of picking up and placing goods 400 at the first storage unit 310 and the second storage unit 510. This can effectively avoid interference between different vehicles 900 performing the operation of picking up and placing goods. However, other trolleys 900 can acquire the right to use the grid openings 110 corresponding to the other first storage positions 311 and second storage positions 511 of the first storage unit 310 and the second storage unit 510, and can move directly above the grid openings 110 to wait for the execution of picking up and placing goods 400.
[0063] As attached Figure 2As shown, in the above example of a two-layer storage rack, a first storage unit 310 including two first storage positions 311 and a second storage unit 510 including a second storage position 511 constitute a storage module. If trolley one needs to retrieve or place goods 400 at the first storage position 311 (numbered 01) of the storage module, and trolley two needs to retrieve or place goods 400 at the second storage position 511 (numbered 02) of the storage module, when trolley one obtains the right to use the square slot 110 directly opposite the first storage position 311 (numbered 01), trolley one moves towards the designated square slot 110. The storage rack control system sends a request to retrieve or place goods 400 at the first storage position 311 of storage module number 01. If no other trolley 900 has sent a request to the storage rack control system to retrieve or place goods 400 at the storage module before trolley 1, the storage rack control system grants the right to use the storage module to trolley 1. Thus, when trolley 1 moves to the square opening 110 directly above the first storage position 311 of number 01, trolley 1 performs the retrieval or placement operation of goods 400. Once trolley 1 has the right to use the storage module for goods 400, if trolley 2 sends a request to the storage rack control system to retrieve or place goods 400 at the first storage position 311 of storage module number 02, trolley 2 can obtain the right to use the square opening 110 directly opposite the first storage position 311 of number 02. Trolley 2 can move directly above the square opening 110 directly opposite the first storage position 311 of number 02 and wait for trolley 1 to complete the retrieval or placement operation of goods 400 at the first storage position 311 of number 01 before performing the retrieval or placement operation of goods 400 at the first storage position 311 of number 02.
[0064] Of course, if trolley 2 sends a message to the storage rack control system before trolley 1, the storage rack control system will grant trolley 2 the right to use the storage module. Trolley 1 will wait for trolley 2 to complete the goods 400 pick-up and drop operation before performing its corresponding goods 400 pick-up and drop operation.
[0065] When the trolley 900 retrieves or places goods 400 at a second storage location 511, the control process of the corresponding first and second storage units is the same as above, and will not be repeated here.
[0066] The specific process by which each vehicle (900) obtains the right to use grid 110 will be described below and will not be repeated here.
[0067] Of course, in another embodiment, if one trolley needs to retrieve or place goods at a first storage position of a storage module, and another trolley needs to retrieve or place goods at a second storage position of the same storage module, and if the first and second storage positions are misaligned in the height direction, then when one trolley has already determined to have acquired the right to use the storage module, and another trolley requests to retrieve or place goods at the storage module, the right to use the storage module can still be granted to the other trolley.
[0068] Example 2
[0069] The difference between this embodiment and the above embodiment 1 is that a simpler track 100 and a trolley 900 structure adapted to the track 100 are adopted.
[0070] As attached Figure 6 As shown, the track 100 includes a body 101, which includes multiple first tracks 102 extending along a first horizontal direction F1 and multiple second tracks 103 extending along a second horizontal direction F2. The multiple first tracks 102 are arranged at equal height and spacing. A set of second tracks 103 is arranged between two adjacent first tracks 102. The top surfaces of the second tracks 103 are flush with the top surfaces of the first tracks 102, and the positions of the multiple sets of second tracks 103 correspond one-to-one. Thus, two adjacent second tracks 103 and the two first tracks 102 connected to them enclose a square opening 110. A portion of the square opening 110 corresponds to the cargo placement port of each processing device 200 below the track 100, so that goods 400 can be picked up and placed at the cargo placement port by a trolley 900.
[0071] In another embodiment, the body 101 may also have a set of mounting slots evenly distributed along its extension direction on the first rail 102, and the second rail 103 passes through the mounting slots, with the top surfaces of the first rail 102 and the second rail 103 being flush. This structure makes it easier to assemble the first rail 102 and the second rail 103 and helps to ensure the stability of the connection between the first rail 102 and the second rail 103.
[0072] Of course, in other embodiments, the body 101 can also be a grid-like structure formed by stamping multiple square holes in a grid pattern on a single plate. In this case, one square hole is a square grid opening 110.
