Three-dimensional storage device

Abstract

The invention is suitable for the technical field of three-dimensional goods shelves, and provides a three-dimensional storage device which comprises a signboard part, a goods taking frame assembly and a goods shelf assembly, a goods taking plate assembly is arranged on the inner wall of the goods taking frame assembly, a side lifting assembly is arranged on the outer wall of the goods taking frame assembly, and a driving mechanism is arranged at the bottom of the goods taking frame assembly; wherein the object taking frame assembly comprises an object taking frame, a built-in groove is formed in the top of the object taking frame, an inclined support is fixedly connected to the top of the object taking frame, and a laser radar is fixedly connected to one end of the inclined support; through the arrangement of the object taking frame assembly, the side lifting assembly, the object taking plate assembly and the driving mechanism and the cooperation of the signboard piece for use, a walking route is designed according to the position of a goods shelf in a warehouse and the internal structure of the warehouse, the walking route is input into the central control equipment, and the signboard piece is fixed at the corresponding position; and the driving mechanism is controlled by the central control equipment to walk to a designated position according to the walking route for goods delivery or goods taking.

Description

Technical Field

[0001] The present invention belongs to the technical field of three-dimensional shelves, and in particular relates to a three-dimensional storage device. Background Art

[0002] Since the storage method of warehouses has evolved from flat storage to high-rise three-dimensional storage, shelves have become the main body of three-dimensional warehouses. A variety of automated and mechanized warehouses composed of various types of shelves that meet different functional requirements have become an important link in the storage system and even the entire logistics system or production process.

[0003] Reference is made to the shelf placement device and three-dimensional storage system described in the patent application with publication number CN118062470A; the placement device includes: a material receiving base frame, a clamping assembly and an X-axis transfer assembly; the output end of the X-axis transfer assembly is connected to the clamping movable plate, which is used to drive the clamping movable plate to move horizontally on the transfer path; the clamping movable plate is provided with a pair of clamping guide openings, and the clamping plates are respectively installed in the clamping guide openings so as to be movable up and down, and a clamping clamp is formed between two adjacent clamping plates; the clamping plate is provided with clamping teeth, and the clamping gear is engaged with the clamping teeth; the output end of the clamping driver is connected to the clamping gear, which is used to drive the clamping gear to rotate, drive the clamping plate to move up and down, and make the clamping clamp extend or retract on the upper surface of the clamping movable plate to clamp the shelf; the X-axis transfer assembly drives the clamping movable plate to move, so that the clamping clamp pushes the shelf horizontally to the material receiving base frame. This solution solves the problem of low service life when the clamping hand clamps and pushes large shelves;

[0004] Most of the existing storage shelves are single-layer settings, and there are also multi-layer vertical shelves. However, when storing and retrieving goods, manual operation of lifting equipment is required (such as the above-mentioned technical means), which makes it difficult to achieve better automated storage and retrieval of materials: the storage and retrieval process of goods is more difficult, and it is difficult to ensure the accuracy of picking and placing goods, as well as the safety of goods. The automation is relatively low. In order to solve the above problems, a three-dimensional storage device is now provided. Summary of the Invention

[0005] The present invention provides a three-dimensional storage device, which aims to solve the problems that most existing storage shelves are single-layer, and there are also multi-layer vertical shelves. However, manual operation of lifting equipment is required to store and retrieve goods, making it difficult to achieve better automated material storage and retrieval: the storage and retrieval process of goods is more difficult, it is difficult to ensure the accuracy of taking and placing goods, and it is difficult to ensure the safety of goods, and the automation is relatively low.

[0006] The present invention is implemented as follows: a three-dimensional storage device includes a signboard, a retrieval rack assembly, and a shelf assembly: the inner wall of the retrieval rack assembly is provided with a retrieval plate assembly, the outer wall of the retrieval rack assembly is provided with a side lifting assembly, and the bottom of the retrieval rack assembly is provided with a driving mechanism;

