Three-dimensional storage system capable of rapidly taking and placing material boxes

Abstract

The invention relates to a three-dimensional storage system capable of rapidly taking and placing material boxes. The three-dimensional storage system comprises a modularized extensible vertical warehouse, a lifting portal frame and a cargo carrying table device arranged on a movable support. The modular extensible three-dimensional warehouse is characterized by comprising at least two three-dimensional warehouse frame bodies, and each three-dimensional warehouse frame body is formed by stacking at least two standardized material frame units in the vertical direction through detachable connecting structures; the vertical warehouse frame bodies are arranged in parallel in the horizontal direction; the at least one top beam is transversely erected on the tops of all the vertical warehouse frame bodies which are arranged in parallel; the inserting structure is arranged at the bottom of the top beam; wherein the top beam is detachably and rigidly connected with the top of each three-dimensional warehouse frame body in an inserting manner through the inserting structure of the top beam, so that all the three-dimensional warehouse frame bodies form an integral stable structure; the lifting portal frame is transversely and movably arranged on the top beam, and the cargo carrying table device is movably arranged on the lifting portal frame and used for achieving two-dimensional movement of the cargo carrying table device in the vertical plane. The scheme has the advantages of stable structure, flexible expansion and convenient installation.

Description

Technical Field

[0001] The present invention relates to the technical field of automated warehousing and logistics, and in particular to a three-dimensional storage system for quickly taking and placing material boxes. Background Art

[0002] In the field of automated warehousing and logistics, three-dimensional storage systems are widely used due to their advantages such as high space utilization and fast access efficiency. Traditional three-dimensional warehouses mostly use fixed steel racks, whose entire frame must be welded or bolted on-site. This not only results in a long installation period but also poor scalability. For scenarios requiring frequent adjustments to storage capacity, such as e-commerce sorting centers or flexible production lines, existing systems are difficult to quickly expand or restructure. Furthermore, the stability of traditional racks is completely dependent on permanent infrastructure, resulting in high relocation and renovation costs, making them unable to adapt to the flexible and ever-changing needs of modern warehousing.

[0003] The material box storage and retrieval mechanism in the existing technology mainly adopts a solution of stacking cranes in combination with fixed forks, which has many limitations. First, the stacking crane needs to rely on both ground rails and top guide rails for dual support, which places extremely high demands on the flatness of the warehouse foundation, increasing the construction difficulty and cost. Secondly, the fixed forks require precise positioning of the entire mechanism when storing and retrieving material boxes, and the tolerance for the placement of the material boxes is low, which can easily lead to storage and retrieval failures due to positioning deviations. Especially when dealing with turnover material boxes with handles, traditional forks cannot achieve fast hook-pull pick-up and placement operations, and often require additional auxiliary push-pull mechanisms, which not only increases the complexity of the system, but also makes the action process cumbersome and time-consuming, making it difficult to meet the rapid turnover needs of high-frequency, small-batch materials.

[0004] Although relevant explorations have been made in modular warehousing systems, existing solutions have difficulty striking a balance between structural stability and flexibility. For example, when standard shelf units are spliced ​​together, there is a lack of effective rigid connection structures in the horizontal direction, which can easily lead to displacement deviations between rows of shelves, affecting overall stability. Vertically stacked units usually rely on complex connectors, resulting in low assembly and disassembly efficiency. In addition, existing loading platform moving mechanisms mostly use a single-column or gantry design, which suffers from insufficient rigidity and large shaking when running across multiple rows of shelves, seriously affecting positioning accuracy and restricting the improvement of storage and retrieval efficiency.

[0005] In view of the above problems, the existing technology is in urgent need of improvement. Summary of the Invention

[0006] In order to solve the above problems, the purpose of the present invention is to provide a three-dimensional storage system for quickly taking out and placing material boxes, which has the advantages of stable structure, flexible expansion and convenient installation.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0008] The present application provides a three-dimensional storage system for quick access and placement of material boxes. The technical solution is as follows: A three-dimensional storage system for quick access and placement of material boxes includes a modular expandable vertical warehouse, a lifting gantry, and a cargo platform device arranged on a mobile bracket; the characteristics are: the modular expandable vertical warehouse includes:

[0009] At least two vertical warehouse frames, each of which consists of at least two standardized rack units connected in the vertical direction. Formed by stacking a detachable connection structure;

[0010] The vertical warehouse frames are arranged in parallel in the horizontal direction;

[0011] At least one top beam is horizontally erected on the top of all parallel vertical warehouse frames;

[0012] A plug-in structure is provided at the bottom of the top beam; wherein, the top beam is detachably and rigidly plugged into the top of each vertical warehouse frame body through its plug-in structure, so that all vertical warehouse frames form an overall stable structure; the lifting gantry is arranged on the top beam for horizontal movement, and the cargo platform device is arranged on the lifting gantry for movement, so as to realize two-dimensional movement of the cargo platform device in the vertical plane.

[0013] This technical solution achieves rapid expansion and structural stability of the warehousing system through the combination of modular and expandable vertical warehouses and rigid connection structures. Specifically, the vertical warehouse frame body adopts standardized material rack units for vertical stacking, and the detachable connection structure realizes flexible increase and decrease in height direction, which solves the problem that traditional welded shelves cannot quickly adjust the layer height. Multiple vertical warehouse frame bodies arranged in parallel in the horizontal direction are connected laterally by the top beam. The plug-in structure at the bottom of the top beam is rigidly plugged into the top of each frame body to form a truss-like lateral constraint, which overcomes the defect that displacement deviation is easy to produce when multiple rows of shelves are set up independently. The lifting gantry is directly mounted on the top beam, and the top beam is used as a load-bearing rail. The top beam body is directly constructed as a horizontal slide rail to realize the integrated integration of structural function and equipment load-bearing function. Specifically, the design of the top beam as a horizontal slide rail makes it not only play the structural stabilization role of connecting the various vertical warehouse frame bodies to form a rigid whole, but also directly serve as a track carrier for the movement of logistics equipment. This dual-functional integration overcomes the limitations of traditional solutions, where crossbeams and rails are separated. Through structural reconstruction, the top beam not only provides lateral constraints on the frame, but also naturally forms a continuous rail system for the elevator to operate, eliminating the need for the installation of separate rails. In particular, the construction of the transverse rails allows the top beam to be simultaneously installed and secured to the vertical warehouse frame while simultaneously laying the rails for the logistics equipment, achieving both structural reinforcement and functional expansion. Furthermore, the two-dimensional movement of the cargo platform on the lifting gantry enables precise positioning of the storage and retrieval mechanism within three-dimensional space.

[0014] Furthermore, the present application also proposes that the lifting gantry also includes a bottom track at the lower end of the modular expandable warehouse; the top of the lifting gantry is slidingly set on the top beam, and the lower end is slidingly set on the bottom track; the lifting gantry includes a gantry body, a traction chain set on the gantry body, and a lifting motor that drives the traction chain to move; the cargo platform device is slidingly set on the gantry body and connected to the traction chain.