[0073] As attached Figure 1As shown, the top surface of the body 101 forms multiple first support surfaces 104 extending in the first horizontal direction F1 and distributed at equal intervals, and multiple second support surfaces 105 extending in the second horizontal direction F2 and distributed at equal intervals. Each first support surface 104 includes two parallel first wheel surfaces 106 maintaining a first gap 107, and each second support surface 105 includes two parallel second wheel surfaces 109 maintaining a second gap 108.
[0074] To better guide the wheels of the trolley 900, guide structures are provided on both the first support surface 104 and the second support surface 105, as shown in the attached figure. Figure 7 Appendix Figure 8 As shown, the guiding structure consists of two guide grooves formed by a central guide bar 111 and outer guide bars 112 on both sides of the central guide bar 111. Multiple central guide bars 111 are evenly spaced at the first gap 107. The spacing between adjacent central guide bars 111 corresponds to the intersection 120 between the first support surface 104 and the second support surface 105; that is, the end of the central guide bar 111 does not extend to the intersection 120 of the first support surface 104 and the second support surface 105. Similarly, the outer guide bars 112 do not extend to the intersection 120 of the first support surface 104 and the second support surface 105.
[0075] As attached Figure 8 As shown, in order to reduce the contact between the guide groove and the wheel of the trolley 900, the guide groove is made into an inverted trapezoidal groove, that is, the opposite sides of the middle guide bar 111 and the outer guide bar 112 on one side are inclined surfaces 113 distributed in an inverted V-shape.
[0076] As attached Figure 6 Appendix Figure 7 As shown, the track 100 is connected to the bottom of the workshop ceiling or roof via a set of lifting components 114. To prevent the lifting components 114 from interfering with the movement of the trolley 900 on the track 100, the lifting components 114 are connected at the rectangular intersection 115 of the first gap 107 and the second gap 108, and the projection of the vertical rod of the lifting component 114 at the intersection 115 does not extend beyond the intersection 115. Of course, the lifting components 114 can also be connected at other locations in the first gap 107 and / or the second gap 108.
[0077] The structure of the hoisting component 114 can be designed as needed. For example, the hoisting component 114 includes a vertical rod and connecting plates connected to both ends of the vertical rod. Of course, a connecting plate can also be provided at the lower end of the vertical rod, or a screw hole can be directly provided at the end along its axial direction to connect to the intersection position 115.
[0078] The length of the lifting component 114 is adjustable; for example, the vertical rod of the lifting component 114 can be a known telescopic rod structure, or, as shown in the attached... Figure 9 As shown, the vertical rod includes a first rod segment 116, a connecting pipe 117, and a second rod segment 118, which are sequentially threaded together. Both ends of the connecting pipe 117 are provided with radial set screws to thread the set screws onto the first rod segment 116 and the second rod segment 118 at the connecting pipe 117. To improve the reliability of the connection and better support the rail 100, the second rod segment 118 can pass through a perforation provided at the intersection position 115. Simultaneously, the second rod segment 118 can be concentrically connected to a support plate 119, which is fixed below the main body 101. The support plate 119 does not extend into the grid opening 110 to avoid interfering with the loading and unloading operations of the goods 400.
[0079] In this type of track 100, the trolley 900 can no longer move along the track 100 by being suspended below it. Therefore, as shown in the attached... Figure 1 As shown, a new trolley 900 structure needs to be designed so that the trolley 900 can move above the track 100. Furthermore, when the trolley 900 needs to pick up or place goods 400 at a position directly below a square opening 110 on the track 100, the trolley 900 should be moved directly above the square opening 110 so that the goods 400 can be picked up or placed through the square opening 110.
[0080] As attached Figure 10 Appendix Figure 11 As shown, the trolley 900 includes a support frame 901, which comprises a hollow rectangular frame 902. The dimensions of the rectangular frame 902 are adapted to the dimensions of a square opening 110 of the track 100. The rectangular frame 902 includes four plates, each horizontally arranged with sufficient thickness and width. Vertical support columns 903 are respectively provided at the top of the rectangular frame 902 near its four corners. The height of the support columns 903 can be designed as needed to ensure that the required storage space 927 can effectively accommodate a cargo 400. A top cover 904 is provided on a group of the support columns 903. A sealing plate can be provided between the top cover 904 and the rectangular frame 902 to enclose the four sides of the support frame 901; however, the sealing plate is not mandatory.