[0007] Wherein, the picking rack assembly includes a picking rack, a built-in slot is provided on the top of the picking rack, an inclined bracket is fixedly connected to the top of the picking rack, and a laser radar is fixedly connected to one end of the inclined bracket; through the arrangement of the picking rack assembly, the side lifting assembly, the picking plate assembly and the driving mechanism, and in conjunction with the sign board, during use, first, a walking route is designed according to the position of the shelves inside the warehouse and the internal structure of the warehouse, and the walking route is input into the central control device, and then the sign board is fixed at the corresponding position, and the driving mechanism is controlled by the central control device to walk along the walking route to the designated location for delivery or pickup, wherein the laser radar can detect the walking route area during the walking process, and stop walking in time when an obstacle appears in the walking route area, the remote scanning probe is used in conjunction with the code provided on the sign board, and each time the picking rack assembly moves to the sign board, the remote scanning probe scans the code on the sign board, and the central control device verifies and determines the continued driving distance through the position information on the code, so as to achieve precise position control effect, realize automatic storage and access of materials and path optimization, and support high-density warehouse management;

[0008] The picking rack assembly, side lifting assembly, picking plate assembly and driving mechanism are used in conjunction with each other, and the driving position of the driving mechanism is controlled by the central control device. Then, the inner lifting hydraulic cylinder and the outer lifting hydraulic cylinder are used in conjunction with each other to control the use of the inner lifting hydraulic cylinder and the outer lifting hydraulic cylinder. The height of the picking plate is lifted by secondary lifting, and then the goods are taken out or transported to the shelf assembly.

[0009] The fetching plate assembly includes an inner lifting hydraulic cylinder arranged on the inner wall of the built-in groove, and one end of the inner lifting hydraulic cylinder is fixedly connected to the fetching plate;

[0010] The side lifting assembly includes a side connecting frame fixedly arranged on the outer wall of the object-taking rack, the bottom of the side connecting frame is fixedly connected to an external lifting hydraulic cylinder, and the bottom of the external lifting hydraulic cylinder is fixedly connected to a stationary seat.

[0011] Preferably, there are multiple shelf assemblies, and the multiple shelf assemblies are vertically stacked and connected;

[0012] The shelf assembly includes an upper frame mechanism and a lower frame mechanism, and a plurality of side protection mechanisms are fixedly connected between the upper frame mechanism and the lower frame mechanism. An auxiliary pick-up and delivery mechanism is provided at the bottom of the upper frame mechanism. By vertically stacking and connecting multiple shelf assemblies, space can be saved and the storage and stacking capacity of goods can be greatly increased.

[0013] Through the setting of the lower frame mechanism, in use, by starting and controlling the use of the driving motor, the lower transmission roller is driven to rotate, and the lower inner frame can be slid outward along the inner wall of the lower shelf outer frame, thereby facilitating the storage or removal of goods from the side on the independent platforms of the upper and lower inner frames. Among them, the setting and coordinated use of the upper inner lifting hydraulic cylinder and the independent platform, when taking or storing goods from the side, the upper inner lifting hydraulic cylinder is started and controlled to raise the height of the independent platform, so as to take out or store goods from the side;

[0014] By setting up the upper frame mechanism and cooperating with the auxiliary pick-up and delivery mechanism, during use, by starting and controlling the drive motor to drive the upper transmission roller to rotate, the upper inner frame can be slid outward along the inner wall of the upper shelf outer frame, thereby adjusting the position between the auxiliary pick-up and delivery mechanism and the goods, making it easier for the auxiliary pick-up and delivery mechanism to grab or store the goods;

[0015] By setting up an auxiliary pick-up and delivery mechanism and controlling the use of a multi-axis robotic arm, it is possible to adjust the gripping position of the steering motor and the claw plate in multiple directions and angles in three-dimensional space so as to grab the goods. Then, the steering motor is controlled to adjust the relative position between the gripping plate and the goods according to the shape of the goods, and the gripping motor is controlled to adjust the outward position of the gripping plate so that the gripping plate can grip and clamp the goods from the outside. Then, the multi-axis robotic arm is coordinated to turn the direction and position of the goods, and the goods are placed on an independent platform or the goods on an independent platform are taken out.

[0016] Through the setting of the side protection mechanism, when the side protection grid is in contact with the outer walls of the auxiliary column and the main column, a better anti-tilting effect can be formed between the side protection grid, the auxiliary column and the main column for the outside of the goods on the independent platform, thereby improving the protection effect of the goods. The built-in motor on the side is started and controlled to drive the rotation of the shaft and open the side protection grid so that the goods can be taken out or stored from the side.