[0015] This technical solution optimizes the movement stability of the lifting gantry by adding a bottom rail and a top beam to form an upper and lower double sliding support structure. Specifically, the top sliding arrangement on the top beam can inherit the overall structural strength after the top beam is rigidly connected to the vertical warehouse frame body, and the lower sliding arrangement on the bottom rail disperses the gantry load through auxiliary ground support, reducing dependence on a single top support. The gantry body serves as a rigid load-bearing body and provides an installation basis for the traction chain and the cargo platform device, while the combination of the traction chain and the lifting motor realizes the precise drive of the lifting and lowering movement of the cargo platform device. The cargo platform device is connected to the traction chain through a sliding connection, and can move stably in the vertical direction on the gantry body, avoiding the problem of sway caused by unilateral force in traditional stackers. The above technical means work together to enable the lifting gantry to maintain high rigidity when running across multiple rows of shelves, reduce positioning deviations caused by structural deformation or uneven ground, and thus improve the efficiency of material box storage and retrieval.

[0016] Furthermore, the present application proposes that the rack unit comprises a frame unit constructed from a plurality of columns and a plurality of crossbars; shelves or brackets are provided on the crossbars; a rack cavity is formed above the shelves, or between two opposite brackets; and an open cavity is provided at the front end of each rack cavity. This technical solution forms a basic structure by constructing a frame unit using columns and crossbars, enabling rapid assembly and expansion of standardized modules. The arrangement of shelves or brackets provides two different storage methods: the shelves directly form a flat supporting space, suitable for flat storage of material boxes without handles; while the oppositely arranged brackets form a clamping shelf cavity through lateral support, which is suitable for hanging and retrieval of material boxes with handles. The design of the open cavity allows the material boxes to be pushed in or pulled out directly in the horizontal direction, avoiding the operational limitations of traditional closed shelves that require vertical lifting, significantly improving storage and retrieval efficiency. The fixing method of the brackets and crossbars ensures the overall rigidity of the rack unit when stacked, and the coordination of the open cavity and the rack cavity solves the problem of insufficient positioning accuracy caused by the complex structure of traditional shelves.

[0017] Furthermore, the present application also proposes that the front and rear ends of the bracket are fixed on the crossbar, including:

[0018] A bottom plate used to support the bottom side edge of the material box;

[0019] · Side plates arranged perpendicular to the bottom plate; wherein a material rack cavity is formed between the side plates of two opposite brackets.

[0020] This technical solution optimizes the support and positioning mechanism for the magazines through a specifically designed bracket design. First, the front and rear ends of the bracket are fixed to a crossbar, forming a rigid support structure that ensures the bracket does not deform or shift when carrying the magazines. The bottom plate is designed as a horizontally extending support surface, directly contacting the bottom edge of the magazine. By limiting the contact area of ​​the magazine's bottom, this not only distributes the load but also prevents the entire magazine from sinking, which can cause difficulty in accessing and placing the magazine. Side plates are positioned perpendicular to the bottom plate, providing lateral constraints on the magazines and preventing them from sliding or tipping over during storage. By forming a shelf cavity between the side plates of the two opposing brackets, a three-dimensional storage space with clear boundaries is created. This allows the magazines to automatically center themselves when inserted, guided by the side plates. The open cavity design also allows for rapid access. Through the synergistic effect of the bottom and side plates, this structure achieves standardized dimensional control of the shelf cavity while ensuring stable magazine storage, providing a precise operating reference for automated storage and retrieval equipment.

[0021] Furthermore, the present application also proposes that when two material rack units are stacked in the vertical direction, the lower end of the column of the upper material rack unit is directly connected to the upper end of the column of the lower material rack unit; the detachable connection structure includes a guide plug-in column fixed to the upper end of the column, and the guide plug-in column is a conical body; the lower end of the column of the upper material rack unit is provided with a plug-in hole that cooperates with the guide plug-in column.

[0022] This technical solution achieves both rapid assembly and disassembly and improved structural stability by optimizing the vertical stacking connection method of the rack units. Specifically, the lower end of the column of the upper rack unit is directly connected to the upper end of the column below, which simplifies the structural complexity of the connection interface and avoids the installation steps of additional transition connectors required in traditional solutions. The guide plug-in column is designed as a cone. During the column docking process, the tapered slope automatically corrects the position deviation, reducing the dependence on installation accuracy. At the same time, the tapered structure plays a guiding role when inserted into the plug-in hole, ensuring that the axis of the column is quickly aligned. The plug-in hole is set at the lower end of the column to form a complementary fit with the guide plug-in column. The lateral displacement between the columns is constrained by rigid plug-in, so that the upper and lower rack units form a stable vertical load transfer path. This combined connection design retains the flexibility of modular assembly and disassembly, and enhances the shear resistance of the connection part through the physical properties of the tapered plug-in, solving the contradiction between installation efficiency and structural strength in traditional vertical stacking solutions.

[0023] Furthermore, the present application also proposes that the plug-in structure includes:

[0024] A top plate fixed to the lower end of the top beam;

[0025] At least two plug-in rods are vertically connected to the bottom of the top plate; the plug-in rods are respectively inserted into the tops of the columns of the adjacent vertical warehouse frame bodies.

[0026] A limit plate is provided on the plug-in rod to limit the depth of insertion into the column.

[0027] This technical solution achieves a rigid connection between multiple rows of vertical warehouse frames through a plug-in structure between the top beam and the vertical warehouse frame, thereby improving the overall structural stability. Specifically, the top plate fixed to the lower end face of the top beam provides an installation base for the plug-in rod, ensuring the vertical positioning accuracy of the plug-in rod; at least two plug-in rods vertically connected below the top plate are respectively inserted into the top of the columns of adjacent vertical warehouse frames, forming lateral constraints through multi-point rigid plug-in, effectively limiting the relative displacement between adjacent vertical warehouse frames. This design not only simplifies the assembly process of modular vertical warehouses, but also enhances the anti-rolling ability of cross-row vertical warehouse frames by dispersing the load transfer path, solving the problem of insufficient overall rigidity of traditional modular shelves due to weak horizontal connections.

[0028] Furthermore, the present application also proposes that the cargo platform device includes:

[0029] ●Mobile platform, used for two-dimensional movement in the vertical plane;

[0030] A rotating bracket is rotatably mounted on the mobile platform, and a receiving platform for receiving the material box is provided on the rotating bracket;

[0031] A telescopic frame is provided on the rotating bracket, and a hook and pull assembly for engaging the material box is provided at the telescopic end of the telescopic frame;

[0032] The cargo platform device is configured as follows:

[0033] o Positioning to the target box position through two-dimensional movement of the mobile platform;

[0034] o Drive the telescopic frame to extend, so that the hook pull assembly approaches and engages the target material box;

[0035] o Drive the telescopic frame to retract and pull the clamped target material box to the receiving platform.