[0081] As attached Figure 10 Appendix Figure 11As shown, the lower part of the support frame 901 is provided with a first-direction moving component 905 that drives it to translate along a first horizontal direction F1 and a second-direction moving component 906 that drives it to translate along a second horizontal direction F2. The first wheels 907 of the first-direction moving component 905 are disposed on two opposite plates of the rectangular frame 902, and the second wheels 908 of the second-direction moving component 906 are disposed on the other two plates of the rectangular frame 902. Preferably, there are four first wheels 907, and their axes extend along the second horizontal direction F2. Two first wheels 907 on one plate are distributed along the first horizontal direction F1 and correspond one-to-one with two first wheels 907 on the other plate. The distance between the first wheels 907 on one side (the first wheels 907 on one plate) and the first wheels 907 on the other side is approximately equal to the extension distance of a square opening 110 along the second horizontal direction F2, thereby enabling the first wheels 907 on both sides to move effectively on the two first wheel surfaces 106 or the two second wheel surfaces 109 on both sides of a square opening 110.
[0082] The number of the second wheels 908 is also four, and their axes extend along the first horizontal direction F1. Two second wheels 908 on one plate are distributed in the second horizontal direction F2 and correspond one-to-one with two second wheels 908 on the other plate. The distance between the second wheels 908 on one side (the second wheels 908 on one plate) and the second wheels 908 on the other side is equivalent to the extension distance of a square opening 110 in the first horizontal direction F1, so that the second wheels 908 on both sides can effectively move on the first wheel surface 106 or the second wheel surface 109 on both sides of a square opening 110.
[0083] In order to facilitate driving the first wheel 907 and the second wheel 908, and at the same time minimize the space required for the drive mechanism, at least one pair of the two concentrically arranged first wheels 907 is driven by a hub motor, and at least one pair of the two concentrically arranged second wheels 908 is driven by a hub motor.
[0084] Of course, in other embodiments, the two first wheels 907 located on the same plate can be driven by a motor located outside the first wheel 907, or a running wheel can be driven by a motor located outside the first wheel 907. In this case, the motor can be a relatively thin motor; for example, in known motors, the thickness of the motor can be controlled to be 2-5 cm. Furthermore, the motor can drive the first wheel 907 to rotate through a transmission mechanism or gear mechanism composed of a chain and sprocket or a synchronous belt and synchronous pulley. Correspondingly, the two second wheels 908 located on the same plate can also be driven by a motor located outside the second wheel 908.
[0085] Furthermore, in order to ensure that when the first wheel 907 moves on the track 100, the gap between the second wheel 908 and the track 100 is located above the track 100, and when the second wheel 908 moves on the track 100, the gap between the first wheel 907 and the track 100 is located above the track 100, the first wheel 907 can move up and down relative to the support frame 901, while the position of the second wheel 908 on the support frame 901 is fixed. Alternatively, the second wheel 908 can move up and down relative to the support frame 901, while the position of the first wheel 907 on the support frame 901 is fixed.
[0086] As attached Figure 10 Appendix Figure 11 As shown, the following explanation will be based on the example where the second wheel 908 is fixed on the support frame 901 and the first wheel 907 can move up and down relative to the support frame 901.
[0087] The second wheel 908 is disposed on a fixed plate 909 connected to the plate portion and is located outside the fixed plate 909. Simultaneously, two first wheels 907 on the same side can be disposed on a vertical plate 910 and are located outside the vertical plate 910. The vertical plate 910 is movably disposed on the rectangular frame 902 in the vertical direction and is connected to a switching mechanism 911 that drives its vertical movement relative to the rectangular frame 902.
[0088] During adjustment, the vertical plate 910 can be moved upward by the switching mechanism 911 so that the bottom of the first wheel 907 is above the bottom of the second wheel 908 and higher than the top of the track 100. At this time, the second wheel 908 can move on the track 100. When the vertical plate 910 moves downward so that the first wheel 907 contacts the track 100, as the vertical plate 910 continues to move downward, the rectangular frame 902 can be lifted upward, thereby lifting the second wheel 908 and disengaging it from the track 100. At this time, the first wheel 907 can move on the track 100.
[0089] To meet the structural layout requirements within a limited space, as shown in the attached document... Figure 10As shown, the vertical plate 910 is U-shaped, and a strip hole matching the boss 912 of the vertical plate 910 is provided on the plate. The boss 912 of the vertical plate 910 is movably inserted into the strip hole, and the strip hole guides the boss 912. At this time, the switching mechanism 911 that drives the vertical plate 910 to move up and down includes a lead screw and a switching drive motor 914 that drives the lead screw nut 913 to rotate. One end of the lead screw 915 is connected to the vertical plate 910, and its connection position with the vertical plate 910 is located on one side of the boss 912. The lead screw 915 passes through a clearance hole provided on the rectangular frame 902 with its axis extending in the vertical direction. The lead screw nut 913 can be rotatably mounted on the rectangular frame 902 through bearings and other components, and is connected to the switching drive motor 914 that drives its rotation through the transmission mechanism 916. The transmission mechanism 916 is, for example, a gear transmission mechanism, or a mechanism consisting of a synchronous belt and a synchronous pulley. When the drive motor 914 drives the lead screw 913 to rotate, the screw 915 of the lead screw moves in the vertical direction, thereby driving the vertical plate 910 to move up and down. Of course, the lead screw can also be replaced by a screw and a nut.