[0017] Preferably, the lower frame mechanism includes a lower shelf outer frame, the inner wall of the lower shelf outer frame is slidably connected to the lower inner frame, the top of the lower inner frame is provided with an embedded groove, the inner wall of the embedded groove is fixedly connected to an upper inner lifting hydraulic cylinder, one end of the upper inner lifting hydraulic cylinder is fixedly connected to an independent platform, a driving motor is embedded in the inner wall of the lower inner frame, the output shaft of the driving motor is fixedly connected to the lower transmission roller through a coupling, and the outer wall of the lower transmission roller is rollingly connected to the inner wall of the lower shelf outer frame.

[0018] Preferably, the upper frame mechanism includes an upper shelf outer frame, the inner wall of the upper shelf outer frame is slidably connected to the upper inner frame, a drive motor is embedded in the inner wall of the upper inner frame, the output shaft of the drive motor is fixedly connected to the upper transmission roller through a coupling, and the outer wall of the upper transmission roller is rollingly connected to the inner wall of the upper shelf outer frame.

[0019] Preferably, the side protection mechanism includes a secondary column and a main column fixedly arranged between the upper shelf outer frame and the lower shelf outer frame, the outer wall of the main column is provided with a side built-in motor, the output shaft of the side built-in motor is fixedly connected to the rotating shaft through a coupling, and the outer wall of the rotating shaft is fixedly connected to the side protection grid.

[0020] Preferably, the upper shelf outer frame and the lower shelf outer frame are both made of steel, and the lower shelf outer frame of each upper layer and the upper shelf outer frame of each lower layer are welded together. Micro remote control motors are embedded in the inner walls of the upper shelf outer frame and the lower shelf outer frame. The output shaft of the micro remote control motor is fixedly connected to a rotating pin through a coupling. The outer wall of the rotating pin is fixedly connected to a limit baffle, and the limit baffles are respectively arranged in front of the lower inner frame and the upper inner frame.

[0021] Preferably, the auxiliary picking and delivering mechanism includes a multi-axis robotic arm fixedly arranged at the bottom of the upper inner frame, the output end of the multi-axis robotic arm is connected to a steering motor, the output shaft of the steering motor is fixedly connected to a short rotating rod through a coupling, one end of the short rotating rod is fixedly connected to a claw disk, the inner wall of the claw disk is movably connected to a small movable shaft, the outer wall of the small movable shaft is fixedly connected to a grab plate, and the outer wall of the grab plate is provided with anti-slip grooves, the outer wall of the claw disk is provided with a clamping motor, and the output shaft of the clamping motor is fixedly connected to one end of the small movable shaft through a coupling.

[0022] Preferably, there are multiple signboards, and the multiple signboards are fixed on the outer wall of the shelf assembly or the outer wall of the building facilities inside the warehouse by screws, each signboard is provided with a code, and the current location information is input on each code;

[0023] A remote scanning probe is embedded in the outer wall of the tilt bracket;

[0024] The driving mechanism is a driving mechanism with an electric driving motor and a steering mechanism.

[0025] Preferably, there are multiple side lifting assemblies, and the multiple side lifting assemblies are symmetrically arranged on both sides of the object picking rack assembly.

[0026] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0027] Through the setting of the picking rack assembly, side lifting assembly, picking plate assembly and driving mechanism, and in conjunction with the sign board, during use, first, the walking route is designed according to the position of the shelves inside the warehouse and the internal structure of the warehouse, and the walking route is input into the central control device, and then the sign board is fixed at the corresponding position, and the central control device controls the driving mechanism to walk along the walking route to the designated location to deliver or pick up goods. Among them, the laser radar can detect the walking route area during the walking process, and stop walking in time when an obstacle appears in the walking route area. The remote scanning probe is used in conjunction with the code set on the sign board. Every time the picking rack assembly moves to the sign board, the remote scanning probe scans the code on the sign board, and the central control device verifies and determines the continued driving distance through the position information on the code, so as to achieve precise position control effect, realize automatic storage and access of materials and path optimization, and support high-density warehouse management;

[0028] The picking rack assembly, side lifting assembly, picking plate assembly and driving mechanism are used in conjunction with each other, and the driving position of the driving mechanism is controlled by the central control device. Then, the inner lifting hydraulic cylinder and the outer lifting hydraulic cylinder are used in conjunction with each other to control the use of the inner lifting hydraulic cylinder and the outer lifting hydraulic cylinder. The height of the picking plate is lifted by secondary lifting, and then the goods are taken out or transported to the shelf assembly.