[0036] This technical solution achieves precise positioning and posture adjustment in three dimensions through the coordinated cooperation of a mobile platform and a rotating bracket. The mobile platform's two-dimensional mobility ensures the loading platform can horizontally cover multiple rack rows, while the rotating bracket's rotatable nature allows the hook-pull assembly to adapt to the needs of material box storage and retrieval. The telescopic frame's retracting motion, combined with the hook-pull assembly's snap-in function, innovatively transforms traditional push-pull material retrieval into active hook-pull material retrieval, particularly suitable for reusable materials with handles. The hook-pull assembly uses mechanical traction upon contact with the material box to achieve reliable grip, eliminating the precise positioning limitations of traditional forks. The hook-pull assembly's snap-in action, combined with the telescopic frame's retracting traction, creates a continuous operational process of "active approach - secure engagement - smooth retrieval," ensuring full control from grabbing to placing the material box. The receiving platform serves as an intermediate carrier, creating a buffer zone for material transfer during the telescopic frame's retraction process, effectively reducing positioning errors caused by direct handling. The entire process is controlled sequentially, enabling single-step positioning and material retrieval, significantly reducing the repeated adjustments required by traditional storage and retrieval mechanisms. By linking these three, precise positioning and flexible grasping can be achieved, significantly improving the success rate of picking and placing in complex scenarios.

[0037] Furthermore, this application proposes a receiving platform that slides along the telescopic frame's extension direction. The receiving platform has an opening on the extension side. The central portion of the rotating bracket is recessed downward to form a groove, with bosses on either side. Baffles are located on the outer edges of the bosses, and the top surface of the bosses between the two baffles forms the receiving platform. This technical solution optimizes the receiving platform's material guiding and carrying functions through a specific structure. The sliding platform is positioned along the extension direction, allowing the material box to move along a fixed trajectory during hook-pulling, preventing lateral movement and resulting jamming. The platform opening is located on the extension side, providing an unobstructed passage for the material box to enter the receiving platform, ensuring that the material box can slide directly into the carrying area after the hook-pulling operation is completed. The recessed groove formed by the central portion of the rotating bracket reduces the overall weight of the device while providing space for the telescopic frame and its drive mechanism, achieving a compact layout. The bosses on either side of the groove form a support surface that is higher than the bottom of the groove. Baffles limit the sides of the material box to prevent it from tipping over or slipping during movement.

[0038] Furthermore, the present application also proposes that a guide plate is provided on the side of the baffle plate close to the platform opening; a flared shape is formed between the guide plates on both sides to guide the material box into the receiving platform. This technical solution optimizes the introduction path of the material box by providing a flared structure with a guiding function at the entrance of the receiving platform. Specifically, a guide plate is provided on the side of the baffle plate close to the platform opening, so that a gradually narrowing flared shape is formed between the guide plates on both sides. The flared structure plays a spatial guiding role in the process of pushing the material box in: when the front end of the material box contacts the guide plate, the inclined surface of the flared shape will automatically correct the horizontal offset of the material box, guiding the material box to slide into the receiving platform along a predetermined path.

[0039] Furthermore, the present application proposes a telescopic frame in the form of a scissors-type frame; a guide rail and a telescopic drive assembly are provided within a groove; the rear end of the telescopic frame is connected to the rear end of the receiving platform; the lower end of the front or middle portion of the telescopic frame is slidably mounted on the guide rail via a slider; and the telescopic drive assembly drives the slider on the guide rail to control the telescopic frame's extension and retraction. This technical solution achieves efficient and stable operation of the telescopic mechanism of the cargo platform device through the coordinated design of the scissors-type frame and the guide rail drive assembly. The scissors-type frame is used as the telescopic frame, leveraging its parallelogram-shaped hinged structure to achieve linear telescopic motion within a confined space. This ensures smooth telescopic travel while avoiding the stringent installation precision requirements of traditional linear guide rail structures. A guide rail is provided within the groove, and the front or middle portion of the telescopic frame is slidably connected to the guide rail via a slider. This ensures that the scissors-type frame always moves along a predetermined trajectory during telescopic movement, effectively suppressing mechanism wobbling and resolving positioning deviations caused by flexible deformation. By fixedly connecting the rear end of the telescopic frame to the rear end of the receiving platform, a stable force transmission path is established, ensuring that the reaction force generated by the telescopic action is directly transmitted to the main structure of the cargo platform, preventing distortion of the mechanism. The telescopic drive assembly converts linear motion into telescopic movement by driving the slider along the guide rail. Compared to solutions that directly drive the scissor frame's hinge points, this reduces the complexity of the drive mechanism while leveraging the guide rail's guidance to improve the efficiency of driving force transmission. This combined design simplifies the mechanism while balancing motion accuracy and structural rigidity, making it particularly suitable for high-frequency telescopic operations.

[0040] Furthermore, the present application also proposes that the telescopic drive assembly includes an annular belt and a drive motor; the annular belt is arranged in a groove and parallel to the guide rail through a roller; the slider is fixedly connected to the annular belt; and the drive motor drives the annular belt to rotate in a circular motion. This technical solution achieves efficient driving of the telescopic frame through the cooperation of the annular belt and the drive motor. The arrangement of the annular belt parallel to the guide rail can keep the transmission direction of the driving force consistent with the telescopic direction of the telescopic frame, avoiding energy loss during the transmission process. The fixed connection between the slider and the annular belt ensures the direct transmission of the driving force, so that the movement of the slider on the guide rail is strictly synchronized with the rotation of the annular belt, thereby accurately controlling the telescopic amount of the telescopic frame.

[0041] Furthermore, the present application proposes a hook-pull assembly comprising a hook; a first sensor is located at the front end of the hook, which detects contact with the cartridge and sends a signal back to the telescopic drive assembly to control the amount of extension and retraction; and a second sensor is located within the hook's mouth, which detects whether the hook is engaged with the cartridge. This technical solution achieves intelligent control of the hook-pull assembly through a dual sensing mechanism. As the component that directly contacts the cartridge, the first sensor located at the front end of the hook can sense contact with the cartridge in real time. Upon detecting contact, it immediately sends a signal back to the telescopic drive assembly, thereby precisely controlling the extension and retraction of the telescopic frame and avoiding positioning errors or mechanical interference caused by over-extension or under-extension. A second sensor is integrated within the hook's mouth. By detecting the presence of the cartridge handle within the mouth, it accurately determines whether the hook has been effectively engaged, preventing the cartridge from falling off or shifting during the pulling process due to false or incomplete engagement. The coordinated control of the first sensor and the telescopic drive assembly enables closed-loop regulation of the telescopic action, while the second sensor provides dual verification of the engagement status. Together, they ensure reliable cartridge capture and stable pulling.