[0090] As attached Figure 10 Appendix Figure 11 As shown, to maintain the dynamic balance on both sides of the vertical plate 910, the vertical plate 910 can be connected to two switching mechanisms 911 symmetrically distributed on both sides of the boss 912. Each of the two switching mechanisms 911 can have a switching drive motor 914. Of course, in a more preferred embodiment, the two switching mechanisms 911 can share a single switching drive motor 914. In this case, the switching drive motor 914 can drive the two nuts or threaded nuts 913 to rotate synchronously through a linkage mechanism 917 composed of a synchronous belt and a synchronous pulley. In this case, the boss 912 of the vertical plate 910 can be located within the area enclosed by the synchronous belt of the linkage mechanism connecting the two nuts or threaded nuts 913.
[0091] In other embodiments, the vertical plates 910 may also be of other shapes, and they may be respectively arranged on the side of the rectangular frame 902 via slide rails. In this case, the switching mechanism 911 may be, for example, an electric rod arranged in the vertical direction, or other devices or mechanisms capable of producing vertical movement, such as a structure in which a lead screw and a motor cooperate. In this case, the screw 915 of the lead screw rotates in place, while the nut 913 connects to the vertical plate 910. Such a structure is relatively more complex and may occupy more space.
[0092] To ensure that the rectangular frame 902 does not move downward relative to the vertical plate 910 when the first wheel 907 is moving, and to reduce the stress on the lead screw or bolt 915 and nut, as shown in the attached... Figure 10 Appendix Figure 11As shown, when the first wheel 907 moves on the track 100, a blocking mechanism 918 is provided on the rectangular frame 902 to cooperate with the vertical plate 910 and restrict the downward movement of the rectangular frame 902 relative to the vertical plate 910. The blocking mechanism 918 includes a limiting member 919 that can translate in a direction perpendicular to the vertical plate 910. When the limiting member 919 extends above the top of the vertical plate 910, the limiting member 919 abuts against the top of the vertical plate 910, thereby limiting the vertical plate 910 and preventing the rectangular frame 902 containing the limiting member 919 from moving downward relative to the vertical plate 910. When it is necessary for the vertical plate 910 to move upward relative to the rectangular frame 902, the limiting member 919 retracts to the side of the vertical plate 910, thereby releasing the restriction on the vertical plate 910. At this time, the vertical plate 910 can be driven upward by the switching mechanism 911.
[0093] As attached Figure 10 As shown, the top of the vertical plate 910 is provided with a clearance opening 920. When the first wheel 907 travels on the track 100, the bottom of the clearance opening 920 of the vertical plate 910 is flush with the top surface of the plate. Thus, the limiting member 919 of the blocking mechanism 918 can extend into the clearance opening 920 from the outside of the clearance opening 920, and the bottom of the limiting member 919 is attached to the bottom of the clearance opening 920 to restrict the downward movement of the rectangular frame 902 and restrict the upward movement of the vertical plate 910.
[0094] With the clearance opening 920 provided, in order to better limit the vertical plate 910 while minimizing the space required for the blocking mechanism 918, as shown in the attached diagram... Figure 12 Appendix Figure 13As shown, the limiting member 919 is a rack, the extension direction of the rack is perpendicular to the vertical plate 910, the length of the rack is greater than the width of the strip hole, the cross-sectional shape of the rack is convex, and the rack is movably disposed at a limiting seat on one side of the strip hole along its extension direction. The limiting seat includes two limiting blocks 921 with gaps and symmetrically arranged. The limiting blocks 921 are L-shaped or Z-shaped. The two limiting blocks 921 form a convex guide groove 922 that matches the cross-sectional shape of the rack. The upper convex strip 923 of the rack corresponds to the upper opening of the guide groove 922 and extends out of the guide groove 922. The top of the upper convex strip 923 has teeth distributed along its extension direction. The teeth mesh with a gear 924. The gear 924 is connected to a limiting drive motor 925 that drives its rotation. When the limiting drive motor 925 drives the gear 924 to rotate, the rack moves along its extension direction. Furthermore, a fixing block 926 is also provided on the rectangular frame 902, located on the other side of the strip hole. The fixing block 926 is U-shaped and forms an insertion hole with the rectangular frame 902 that is directly opposite the rack. When the rectangular frame 902 needs to be restricted, the rack moves from one side of the strip hole to the other side and is inserted into the insertion hole formed by the limiting block 921 and the rectangular frame 902. Thus, the rack can be effectively supported by the fixing block 926 and the limiting seat, and the rack can be better restricted.