[0029] By vertically stacking multiple shelf components, space can be saved and the storage and stacking capacity of goods can be greatly increased;

[0030] Through the setting of the lower frame mechanism, in use, by starting and controlling the use of the driving motor, the lower transmission roller is driven to rotate, and the lower inner frame can be slid outward along the inner wall of the lower shelf outer frame, thereby facilitating the storage or removal of goods from the side on the independent platforms of the upper and lower inner frames. Among them, the setting and coordinated use of the upper inner lifting hydraulic cylinder and the independent platform, when taking or storing goods from the side, the upper inner lifting hydraulic cylinder is started and controlled to raise the height of the independent platform, so as to take out or store goods from the side;

[0031] By setting up the upper frame mechanism and cooperating with the auxiliary pick-up and delivery mechanism, during use, by starting and controlling the drive motor to drive the upper transmission roller to rotate, the upper inner frame can be slid outward along the inner wall of the upper shelf outer frame, thereby adjusting the position between the auxiliary pick-up and delivery mechanism and the goods, making it easier for the auxiliary pick-up and delivery mechanism to grab or store the goods;

[0032] By setting up an auxiliary pick-up and delivery mechanism and controlling the use of a multi-axis robotic arm, it is possible to adjust the gripping position of the steering motor and the claw plate in multiple directions and angles in three-dimensional space so as to grab the goods. Then, the steering motor is controlled to adjust the relative position between the gripping plate and the goods according to the shape of the goods, and the gripping motor is controlled to adjust the outward position of the gripping plate so that the gripping plate can grip and clamp the goods from the outside. Then, the multi-axis robotic arm is coordinated to turn the direction and position of the goods, and the goods are placed on an independent platform or the goods on an independent platform are taken out.

[0033] Through the setting of the side protection mechanism, when the side protection grid is in contact with the outer walls of the auxiliary column and the main column, a better anti-tilting effect can be formed between the side protection grid, the auxiliary column and the main column for the outside of the goods on the independent platform, thereby improving the protection effect of the goods. The built-in motor on the side is started and controlled to drive the rotation of the shaft and open the side protection grid so that the goods can be taken out or stored from the side. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the front view of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the object-retrieval rack assembly of the present invention;

[0036] Figure 3 It is a structural schematic diagram of the retrieval plate assembly of the present invention;

[0037] Figure 4 It is a schematic structural diagram of the side lifting assembly of the present invention;

[0038] Figure 5 It is a structural schematic diagram of the shelf assembly of the present invention;

[0039] Figure 6 It is a structural schematic diagram of the lower frame mechanism of the present invention;

[0040] Figure 7 It is a structural schematic diagram of the side protection mechanism of the present invention;

[0041] Figure 8 It is a structural schematic diagram of the upper frame mechanism of the present invention;

[0042] Figure 9 It is a structural schematic diagram of the auxiliary picking and delivering mechanism of the present invention.

[0043] Figure: 1. Signage; 2. Access rack assembly; 201. Access rack; 202. Built-in slot; 203. Tilt bracket; 204. LiDAR; 3. Access plate assembly; 301. Internal lifting hydraulic cylinder; 302. Access plate; 4. Side lifting assembly; 401. Side connecting frame; 402. External lifting hydraulic cylinder; 403. Stationary seat; 5. Shelf assembly; 501. Upper frame mechanism; 5011. Upper shelf outer frame; 5012. Upper inner frame; 5013. Upper transmission roller; 502. Side protection mechanism; 502 1. Auxiliary column; 5022. Main column; 5023. Side protection grid; 5024. Side built-in motor; 503. Lower frame mechanism; 5031. Lower shelf outer frame; 5032. Lower inner frame; 5033. Embedded groove; 5034. Lower transmission roller; 5035. Independent table; 5036. Upper inner lifting hydraulic cylinder; 504. Auxiliary pick-up and delivery mechanism; 5041. Multi-axis robotic arm; 5042. Adjustment motor; 5043. Claw plate; 5044. Grabbing plate; 5045. Gripping motor; 6. Driving mechanism. DETAILED DESCRIPTION