[0042] Furthermore, the hook-pull assembly also includes a first touch plate provided on the front side of the hook; the detection end of the first sensor is pressed against the rear side of the first touch plate; this technical solution forms an indirect detection structure by adding a first touch plate on the front side of the hook and pressing the detection end of the first sensor against the rear side of the first touch plate. When the front end of the hook touches the material box, the first touch plate acts as a buffer medium to transmit the contact force to the sensor, thereby preventing the sensor from being directly damaged by external impact. The design of the rear side of the first touch plate pressing enables the sensor to stably sense the displacement change of the first touch plate, thereby accurately judging the contact state between the hook and the material box, and eliminating false signals caused by uneven surface or vibration of the material box. This structure not only protects the sensor body, but also enhances the anti-interference ability of the detection signal through mechanical transmission relationship, ensuring that the telescopic drive assembly can accurately control the telescopic amount based on reliable contact feedback.

[0043] Furthermore, the hook pull assembly includes a second touch plate that rotates within the hook opening; the detection end of the second sensor is located within the rotation path of the second touch plate; and when the magazine handle engages the hook opening, the second sensor is triggered by pressing down on the second touch plate. This technical solution achieves precise detection of the magazine engagement status by introducing a linkage mechanism between the rotatable second touch plate and the sensor. Specifically, the rotatable second touch plate is positioned within the hook opening, so that when the magazine handle is properly engaged, the mechanical pressure of the handle forces the second touch plate to rotate. By placing the detection end of the second sensor within the rotation path of the second touch plate, the sensor is triggered when the touch plate is pressed down to a specific angle. This physical contact-based triggering method effectively determines whether the magazine is fully engaged, avoiding the potential misjudgment issues associated with traditional proximity sensors. Furthermore, the rotating design of the second touch plate ensures smooth engagement of the magazine handle and the reliability of the detection signal through the precise transmission of mechanical displacement, thus providing accurate status confirmation for subsequent pulling operations.

[0044] From the above, it can be seen that the modular expandable three-dimensional storage system and its quick material box retrieval device provided by this application realize the rapid disassembly and expansion of shelves and efficient storage and retrieval of material boxes through the rigid plug-in structure of the modular expandable vertical warehouse and the precise hook and pull mechanism of the loading platform device. It has the advantages of stable structure, flexible expansion and convenient installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic structural diagram of a three-dimensional storage system provided in this application.

[0046] Figure 2 A schematic diagram of the structure of a modular and expandable vertical library provided in this application.

[0047] Figure 3 for Figure 2 Magnified view of part A.

[0048] Figure 4 It is a structural diagram of the plug-in structure.

[0049] Figure 5 It is a structural diagram of the vertical library frame.

[0050] Figure 6 It is a structural diagram of the rack unit.

[0051] Figure 7 Schematic diagram of the working status of the cargo platform device.

[0052] Figure 8 Schematic diagram of the structure of the cargo platform device.

[0053] Figure 9 It is a structural diagram of the hook and pull component. DETAILED DESCRIPTION

[0054] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise explicitly specified.

[0057] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0058] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0059] In the existing technology, fixed steel structure shelves are commonly used in the field of automated warehousing and logistics. The overall frame needs to be fixed by welding or bolts, resulting in a long installation period and the inability to flexibly adjust the storage capacity. The stability of the shelves in traditional high-rise warehouses depends on permanent infrastructure, and the cost of relocation and reconstruction is high. The storage and retrieval mechanism mostly uses a stacker crane with a fixed fork solution, which has high requirements for the flatness of the warehouse foundation, and an auxiliary push-pull mechanism is required when handling turnover boxes with handles, resulting in cumbersome movement procedures. Although the modular storage system attempts to splice through standard shelf units 1, it lacks a rigid connection structure in the horizontal direction, and multiple rows of shelves are prone to displacement deviations, and the efficiency of disassembly and assembly of vertical stacking units is low.

[0060] To address the aforementioned issues, firstly, addressing the poor scalability of traditional racking, we considered using standardized stacking units 1 to construct a warehouse frame 10, enabling flexible height adjustment through detachable connections. Secondly, to address displacement deviations when multiple rows of racks are independently installed, we proposed installing a transverse top beam 4 at the top, using a plug-in structure 7 to form a rigid connection. Finally, to optimize the operating efficiency of the storage and retrieval mechanism, the top beam 4 also serves as the slide rail for the lifting gantry 6, achieving the dual functional integration of structural stability and equipment load-bearing capacity.

[0061] like Figure 1-9 As shown, this embodiment proposes a three-dimensional storage system including a modular expandable vertical warehouse, a lifting gantry 6 and a cargo platform device 5. The modular expandable vertical warehouse includes at least two vertical warehouse frames 10, each of which is formed by vertically stacking standardized material rack units 1 through a detachable connection structure and arranged in parallel in the horizontal direction. The top beam 4 is horizontally mounted on the top of all the vertical warehouse frames 10, and a plug-in structure 7 is provided at the bottom thereof to rigidly plug into the top of each frame body. The lifting gantry 6 is laterally movably arranged on the top beam 4, and the cargo platform device 5 is movably arranged on the lifting gantry 6 to achieve two-dimensional movement in the vertical plane.

[0062] Among them, the modular expandable vertical warehouse refers to an expandable storage structure formed by stacking standardized material rack units 1. Specifically, a frame unit constructed of columns 11 and crossbars 12 can be used to solve the problem that traditional shelves cannot flexibly adjust the layer height. The vertical warehouse frame body 10 refers to an independent support structure formed by vertically stacking at least two material rack units 1. After being arranged horizontally, they are connected by a top beam 4 to form a whole, eliminating the displacement deviation between multiple rows of shelves. The top beam 4 refers to the load-bearing component that connects all the vertical warehouse frame bodies 10 horizontally. The bottom of the top beam is provided with a plug-in rod 72 that is inserted into the top of the column 11. It serves as both a structural rigid connector and a running track for the lifting gantry 6, reducing redundant structures. The plug-in structure 7 refers to the connecting component between the bottom of the top beam 4 and the top of the vertical warehouse frame body 10. For example, the plug-in rod 72 vertically arranged under the top plate 71 is inserted into the hole at the top of the column 11 to achieve quick installation and stable connection. The lifting gantry 6 refers to a load-bearing mechanism that moves horizontally along the top beam 4. It is dual-guided by the bottom track 61 and the top slide rail to ensure the operating stability of the cargo platform device 5. The cargo platform device 5 refers to a storage and retrieval mechanism with two-dimensional movement capability, for example, a structure in which a mobile platform 50 and a rotating bracket 2 cooperate with a telescopic bracket 3 to achieve accurate grasping and transfer of the material box 13.