[0095] Of course, in other embodiments, the blocking mechanism 918 may be, for example, an electromagnetic lock or an electric rod disposed on the top of the rectangular frame 902, and the latch of the electromagnetic lock or the push rod of the electric rod is the limiting member 919.
[0096] Of course, in other embodiments, as shown in the appendix Figure 14 Appendix Figure 15 As shown, both the first wheel 907 and the second wheel 908 can be raised and lowered. In this case, the first wheel and the second wheel are respectively mounted on vertical plates, and each vertical plate is connected to the switching mechanism 911. When it is necessary to travel using the first wheel 907, the second wheel 908 can be raised above the track 100 through the switching mechanism 911 connected to the second wheel 908. When it is necessary to switch to travel using the second wheel 908, the second wheel 908 is first lowered onto the track 100, and then the first wheel 907 is raised above the track 100 through the switching mechanism 911 connected to the first wheel 907. When the second wheel 908 can also be raised and lowered, the rectangular frame 902 is provided with a blocking mechanism 918 for limiting the vertical plate 910 where the second wheel 908 is located.
[0097] As attached Figure 10As shown, the support frame 901 has a lower open receiving space 927. The receiving space 927 extends vertically within the inner hole of the rectangular frame 902, extending, for example, between the bottom of the top cover 904 and the bottom of the lower of the vertical plates 910. The support frame 901 is equipped with a lifting assembly 928 and a gripper assembly 929 driven to move up and down by the lifting assembly 928. The lifting assembly 928 and gripper assembly 929 are located within the receiving space 927. Alternatively, if necessary, the lifting assembly 928 can be located outside the support frame 901 and extend into the receiving space 927. When the gripper assembly 929 is in its highest position, it is located within the receiving space 927. The specific structures of the lifting assembly 928 and gripper assembly 929 are known technologies and will not be described in detail here. The lifting component 928 is mounted on a turntable 930 that drives it to rotate about a vertical axis. The turntable 930 is located at the bottom of the top cover 904. The turntable 930 drives the lifting component 928 to rotate, thereby changing the orientation of the opening of the cargo (foup) gripped by the gripper component 929. Of course, the turntable 930 can also be other structures that enable the lifting component 928 to rotate, which will not be described in detail here.
[0098] As attached Figure 16 Appendix Figure 17 As shown, when the trolley 900 needs to pick up the goods 400 at a grid opening 110 on the track 100, the trolley 900 moves directly above the grid opening 110. The lifting component 928 drives the gripper component 929 to move down from the receiving space 927 to below the track 100 to grab the goods 400, and then drives the gripper component 929 to lift the grabbed goods 400 into the receiving space 927.
[0099] When the trolley 900 needs to place the goods 400 in its accommodating space 927 into a designated position, the trolley 900 moves to the top of the square opening 110 directly opposite the designated position. After the lifting component 928 drives the gripper component 929 to lower the goods 400 it has grabbed into the designated position, the lifting component 928 drives the gripper component 929 back into the accommodating space 927.
[0100] This type of track and trolley structure allows for direct loading and unloading of items at each grid opening without occupying two grid openings simultaneously. This minimizes interference with the passage of other trolleys and improves transport efficiency.
[0101] Furthermore, after cargo 400 is captured and placed into the receiving space 927, in order to prevent cargo 400 from falling out of the receiving space 927, as shown in the attached... Figure 10As shown, the anti-drop mechanism 931 can be located at the bottom or inner side of the vertical plate 910 and / or the fixed plate 909, near the bottom. The anti-drop mechanism 931 may include, for example, four electric rods mounted on two vertical plates 910, facing each other in pairs; other feasible structures are also possible. When it is necessary to grab the goods 400, the telescopic rods of the anti-drop mechanism 931 retract to avoid the object. When the goods 400 enter the receiving space 927, the telescopic rods of the anti-drop mechanism 931 extend to the bottom of the goods 400 to limit its movement.