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0045] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] The embodiment of the present invention provides a three-dimensional storage device, including a signboard 1, a retrieval rack assembly 2, and a shelf assembly 5. The inner wall of the retrieval rack assembly 2 is provided with a retrieval plate assembly 3, the outer wall of the retrieval rack assembly 2 is provided with a side lifting assembly 4, and the bottom of the retrieval rack assembly 2 is provided with a driving mechanism 6;

[0047] The access rack assembly 2 includes an access rack 201, a built-in slot 202 is provided on the top of the access rack 201, an inclined bracket 203 is fixedly connected to the top of the access rack 201, and a laser radar 204 is fixedly connected to one end of the inclined bracket 203;

[0048] The fetching plate assembly 3 includes an inner lifting hydraulic cylinder 301 arranged on the inner wall of the built-in groove 202, and one end of the inner lifting hydraulic cylinder 301 is fixedly connected to the fetching plate 302;

[0049] The side lifting assembly 4 includes a side connecting frame 401 fixedly arranged on the outer wall of the object-taking rack 201 , the bottom of the side connecting frame 401 is fixedly connected to an external lifting hydraulic cylinder 402 , and the bottom of the external lifting hydraulic cylinder 402 is fixedly connected to a stationary seat 403 .

[0050] There are multiple signboards 1, and the multiple signboards 1 are fixed on the outer wall of the shelf assembly 5 or the outer wall of the building facilities inside the warehouse by screws. Each signboard 1 is provided with a code, and the current location information is input on each code;

[0051] A remote scanning probe is embedded inside the outer wall of the tilt bracket 203;

[0052] The drive mechanism 6 is a drive mechanism 6 with an electric drive motor and a steering mechanism;

[0053] There are multiple side lifting assemblies 4 , and the multiple side lifting assemblies 4 are symmetrically arranged on both sides of the object-taking rack assembly 2 .

[0054] It should be noted that since most of the existing storage shelves are single-layer settings, there are also multi-layer vertical shelves, but when storing and retrieving goods, manual operation of lifting equipment is required, such as the above-mentioned technical means, it is difficult to achieve better automated material storage and retrieval: the process of storing and retrieving goods is more difficult, it is difficult to ensure the accuracy of picking and placing goods, and it is difficult to ensure the safety of goods, and the automation is low.

[0055] Specifically, in this embodiment, this solution is mainly achieved through the arrangement of the sign board 1, the picking rack assembly 2, the shelf assembly 5, the picking plate assembly 3, the side lifting assembly 4 and the driving mechanism 6. During use, first, a walking route is designed according to the position of the shelves inside the warehouse and the internal structure of the warehouse, and the walking route is input into the central control device. Then, the sign board 1 is fixed at the corresponding position, and the central control device controls the driving mechanism 6 to walk to the designated position along the walking route to deliver or pick up goods. Among them, the laser radar 204 can detect the walking route area during the walking process, and stop walking in time when an obstacle appears in the walking route area. The remote scanning probe is used in conjunction with the code provided on the sign board 1. Every time the picking rack assembly 2 moves to the sign board 1, the remote scanning probe scans the code on the sign board 1, and the central control device verifies and determines the continued driving distance through the position information on the code.

[0056] The driving position of the driving mechanism 6 is controlled by the central control device, and then the inner lifting hydraulic cylinder 301 and the outer lifting hydraulic cylinder 402 are used in conjunction with each other to control the use of the inner lifting hydraulic cylinder 301 and the outer lifting hydraulic cylinder 402, and the height of the lifting plate 302 is achieved through secondary lifting, thereby realizing the taking or delivery of goods to the shelf assembly 5.

[0057] In this embodiment, through the arrangement of the picking rack assembly 2, the side lifting assembly 4, the picking plate assembly 3 and the driving mechanism 6, and in conjunction with the sign board 1, a walking route is designed according to the position of the shelves inside the warehouse and the internal structure of the warehouse, and the walking route is input into the central control device, and then the sign board 1 is fixed at the corresponding position, and the central control device controls the driving mechanism 6 to walk to the designated position along the walking route to deliver or pick up goods, wherein the laser radar 204 can detect the walking route area during the walking process, and stop walking in time when an obstacle appears in the walking route area. The remote scanning probe is used in conjunction with the code provided on the sign board 1. Every time the picking rack assembly 2 moves to the sign board 1, the remote scanning probe scans the code on the sign board 1, and the central control device verifies and determines the continued driving distance through the position information on the code, so as to achieve precise position control effect, realize automatic storage and access of materials and path optimization, and support high-density warehouse management;