[0063] Specifically, the standardized material rack units 1 are stacked vertically to form a vertical warehouse frame body 10, and each unit is quickly positioned and rigidly connected through a tapered guide plug-in column 21. After multiple vertical warehouse frame bodies 10 are arranged horizontally, the top beam 4 is inserted into the hole of the column 11 at the top of each frame body through the plug-in rod 72 to form a lateral constraint, so that the independent shelves are integrated into an overall stable structure. When the lifting gantry 6 moves laterally along the top beam 4, the top beam 4 acts as a slide rail to support the gantry operation while maintaining a rigid connection between the frame bodies. The loading platform device 5 moves longitudinally on the lifting gantry 6, reaches the target material rack position through two-dimensional positioning, and uses the telescopic frame 3 to hook and pull the material box 13 to complete the storage and retrieval operation. The dual-function design of the top beam 4 combines the structural connection and the equipment operation track into one. When expanding the storage capacity, it is only necessary to increase the vertical warehouse frame body 10 and extend the length of the top beam 4 to simultaneously expand the equipment operation range.

[0064] This solution allows the addition and subtraction of storage units without destroying the overall structure by stacking standardized units 1 and plugging them into the top beam 4. The horizontal connection of existing modular shelves relies on additional pull rods. This solution directly forms a rigid constraint through the plug-in structure 7 of the top beam 4, thereby improving the overall stability of multiple rows of shelves. Traditional stackers need to install top guide rails separately. This solution directly constructs the top beam 4 as a slide rail, reducing the installation process and reducing the risk of track deviation. Through the above technical solution, the present application achieves rapid expansion and stable operation of the warehousing system. The modular stacking design of the vertical warehouse frame 10 supports flexible adjustment of storage capacity. The plug-in structure 7 of the top beam 4 ensures the rigidity of the connection of multiple rows of shelves, and at the same time serves as the operating track of the lifting gantry 6, reducing the need for the installation of independent tracks. The two-dimensional movement and adaptive gripping mechanism of the cargo platform device 5 improve the tolerance for material box position deviation, and is suitable for high-frequency storage and retrieval scenarios. This solution can significantly shorten the system transformation cycle and reduce maintenance costs in scenarios such as e-commerce sorting centers where dynamic adjustment of storage scale is required.

[0065] like Figure 1 In the further embodiment shown, the lifting gantry 6 also includes a bottom rail 61 at the lower end of the modular expandable vertical warehouse; the top of the lifting gantry 6 is slidingly set on the top beam 4, and the lower end is slidingly set on the bottom rail 61; the lifting gantry 6 includes a gantry body 62, a traction chain 63 set on the gantry body 62, and a lifting motor 64 that drives the traction chain 63 to move; the cargo platform device 5 is slidingly set on the gantry body 62 and connected to the traction chain 63. Among them, the bottom rail 61 refers to a guide structure extending horizontally along the lower end of the modular expandable vertical warehouse, which can be specifically implemented by H-shaped steel or aluminum alloy profiles. Wear-resistant slide rails or roller grooves can be provided on its surface to constrain the movement trajectory of the lower end of the lifting gantry 6. The sliding setting of the top beam 4 refers to the formation of a sliding pair between the top of the gantry and the top beam 4 through a slider or roller group. For example, a linear guide rail and a slider are used to cooperate to ensure that the gantry maintains horizontal stability when moving along the length direction of the top beam 4. The gantry body 62 is a rigid frame formed by welding or bolting columns and beams, such as a rectangular steel tube structure constructed into a portal-like structure. It provides a mounting base for the traction chain 63. The traction chain 63 is a closed-loop transmission mechanism consisting of chain links and pins, such as a double-row roller chain. Its ends are connected to the cargo platform assembly 5 and the output shaft of the lifting motor 64, respectively. The sprocket drive achieves vertical lifting of the cargo platform. The lifting motor 64 is a servo motor or stepper motor with a reducer, such as an absolute encoder motor. It precisely adjusts the displacement of the traction chain 63 by controlling pulse signals.

[0066] Specifically, the top of the lifting gantry 6 forms a sliding connection with the top beam 4 through a slider, and the bottom contacts the bottom track 61 through a roller group. The gantry body 62 serves as the load-bearing body, and a vertically arranged traction chain 63 is installed on the inner side of its column. The lifting motor 64 is fixed to the top crossbeam of the gantry and drives the sprocket to rotate. The cargo platform device 5 cooperates with the guide rail on the gantry body 62 through the slider, and is fixed to the specific link of the traction chain 63 through the connecting piece. When the lifting motor 64 is started, the traction chain 63 drives the cargo platform to move up and down along the guide rail, and the bottom track 61 applies lateral constraints to the lower end of the gantry to prevent the gantry from tilting or shaking during movement. The rigid plug-in structure 7 of the top beam 4 and the vertical warehouse frame body 10 provides stable support for the top of the gantry, and the bottom track 61 disperses the gantry load to the ground, forming an upper and lower dual guide mechanism. Through the above technical solution, the present application effectively reduces the vibration amplitude of the lifting gantry 6 during operation and improves the stability of the cargo platform in the vertical direction. The synergistic effect of bottom rails 61 and top beams 4 enhances the structural rigidity of the gantry when moving across multiple rows of shelves, reducing the impact of uneven ground on positioning accuracy. The coordination of traction chains 63 and lift motors 64 enables stepless speed control of the loading platform, meeting the precise motion trajectory requirements of high-frequency storage and retrieval operations.

[0067] like Figure 6 As shown, the rack unit 1 includes a frame unit constructed of multiple columns 11 and multiple cross bars 12, and a layer or bracket 14 is provided on the cross bar 12. A rack cavity 15 is formed above the layer, or a rack cavity 15 is formed between two relative brackets 14, and an open cavity 16 is provided at the front end of each rack cavity 15.

[0068] The frame unit refers to a standardized modular structure formed by detachable connections between columns 11 and crossbars 12, which can be achieved by welding or bolting. The vertical intersection of the columns 11 and crossbars 12 forms a stable grid-like frame, providing a basic support structure for the stacking and expansion of the rack unit 1. The shelf refers to a flat supporting component fixed to the crossbar 12, which can be implemented by metal plates or composite materials. The shelf is arranged horizontally to form a flat supporting surface for placing handleless boxes. The bracket 14 refers to a lateral supporting component fixed to the crossbar 12, which can be implemented by L-shaped or U-shaped metal profiles. The bottom plate 141 of the bracket 14 is used to support the bottom edge of the box. The rack cavity 15 refers to a storage space enclosed by the shelves or brackets 14. Storage areas of different sizes can be achieved by adjusting the spacing between the shelves or the relative position of the brackets 14. The depth of the rack cavity 15 matches the length of the box to ensure stable storage. Among them, the open cavity 16 refers to the open area at the front end of the material rack cavity 15 where no blocking structure is set. Specifically, it can be achieved by omitting the front crossbar or shortening the front length of the shelf. The open cavity 16 allows the material box to be directly pushed in or pulled out in the horizontal direction. Specifically, the column 11 and the crossbar 12 are detachably connected to form a frame unit. The frame unit can be independently assembled and stacked and expanded as a standardized module. The shelf is horizontally fixed on the crossbar 12 to form a flat storage area, which is suitable for the flat storage of material boxes without handles; when the bracket 14 is fixed on the crossbar 12, its bottom plate 141 and side plates 142 form a lateral support structure, and a clamping storage space is formed between the two side plates 142 relative to the bracket 14, which can be adapted for hanging storage and retrieval of material boxes with handles. The open cavity 16 set at the front end of the material rack cavity 15 eliminates the need for vertical lifting for storage and retrieval operations, and the material box can be directly pushed in or pulled out in the horizontal direction. When the bracket 14 structure is adopted, the bottom edge of the material box is supported by the bottom plate 141 of the bracket 14, and the side plate 142 limits its lateral movement. The open cavity 16 allows the hook and pull assembly 52 to directly contact the material box handle in the horizontal direction, avoiding the operational limitations of traditional closed shelves that require precise alignment.