[0102] The trolley 900 is equipped with a barcode reader (not shown in the figure). The reader reads the barcode or QR code information on the track 100 to determine the position of the trolley 900 on the track 100. The trolley 900 also has a trolley control system for controlling the operation of its various mechanisms and communicating with the airborne storage system's TCS (Transport Control System) and the blocker control system (BCS). The blocker control system maintains a blocker status table. At any given time, the right to use a blocker 110 can only be authorized to one trolley 900. When a blocker 110 is already occupied by a trolley 900, the blocker control system marks the information of that blocker 110 in the blocker status table as occupied by a trolley 900 with a specific number. Furthermore, the blocker control system assigns each blocker 110 to a different trolley on a first-come, first-served basis.
[0103] The aforementioned air cargo handling system includes the following steps when handling cargo 400:
[0104] When the TCS receives a transport task to move a piece of goods 400 from a first position to a second position, it determines the trolley 900 to perform the transport task, plans a transport path for the trolley 900, and sends a transport instruction to the trolley 900. Upon receiving the transport instruction, the trolley 900 determines the grid 110 it wishes to access based on the transport path. When requesting access to a grid 110, the trolley 900 can request access to all grids 110 on the transport path at once. More preferably, the trolley 900 can request access to a portion of the grids 110 on the transport path at once; the grid interval may include only one grid 110. More preferably, to reduce the number of communications, the grid interval includes multiple grids 110 continuously distributed in the direction of movement of the trolley 900. The specific number of squares 110 in the grid interval can be designed as needed. In one embodiment, the number of squares 110 in a grid interval can be a fixed value. For example, the grid interval may include 3 or 5 squares 110, meaning the trolley can request the right to use 3 or 5 consecutive squares 110 at a time. Of course, in another embodiment, the number of squares 110 in a grid interval can also be determined within a threshold range based on the moving speed of the trolley 900, the distribution direction of the squares 110, etc. For example, it can be selected within the range of 3-6. Furthermore, when requesting a grid area, all grids 110 in the grid area are continuously distributed in only one direction. For example, when the conveying path passes through all grids 110 including 5 grids 110 continuously distributed along the first horizontal direction F1 and 6 grids 110 continuously distributed along the second horizontal direction F2, then when requesting a grid area, one can first request the right to use the 5 grids 110 distributed along the first horizontal direction F1, and then request the right to use the 6 grids 110 distributed along the second horizontal direction F2.
[0105] The trolley 900 sends an occupation request to the grid control system based on the determined grid segment for which it wishes to acquire usage rights. The grid control system sequentially determines whether each grid segment 110 of the grid segment for which the trolley 900 wishes to acquire usage rights is available, starting from the beginning and ending of the grid segment. Specifically, the control system first determines whether the first grid segment 110 of the grid segment is available. If the first grid segment 110 is not available (i.e., it is occupied by another trolley 900), it returns an occupation failure message to the trolley 900 and terminates the further authorization of the grid segment. If the first grid segment 110 is available, it grants the trolley 900 the right to use the first grid segment. It then determines whether to grant the trolley 900 exclusive rights to the next grid segment.
[0106] When it is determined that any square 110 in the grid area is not vacant, a failure to occupy information is reported to the trolley 900, and authorization for subsequent squares in the grid area is stopped. When it is determined that the right to use all squares 110 in the grid area has been granted to the trolley 900, the grid control system sends a success to the trolley 900. The control system of the trolley 900 updates its maintained occupancy information table, and after obtaining the right to use a grid area, it can move to that grid area.
[0107] As the trolley 900 moves within a grid area, when it reaches a certain position, it can request the right to use the next grid area from the grid control system. In one example, the trolley 900 can request the right to use the next grid area only when it reaches the last grid 110 of the grid area it currently has the right to use. However, since the grid control system requires a certain response time, to ensure the smoothness of the trolley 900's movement as much as possible, it can request the right to use the next grid segment before it reaches the last grid segment 110 of the already used grid segment. The timing of the request can be determined based on the trolley 900's moving speed and the grid control system's response time. Specifically, each trolley 900 can record the response time of the grid control system during its most recent requests for use and calculate the average of these response times as the possible response time for the next request. Thus, when it is determined that the time it takes for the trolley 900 to reach the last grid segment 110 of the already used grid segment from a certain position is slightly longer than the possible response time, it requests the right to use the next grid segment from the grid control system. This is typically based on the grid segments 110 being continuously distributed in one direction. When the trolley 900 moves in a different direction than the trolley 900 has already acquired the right to use in the next grid interval, since the trolley 900 needs to stop at the last grid interval 110 to switch its traveling wheels, it can request the right to use the next grid interval from the grid control system when the trolley 900 moves to the last grid interval 110 of the currently acquired grid interval or to a grid interval 110 upstream of the last grid interval 110.