[0058] By cooperating with the picking rack assembly 2, the side lifting assembly 4, the picking plate assembly 3 and the driving mechanism 6, the driving position of the driving mechanism 6 is controlled by the central control device, and then, by cooperating with the inner lifting hydraulic cylinder 301 and the outer lifting hydraulic cylinder 402, the inner lifting hydraulic cylinder 301 and the outer lifting hydraulic cylinder 402 are controlled to achieve the height of the picking plate 302 through secondary lifting, and then the goods are taken out or transported to the shelf assembly 5.

[0059] In a further preferred embodiment of the present invention, the number of the shelf components 5 is multiple, and the multiple shelf components 5 are vertically stacked and connected;

[0060] The shelf assembly 5 includes an upper frame mechanism 501 and a lower frame mechanism 503, and a plurality of side protection mechanisms 502 are fixedly connected between the upper frame mechanism 501 and the lower frame mechanism 503. An auxiliary pick-up and delivery mechanism 504 is provided at the bottom of the upper frame mechanism 501.

[0061] The lower frame mechanism 503 includes a lower shelf outer frame 5031, the inner wall of which is slidably connected to a lower inner frame 5032. An embedded groove 5033 is provided at the top of the lower inner frame 5032. An upper inner lifting hydraulic cylinder 5036 is fixedly connected to the inner wall of the embedded groove 5033. One end of the upper inner lifting hydraulic cylinder 5036 is fixedly connected to an independent platform 5035. A drive motor is embedded in the inner wall of the lower inner frame 5032. The output shaft of the drive motor is fixedly connected to a lower transmission roller 5034 via a coupling. The outer wall of the lower transmission roller 5034 is in rolling connection with the inner wall of the lower shelf outer frame 5031.

[0062] The upper frame mechanism 501 includes an upper shelf outer frame 5011, the inner wall of which is slidably connected to an upper inner frame 5012. A drive motor is embedded in the inner wall of the upper inner frame 5012. The output shaft of the drive motor is fixedly connected to an upper transmission roller 5013 via a coupling. The outer wall of the upper transmission roller 5013 is in rolling connection with the inner wall of the upper shelf outer frame 5011.

[0063] The side protection mechanism 502 includes a secondary column 5021 and a main column 5022 fixedly disposed between the upper shelf outer frame 5011 and the lower shelf outer frame 5031. The outer wall of the main column 5022 is provided with a side built-in motor 5024. The output shaft of the side built-in motor 5024 is fixedly connected to a rotating shaft via a coupling. The outer wall of the rotating shaft is fixedly connected to a side protection grid 5023.

[0064] The upper shelf outer frame 5011 and the lower shelf outer frame 5031 are both made of steel, and the lower shelf outer frame 5031 of each upper layer is welded to the upper shelf outer frame 5011 of each lower layer. Micro remote-controlled motors are embedded in the inner walls of the upper shelf outer frame 5011 and the lower shelf outer frame 5031. The output shaft of the micro remote-controlled motor is fixedly connected to a rotating pin through a coupling. The outer wall of the rotating pin is fixedly connected to a limit baffle, and the limit baffle is respectively arranged in front of the lower inner frame 5032 and the upper inner frame 5012.

[0065] The auxiliary picking and delivering mechanism 504 includes a multi-axis robotic arm 5041 fixedly arranged at the bottom of the upper inner frame 5012, and the output end of the multi-axis robotic arm 5041 is connected to the adjustment motor 5042, and the output shaft of the adjustment motor 5042 is fixedly connected to the short rotating rod through a coupling, and one end of the short rotating rod is fixedly connected to the claw plate 5043, and the inner wall of the claw plate 5043 is movably connected to the small movable shaft, and the outer wall of the small movable shaft is fixedly connected to the gripping plate 5044, and the outer wall of the gripping plate 5044 is provided with anti-slip grooves, and the outer wall of the claw plate 5043 is provided with a clamping motor 5045, and the output shaft of the clamping motor 5045 is fixedly connected to one end of the small movable shaft through a coupling.