[0069] Furthermore, the front and rear ends of the bracket 14 are fixed to the crossbar 12, and include a bottom plate 141 for supporting the side edges of the bottom of the material box, and side plates 142 arranged perpendicular to the bottom plate 141, wherein the side plates 142 of the two opposite brackets 14 form a material rack cavity 15. Among them, the front and rear ends of the bracket 14 are fixed to the crossbar 12, which means that the bracket 14 forms a rigid connection with the shelf frame, which can be achieved by welding or bolting to ensure that the bracket 14 remains horizontal when carrying the material box. The bottom plate 141 refers to a horizontally extending supporting component used to distribute the gravity load of the material box. The side plates 142 refer to vertically erected limiting components, which can be specifically made of bent metal plates, and realize the positioning function by restricting the lateral displacement of the material box. When the material box is pushed into the material rack cavity 15, the two side edges of the bottom of the material box first contact the bottom plates 141 of the two brackets 14, and the horizontal support surface provided by the bottom plates 141 bears the weight of the material box. As the magazine continues to advance, its sides come into contact with the side plates 142 of the two side brackets 14. The vertical guide surfaces formed by the side plates 142 force the magazine to move along a predetermined path until it completely enters the magazine cavity 15. During this process, the spacing between the two side plates 142 is precisely controlled to be the magazine width plus a gap of 2-5 mm, ensuring smooth sliding of the magazine while preventing excessive shaking.

[0070] like Figure 5 and 6 As shown, when the two material rack units 1 are stacked in the vertical direction, the lower end of the column 11 of the upper material rack unit 1 is directly docked with the upper end of the column 11 of the lower material rack unit 1. Specifically, the detachable connection structure includes a guide plug-in column 21 fixed to the upper end of the column 11. The guide plug-in column 21 is a cone-shaped body, and the lower end of the column 11 of the upper material rack unit 1 is provided with a plug-in hole that cooperates with the guide plug-in column 21. Among them, the guide plug-in column 21 refers to a conical protrusion structure fixed to the upper end of the column 11. Specifically, it can be formed by metal casting or machining. Its conical outer surface produces a guiding effect during the docking process, guiding the upper and lower columns 11 to automatically align. The plug-in hole refers to a groove structure provided at the lower end of the column 11. Specifically, a hole design that matches the taper of the guide plug-in column 21 can be adopted. A rigid constraint is formed by the contact between the hole wall and the conical surface to limit the relative displacement between the columns 11. A cone refers to a geometric shape with a tapered cross-section, and specifically may be a truncated cone or pyramid structure, which reduces the positional accuracy requirements during docking through inclined surface contact.

[0071] Specifically, during the vertical stacking process, the column 11 of the upper material rack unit 1 is connected to the guide plug-in column 21 of the lower column 11 through the plug-in hole. The tapered structure of the cone enables the plug-in hole to produce a self-correcting effect when contacting the guide plug-in column 21. Even if there is a slight position deviation, it can automatically adjust to the axis alignment state through inclined sliding. When the plug-in hole is fully inserted into the guide plug-in column 21, the conical surface forms a surface contact with the hole wall, resisting the horizontal shear force through friction and geometric constraints. The direct docking method of the upper and lower columns 11 omits the positioning steps required for flange or bolt connection in traditional solutions. It is only necessary to align the plug-in hole with the guide plug-in column 21 to complete the installation, while maintaining the stability of the vertical load transmission along the axis of the column 11. Through the above technical solution, the present application realizes efficient disassembly and assembly and stable connection of the material rack unit 1 when vertically stacked. The conical guide plug-in structure reduces the requirements for installation accuracy, allowing operators to complete the docking of the columns 11 without the help of precision measuring tools. The rigid fit between the sockets and the guide posts 21 effectively suppresses relative displacement between stacking units, preventing the shelves from tilting or misaligning due to long-term use. This design ensures structural stability while reducing the time required to assemble and disassemble a single rack unit 1, making it particularly suitable for flexible production lines requiring frequent adjustments to the warehouse layout.

[0072] like Figure 3 and 4As shown, the plug-in structure 7 includes a top plate 71 fixed to the lower end face of the top beam 4, and at least two plug-in rods 72 vertically connected below the top plate 71. The plug-in rods 72 are respectively inserted into the tops of the columns 11 of the adjacent vertical warehouse frames 10. Among them, the top plate 71 refers to a plate-like structure fixedly connected to the lower end face of the top beam 4. Specifically, it can be realized by welding or bolting. It is used to provide a mounting base for the plug-in rods 72 and distribute the load. The plug-in rods 72 refer to rod-like components extending downward perpendicular to the top plate 71. Specifically, it can be realized by cylindrical or prismatic metal rods. By inserting into the tops of the columns 11 of the adjacent vertical warehouse frames 10, a rigid connection is formed to limit horizontal displacement. Specifically, the top beam 4 is erected on the tops of multiple parallel vertical warehouse frames 10. After the top plate 71 is fixed to the top beam 4, the plug-in rods 72 are inserted into the tops of the columns 11 of the adjacent vertical warehouse frames 10 along the vertical direction. When multiple vertical warehouse frames 10 are arranged horizontally, the connecting rods 72 are simultaneously embedded in the columns 11 of two adjacent frames to form a cross-row rigid connection node. Through the multi-point constraint of at least two connecting rods 72, the relative displacement between adjacent vertical warehouse frames 10 is effectively limited, and the load is transferred to each connecting rod 72 through the top beam 4 and dispersed to multiple columns 11, thereby improving the overall anti-roll capability. Through the above technical solution, the present application realizes the horizontal rigid connection of multiple rows of vertical warehouse frames 10, solves the problem of overall structural instability caused by weak horizontal connections of traditional modular shelves, and simplifies the assembly process during modular expansion, ensuring that the storage system maintains high structural stability after expansion. Furthermore, a limit plate 73 is provided in the middle of the connecting rod 72, and the limit plate 73 is used to limit the depth of insertion into the column 11, thereby ensuring that the insertion depth of each position of the top beam 4 is consistent, and the top beam 4 is kept horizontal, so that it can be used as a horizontal slide rail.