[0108] Furthermore, when to release a grid 110 (i.e., release a trolley 900 from the right to use a grid 110, so that the grid 110 returns to an idle state) is also a key factor affecting traffic efficiency. The grid control system determines whether to release at least some of the grids currently occupied by the trolley 900 based on the connection position between the next grid section requested by the trolley 900 and the grid section currently occupied by the trolley 900, and whether to grant the trolley 900 the right to use all grids 110 in the next grid section it requests.
[0109] Specifically, when the grid control system determines that the end point of the grid section currently occupied by the trolley 900 connects to the starting point of the next grid section requested for occupation, and the trolley 900 is granted the right to use all grids 110 in the next grid section requested for occupation, the grid control system releases the grid 110 upstream of the grid 110 where the trolley 900 issued the occupation request for the next grid section; for example, as shown in the attached... Figure 18 As shown, the trolley 900 currently occupies grid spaces 11-14, and requests to occupy the next grid space 15-17. The end point of the currently occupied grid space (grid 14) and the beginning point of the next grid space (grid 15) are connected. When the trolley 900 has been granted the right to use the next grid space, the grid control system releases grid spaces 11 and 12. This strategy can release grid space 110 as early as possible, thereby improving the utilization rate of grid space 110 and thus improving the conveying efficiency.
[0110] When the grid control system determines that the end point of the grid segment currently occupied by the trolley 900 connects to the starting point of the next grid segment requested for occupation, but the trolley 900 has not been granted the right to use all grid segments 110 in the next grid segment requested for occupation, the grid control system does not release the grid segment currently occupied by the trolley 900. For example, in the above example, if the trolley 900 is only granted the right to use grid segments 15 and 16, but not the right to use grid segment 17, the grid control system does not release grid segments 11 and 12. Instead, after the trolley 900 is granted the right to use grid segment 17, it determines which grid segments 110 to release based on the position of the grid segment 17 that the trolley 900 requests to occupy again. For example, if the trolley 900 requests the right to use grid segment 17 at grid segment 14 and is granted the right, then the grid control system can release grid segments 11-13. This provides a backup plan in cases where it is impossible to obtain the right to use all 110 squares for an extended period of time and a change in the transport route is required.
[0111] Because the TCS determines, based on the dynamically updated grid status table, that a grid downstream of the currently occupied grid section in the previously planned transport path for a trolley is congested and requires a change of transport path, the TCS will plan a new transport path for the trolley and instruct the trolley to move according to the new path. Therefore, as shown in the attached... Figure 19 As shown, there may be a situation where the starting point (square 15) of the next square interval (square 15-17) requested by the trolley 900 is not connected to the ending point (square 14) of the currently occupied square interval (square 11-14), but is connected to other points (square 13) of the currently occupied square interval. When the grid control system determines that the end point (grid 14) of the grid interval (grid 11-14) currently occupied by the trolley 900 is not connected to the starting point (grid 15) of the next grid interval (grid 15-17) to be occupied, but the starting point of the next grid interval is connected to other points (grid 13) of the currently occupied grid interval, even if the right to use all grids 110 of the next grid interval requested by the trolley 900 is granted to the trolley 900, the grid control system will not release the grid interval currently occupied by the trolley 900. The grid control system can release the currently occupied grid interval when the trolley 900 moves to the starting point of the next grid interval, that is, when the trolley 900 moves to grid 15, the previously occupied grid intervals 11-14 are released. This strategy ensures that when congestion is detected at grid 110 on the transport path and the transport path needs to be changed, the trolley 900 still has a way to switch transport paths, which helps to ensure the transport flexibility and timeliness of the trolley 900.
[0112] When the grid control system releases each of the grid openings 110, it notifies the corresponding trolley 900 to update its maintained occupancy information table. Furthermore, the grid control system's determination of whether to release a grid opening 110, along with the response information indicating whether the trolley 900 successfully acquired a grid opening interval, can be fed back to the trolley 900 that requested to occupy the grid opening interval.
[0113] Of course, other methods can also be used to release grid openings 110. For example, after receiving a occupancy response from the grid opening control system, the trolley 900 can update the information on the grid openings 110 currently granted to it, the released grid openings 110, and whether the grid opening interval has been successfully occupied. It can also determine whether the number of grid openings 110 it occupies exceeds a threshold. If so, it can actively request the release of grid openings 110 that are no longer needed. The threshold can be set as needed, for example, 5-8, etc., and is not limited here.