[0066] In this embodiment, by vertically stacking and connecting multiple shelf components 5, space can be saved and the amount of goods that can be stored and stacked can be greatly increased;

[0067] Through the arrangement of the lower frame mechanism 503, in use, by starting and controlling the use of the driving motor, the lower transmission roller 5034 is driven to rotate, so that the lower inner frame 5032 can be slid outward along the inner wall of the lower shelf outer frame 5031, thereby facilitating the storage or removal of goods from the side on the independent platform 5035 on the upper and lower inner frames 5032. Among them, the arrangement and coordinated use of the upper inner lifting hydraulic cylinder 5036 and the independent platform 5035, when taking or storing goods from the side, the upper inner lifting hydraulic cylinder 5036 is started and controlled to raise the height of the independent platform 5035, so that the goods can be taken out or stored from the side;

[0068] By setting up the upper frame mechanism 501 and cooperating with the auxiliary pick-up and delivery mechanism 504, during use, by starting and controlling the drive motor, the upper transmission roller 5013 is driven to rotate, so that the upper inner frame 5012 can be slid outward along the inner wall of the upper shelf outer frame 5011, thereby adjusting the position between the auxiliary pick-up and delivery mechanism 504 and the goods, making it easier for the auxiliary pick-up and delivery mechanism 504 to grab or store the goods;

[0069] By setting up the auxiliary pick-up and delivery mechanism 504 and controlling the use of the multi-axis robotic arm 5041, it is possible to adjust the gripping position of the steering motor 5042 and the claw plate 5043 in multiple directions and angles in three-dimensional space so as to grip the goods. Then, the steering motor 5042 is controlled to adjust the relative position between the gripping plate 5044 and the goods according to the shape of the goods, and the gripping claw motor 5045 is controlled to adjust the outward position of the gripping plate 5044 so that the gripping plate 5044 grips and clamps the goods from the outside. Then, the multi-axis robotic arm 5041 is coordinated to rotate the direction and position of the goods, and the goods are placed on the independent platform 5035 or the goods on the independent platform 5035 are taken out.

[0070] Through the setting of the side protection mechanism 502, when the side protection grid 5023 is in contact with the outer walls of the auxiliary column 5021 and the main column 5022, a better anti-tilting effect can be formed between the side protection grid 5023, the auxiliary column 5021 and the main column 5022 for the outside of the goods on the independent platform 5035, thereby improving the protection effect of the goods. The side built-in motor 5024 is started and controlled to drive the rotating shaft to rotate and open the side protection grid 5023 so that the goods can be taken out or stored from the side.

[0071] It should be noted that for the aforementioned embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative, such as the division of the above-mentioned units. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the coupling or communication connection between each other shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunications or other forms.

[0073] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0074] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the embodiments described are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also fall within the scope of protection of the present invention.

Claims

1. A three-dimensional storage device, characterized in that: The utility model comprises a signboard (1), a take-out rack assembly (2) and a shelf assembly (5): the inner wall of the take-out rack assembly (2) is provided with a take-out plate assembly (3), the outer wall of the take-out rack assembly (2) is provided with a side lifting assembly (4), and the bottom of the take-out rack assembly (2) is provided with a driving mechanism (6); The object-retrieval rack assembly (2) comprises an object-retrieval rack (201), a built-in slot (202) is provided on the top of the object-retrieval rack (201), an inclined bracket (203) is fixedly connected to the top of the object-retrieval rack (201), and a laser radar (204) is fixedly connected to one end of the inclined bracket (203); The fetching plate assembly (3) comprises an inner lifting hydraulic cylinder (301) arranged on the inner wall of the built-in groove (202), and one end of the inner lifting hydraulic cylinder (301) is fixedly connected to the fetching plate (302); The side lifting assembly (4) comprises a side connecting frame (401) fixedly arranged on the outer wall of the object-taking rack (201), the bottom of the side connecting frame (401) is fixedly connected to an external lifting hydraulic cylinder (402), and the bottom of the external lifting hydraulic cylinder (402) is fixedly connected to a stationary seat (403).