[0073] like Figure 7-9As shown, the loading platform device 5 includes a mobile platform 50, a rotating bracket 2 and a telescopic bracket 3. The mobile platform 50 is slidably set on the door frame body 62 and connected to the traction chain 63, and is used for two-dimensional movement in a vertical plane; the rotating bracket 2 is rotatably set on the mobile platform 50, and the rotating bracket 2 is provided with a receiving platform 51 for receiving the material box; the telescopic bracket 3 is set on the rotating bracket 2, and the telescopic end of the telescopic bracket 3 is provided with a hook and pull assembly 52 for clamping the material box. The loading platform device 5 is configured to be positioned to the target material box position through the two-dimensional movement of the mobile platform 50, drive the telescopic bracket 3 to extend so that the hook and pull assembly 52 approaches and clamps the target material box, and drive the telescopic bracket 3 to retract to pull the clamped target material box to the receiving platform 51. Among them, the mobile platform 50 refers to a mechanical structure with a planar movement function, which is used to cover multiple shelf rows horizontally and vertically to achieve access position positioning. The rotating bracket 2 is a support structure that rotates about a vertical axis. Specifically, it can be implemented using a slewing bearing and a servo motor. It is used to adjust the relative angle between the hook assembly 52 and the magazine handle. The telescopic bracket 3 is a variable-length transmission mechanism. Specifically, it can be implemented using a scissor-type linkage mechanism or a hydraulic push rod. It is used to control the contact distance between the hook assembly 52 and the magazine. The hook assembly 52 is an end effector with a snap-fit ​​function. Specifically, it can be implemented using a spring-return hook 41 and a sensor detection mechanism. It automatically captures the magazine handle and provides feedback on the gripping status.

[0074] The mobile platform 50 completes lateral and longitudinal movement along the lifting gantry 6 and the top beam 4, positioning the cargo platform device 5 to the row where the target material box is located. The rotating bracket 2 adjusts the direction of the hook and pull assembly 52 according to the orientation of the material box handle, so that the opening of the hook 41 is facing the extension direction of the handle. The telescopic frame 3 extends and pushes the hook and pull assembly 52 to move toward the material box. When the hook 41 contacts the handle, the sensor is triggered, and the telescopic frame 3 stops extending and starts the snap action. After the hook 41 captures the handle, the telescopic frame 3 contracts and drives the material box to move along a straight line toward the receiving platform 51. The receiving platform 51 serves as an intermediate transition carrier to receive the pulled material box, avoiding the inertial offset caused by direct handling. Through the above technical solution, the present application solves the problem of repeated positioning adjustment when storing and retrieving material boxes with handles, and reduces the auxiliary mechanisms required for traditional push-pull actions. The cooperation between the hook and pull assembly 52 and the telescopic frame 3 realizes the active capture of the material box handle, reducing the dependence on the initial positioning accuracy. The azimuth adjustment function of the rotating bracket 2 enables the loading platform 5 to adapt to the storage requirements of magazines arranged in different orientations. The transition function of the receiving platform 51 avoids the inertial offset caused by direct handling, improving the stability of the magazine placement. The sensor detection mechanism ensures that the hook pull action is triggered only when effective contact is made, preventing empty grabs or misoperation.

[0075] In a further embodiment, the receiving platform 51 is a sliding platform arranged along the telescopic frame 3's extension direction. The receiving platform 51 has a platform opening 211 on the extension side. The central portion of the rotating bracket 2 is recessed downward to form a groove 53. Bosses 23 are positioned on either side of the groove 53. Baffles 24 are positioned on the outer edges of the bosses 23. The top surface of the bosses 23 between the baffles 24 forms the receiving platform 51. The sliding platform refers to a bearing surface extending along the telescopic frame 3's motion trajectory, guiding the linear movement of the cartridge. The platform opening 211 is an unobstructed passageway located at the front of the sliding platform. Specifically, a notch can be formed by cutting away a portion of the platform's edge to facilitate the cartridge's entry into the receiving area through the opening. The groove 53 is a downwardly recessed space formed in the central portion of the rotating bracket 2. Specifically, a U-shaped groove can be formed in the bracket body using a stamping process to accommodate the drive components of the telescopic frame 3. The bosses 23 are the upwardly protruding support portions on either side of the groove 53. Specifically, these platforms, formed by welding or casting to rise above the bottom of the groove 53, provide a bearing surface for the cartridge. Baffles 24 are stoppers mounted perpendicularly to the outer edges of bosses 23. Specifically, they can be made of bent steel plates welded to bosses 23 to prevent lateral displacement of the magazine during movement. Specifically, when the telescopic frame 3 drives the hook assembly 52 to pull the magazine onto the receiving platform 51, the magazine first enters the sliding platform area through the platform opening 211. As the telescopic frame 3 continues to retract, the bottom of the magazine contacts the top surface of bosses 23 and moves linearly along the sliding platform. The guide channels formed by baffles 24 on both sides limit the lateral movement of the magazine, while the grooves 53 provide clearance during the retraction of the telescopic frame 3. The top surface of bosses 23 and baffles 24 together form a three-point support structure, maintaining the magazine's stability during movement. Once the magazine is fully inside the receiving platform 51, the rotating bracket 2 drives the entire support structure to rotate to a specified angle, completing the access operation. Through the above-described technical solution, the present application achieves precise positioning of the magazine without an auxiliary push-pull mechanism, utilizing the mechanical stop function of baffles 24 and bosses 23 to replace traditional guide mechanisms. The consistent movement of the sliding platform and telescopic frame 3 reduces energy loss during the sliding of the magazine, and the directional layout of the platform opening 211 eliminates the risk of magazine jamming. The groove 53 structure optimizes space utilization while ensuring the rigidity of the device, allowing the loading platform device 5 to adapt to the rapid access needs of magazines of different sizes.

[0076] Furthermore, guide plates 241 are positioned on the side of the baffle 24 near the platform opening 211. A flared shape is formed between the two guide plates 241 to guide the cartridge into the receiving platform 51. The guide plates 241 are inclined plate-like structures positioned at the inlet edge of the baffle 24. They can be formed by stamping or injection molding metal sheets, and their inclination angle can range from 15° to 45°, for example. This structure creates a guiding effect through the contact of the inclined surfaces as the cartridge is pushed in, automatically correcting any misaligned cartridges to their intended path. The flared shape refers to the tapered channel formed at the inlet by the two guide plates 241. This can be achieved by symmetrically arranging the two guide plates 241 at an angle. This shape provides a smooth entry for the cartridge, allowing the front end of the cartridge to slide along the inclined surface into the receiving platform 51 after contacting the guide plates 241. Specifically, when the cartridge is pulled toward the receiving platform 51, if there is any horizontal positional deviation, the front edge of the cartridge will first contact the inclined surface of the guide plates 241. Due to the tapering nature of the flared shape, the guide plates 241 on either side exert symmetrical lateral forces on the cartridge, forcing it to move along the channel's centerline. As the cartridge continues to be pushed in, the tilt of the guide plates 241 ensures that the edges of the cartridge maintain sliding contact with them until the cartridge fully enters the receiving area between the two baffles 24. During this process, the cartridge's lateral offset is continuously corrected, preventing any jamming caused by positioning errors.