[0114] Furthermore, when the grid control system receives an occupation request from the trolley 900, it first confirms whether the grid segment requested by the trolley 900 is connected to the grid segment currently occupied by the trolley 900. If it determines that the two are not connected, it sends an occupation failure message to the trolley 900, instructing it to re-report its position information, the grid segment currently occupied by the trolley, and to re-request the right to use the grid segment. After receiving feedback from the trolley 900, the grid control system resets the current position information of the trolley 900 and the grid segment currently occupied by it, and again determines whether the grid segment currently occupied by the trolley 900 is continuous with the grid segment requested by the trolley 900. If it determines that the two are still not connected, it sends an occupation failure message to the trolley 900 and issues an alarm to remind manual handling. Of course, in other embodiments, if it is determined that the grid area requested by the trolley 900 is not continuous with the grid area currently occupied by the trolley 900, an occupation failure message can be sent directly to the trolley 900, and an alarm can be triggered to remind manual processing.
[0115] This invention has many other embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of this invention.
Claims
1. An aerial storage system, comprising a track suspended in the air and having a set of square openings, characterized in that: A multi-layer storage rack is provided below the vehicle rail. The multi-layer storage rack is connected to the bottom of the vehicle rail by connecting columns. The bottom storage rack includes a set of first storage positions that correspond one-to-one with some of the square openings of the vehicle rail. Each first storage position and its corresponding square opening are arranged facing each other in the vertical direction. Multiple first storage positions continuously distributed in the same horizontal direction constitute a first storage unit. Each upper storage rack above the bottom storage rack includes a second storage unit that corresponds to each first storage unit in the height direction. The second storage unit includes at least one second storage position and at least one empty position. The second storage position is driven by a translation drive mechanism to switch the position of the first storage position of the first storage unit corresponding to its second storage unit so that the empty position of the second storage unit corresponds to a different first storage position of the first storage unit corresponding to the second storage unit. The bottom storage rack includes a support frame disposed below the connecting column. The support frame has grids corresponding to each of the square openings. Each grid is a rectangular space enclosed by four rectangularly distributed beam segments. Among the four beam segments enclosing each grid, at least two horizontally extending support rods are respectively provided on the inner side of at least a pair of parallel beam segments. The support rods are perpendicular to the beam segments they are located on. Each support rod is threaded with a limiting nut. A placement plate is mounted on the support rod at each grid, and the placement plate is limited between the limiting nuts of the support rods. The second storage position is a horizontal carrier plate with the same area as the placement plate. The horizontal carrier plate is movably disposed within the unit frame of the second storage unit and connected to a translation drive mechanism that drives its translation.
2. The airborne storage system according to claim 1, characterized in that: The storage rack has two or three layers.
3. The airborne storage system according to claim 1, characterized in that: The first storage unit includes 2-4 first storage locations.
4. The airborne storage system according to claim 1, characterized in that: When the first storage unit includes two first storage positions, the second storage unit includes one second storage position; When the first storage unit includes three first storage positions, the second storage unit includes two second storage positions.
5. The airborne storage system according to claim 1, characterized in that: A positioning mechanism is provided at the top of the second storage position.
6. The airborne storage system according to claim 1, characterized in that: The second storage position is slidably or rollably disposed within the unit frame of the second storage unit.
7. The airborne storage system according to claim 1, characterized in that: When the second storage unit includes two second storage positions, both second storage positions can move between the end and middle positions of the second storage unit, and two translation drive mechanisms are distributed on both sides of the second storage unit.
8. The airborne storage system according to claim 1, characterized in that: The track is equipped with trolleys that can move along the first and second horizontal directions for picking up and placing goods at the storage rack. When it is necessary to pick up or place goods at a position directly below a square opening, any trolley is moved to the top of the square opening and the goods are picked up or placed through the square opening.
9. The airborne safekeeping system according to any one of claims 1-8, characterized in that: When the trolley needs to retrieve or place goods at a first storage location, the first storage unit where the first storage location is located and the second storage unit directly opposite the first storage unit are exclusively controlled so that other first storage locations of the first storage unit and the second storage locations of the second storage unit cannot retrieve or place goods. When the trolley needs to retrieve or place goods at a second storage location, the second storage unit where the second storage location is located, as well as the first storage unit and the second storage unit directly opposite the second storage unit, are exclusively controlled so that the first storage location of the first storage unit and other second storage locations of the second storage unit cannot be retrieved or placed.