2. A three-dimensional storage device according to claim 1, characterized in that: The number of the shelf components (5) is multiple, and the multiple shelf components (5) are vertically stacked and connected; The shelf assembly (5) comprises an upper frame mechanism (501) and a lower frame mechanism (503), and a plurality of side protection mechanisms (502) are fixedly connected between the upper frame mechanism (501) and the lower frame mechanism (503). An auxiliary pick-up and delivery mechanism (504) is provided at the bottom of the upper frame mechanism (501).

3. A three-dimensional storage device according to claim 2, characterized in that: The lower frame mechanism (503) includes a lower shelf outer frame (5031), the inner wall of the lower shelf outer frame (5031) is slidably connected to a lower inner frame (5032), the top of the lower inner frame (5032) is provided with an embedded groove (5033), the inner wall of the embedded groove (5033) is fixedly connected to an upper inner lifting hydraulic cylinder (5036), one end of the upper inner lifting hydraulic cylinder (5036) is fixedly connected to an independent platform (5035), a driving motor is embedded in the inner wall of the lower inner frame (5032), the output shaft of the driving motor is fixedly connected to a lower transmission roller (5034) through a coupling, and the outer wall of the lower transmission roller (5034) is rollingly connected to the inner wall of the lower shelf outer frame (5031).

4. A three-dimensional storage device according to claim 3, characterized in that: The upper frame mechanism (501) comprises an upper shelf outer frame (5011), the inner wall of the upper shelf outer frame (5011) is slidably connected to an upper inner frame (5012), a driving motor is embedded in the inner wall of the upper inner frame (5012), the output shaft of the driving motor is fixedly connected to an upper transmission roller (5013) via a coupling, and the outer wall of the upper transmission roller (5013) is rollingly connected to the inner wall of the upper shelf outer frame (5011).

5. A three-dimensional storage device as claimed in claim 4, characterized in that: The side protection mechanism (502) comprises a secondary column (5021) and a main column (5022) fixedly arranged between an upper shelf outer frame (5011) and a lower shelf outer frame (5031); a side built-in motor (5024) is arranged on the outer wall of the main column (5022); an output shaft of the side built-in motor (5024) is fixedly connected to a rotating shaft via a coupling; and a side protection grid (5023) is fixedly connected to the outer wall of the rotating shaft.

6. A three-dimensional storage device according to claim 4, characterized in that: The upper shelf outer frame (5011) and the lower shelf outer frame (5031) are both steel outer frames, and the lower shelf outer frame (5031) of each upper layer and the upper shelf outer frame (5011) of each lower layer are welded together. Micro remote control motors are embedded in the inner walls of the upper shelf outer frame (5011) and the lower shelf outer frame (5031). The output shaft of the micro remote control motor is fixedly connected to a rotating pin through a coupling. The outer wall of the rotating pin is fixedly connected to a limit baffle, and the limit baffles are respectively arranged in front of the lower inner frame (5032) and the upper inner frame (5012).

7. The three-dimensional storage device according to claim 4, characterized in that: The auxiliary picking and delivering mechanism (504) comprises a multi-axis mechanical arm (5041) fixedly arranged at the bottom of the upper inner frame (5012); the output end of the multi-axis mechanical arm (5041) is connected to a steering motor (5042); the output shaft of the steering motor (5042) is fixedly connected to a short rotating rod via a coupling; one end of the short rotating rod is fixedly connected to a claw plate (5043); the inner wall of the claw plate (5043) is movably connected to a small movable shaft; the outer wall of the small movable shaft is fixedly connected to a gripping plate (5044); and the outer wall of the gripping plate (5044) is provided with anti-slip grooves; the outer wall of the claw plate (5043) is provided with a clamping motor (5045); and the output shaft of the clamping motor (5045) is fixedly connected to one end of the small movable shaft via a coupling.

8. The three-dimensional storage device according to claim 1, wherein: The number of the signboards (1) is multiple, and the multiple signboards (1) are fixed on the outer wall of the shelf assembly (5) or the outer wall of the building facilities inside the warehouse by screws, each signboard (1) is provided with a code, and current location information is inputted on each code; A remote scanning probe is embedded in the outer wall of the tilt bracket (203); The driving mechanism (6) is a driving mechanism (6) with an electric driving motor and a steering mechanism.

9. The three-dimensional storage device according to claim 1, wherein: There are multiple side lifting assemblies (4), and the multiple side lifting assemblies (4) are symmetrically arranged on both sides of the object-taking rack assembly (2).

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