[0077] like Figure 7 and 8 As shown, the telescopic frame 3 is a scissor frame. A guide rail 31 and a telescopic drive assembly are disposed within a groove 53. The rear end of the telescopic frame 3 is connected to the rear end of the receiving platform 51. The front or middle lower end of the telescopic frame 3 is slidably mounted on the guide rail 31 via a slider 33. The telescopic drive assembly drives the slider 33 on the guide rail 31 to control the extension and retraction of the telescopic frame 3. A scissor frame is a parallelogram structure formed by a plurality of intersecting connecting rods. Specifically, it can be implemented using metal rods connected by pins. The geometric properties of the slider 33 are used to convert the linear motion of the slider 33 into the linear extension and retraction of the telescopic frame 3. The guide rail 31 is a linear guide structure disposed within the groove 53. Specifically, it can be implemented using a surface-hardened steel track. It is used to constrain the movement trajectory of the slider 33 and reduce frictional resistance. The slider 33 is a sliding component that cooperates with the guide rail 31. Specifically, it can be implemented using a slider assembly with ball bearings. It is used to transmit the driving force of the telescopic drive assembly to the middle or front hinge point of the scissor frame. The telescopic drive assembly refers to a power device that drives the slider 33 to move along the guide rail 31 , and can be specifically implemented by using a synchronous belt transmission mechanism in conjunction with a servo motor, and the displacement of the slider 33 can be accurately adjusted through closed-loop control.

[0078] Specifically, the rear end of the scissor frame is fixedly connected to the rear end of the receiving platform 51, forming a stable fulcrum. When the telescopic drive assembly drives the slider 33 to move linearly along the guide rail 31, the slider 33 causes the hinge point in the middle or front end of the scissor frame to displace, forcing the cross link to rotate about the hinge axis, thereby pushing the telescopic frame 3 to extend or retract as a whole. The guide rail 31 rigidly constrains the sliding trajectory of the slider 33, eliminating any lateral offset that may occur during the movement of the scissor frame. The servo motor precisely controls the movement distance of the slider 33 via a synchronous belt, ensuring that the telescopic stroke of the telescopic frame 3 remains consistent with the preset value. Through the above-mentioned technical solution, the present application solves the problem of complex telescopic drive mechanism structure in modular three-dimensional storage systems and reduces the assembly precision requirements of moving parts. The rigid combination of the guide rail 31 and the slider 33 effectively suppresses shaking during the telescopic process of the scissor frame and improves the positioning reliability when grabbing the material box. The synchronous belt drive mechanism reduces mechanical wear and extends the maintenance cycle. The closed-loop control of the servo motor enables precise adjustment of the telescopic stroke to meet the storage and retrieval requirements of material boxes of different sizes.

[0079] Furthermore, the telescopic drive assembly includes an annular belt 321 and a drive motor; the annular belt 321 is arranged in the groove 53 via rollers and is parallel to the guide rail 31; the slider 33 is fixedly connected to the annular belt 321; and the drive motor drives the annular belt 321 to rotate in a circular motion. The annular belt 321 refers to a closed-loop transmission component made of a flexible material, which can be implemented as a rubber synchronous belt or a steel chain. Its arrangement parallel to the guide rail 31 enables the direction of driving force transmission to be consistent with the telescopic direction of the telescopic frame 3. The drive motor refers to an actuator that outputs rotational power, which can be implemented as a servo motor or a stepper motor. The displacement of the annular belt 321 can be precisely adjusted by controlling the rotation angle and speed of the motor. The slider 33 refers to a moving component that forms a sliding fit with the guide rail 31, which can be implemented as a metal block with a linear bearing. Its design, which is fixedly connected to the annular belt 321, can convert the cyclic motion of the annular belt 321 into linear displacement. The guide rail 31 is a guiding structure that defines the movement path. Specifically, it can be implemented as a surface-hardened linear slide. Its arrangement parallel to the endless belt 321 eliminates lateral deviation during transmission. Specifically, the endless belt 321 forms a closed-loop transmission path via a roller assembly. The drive motor drives the endless belt 321 in a circular motion via the drive rollers. When the endless belt 321 rotates clockwise or counterclockwise, the slider 33 attached to it moves synchronously with the belt, generating a linear displacement along the guide rail 31. The movement of the slider 33 causes the front or middle portion of the telescopic frame 3 to change position, thereby controlling the expansion or contraction of the telescopic frame 3. Because the endless belt 321 is parallel to the guide rail 31, the direction of driving force is always consistent with the extension and contraction direction of the telescopic frame 3, minimizing energy loss during transmission. By precisely controlling the number of revolutions of the endless belt 321, the drive motor can adjust the displacement of the slider 33 with millimeter-level precision, thereby ensuring the accurate positioning of the hook assembly 52 at the end of the telescopic frame 3.

[0080] like Figure 9As shown, the hook pull assembly 52 includes a hook 41. A first sensor 42 is provided at the front end of the hook 41 for detecting contact with the cartridge and feeding back a signal to the telescopic drive assembly to control the amount of extension. A second sensor 43 is provided within the hook opening of the hook 41 for detecting whether the hook 41 is engaged with the cartridge. The first sensor 42 is a sensor element provided at the front end of the hook 41 for detecting contact with the cartridge. Specifically, it can be implemented using a contact microswitch or a photoelectric sensor. When the front end of the hook 41 contacts the cartridge, the first sensor 42 triggers a signal that is transmitted to the control system, causing the telescopic drive assembly to stop extending, thereby preventing mechanical interference or positioning deviation caused by excessive extension. The second sensor 43 is a sensor element provided within the hook opening for detecting whether the cartridge handle is engaged. Specifically, it can be implemented using a pressure sensor or a position sensor. When the cartridge handle fully enters the hook opening and presses against the sensor, the second sensor 43 outputs a confirmation signal, ensuring the engagement is valid and preventing the cartridge from falling off during the pulling process due to incomplete engagement.

[0081] Specifically, as hook 41 moves toward the target cartridge, first sensor 42 monitors the contact between the front end of hook 41 and the cartridge in real time. Once contact is detected, a feedback signal is immediately generated, halting the telescopic drive assembly and enabling precise control of the amount of telescopic movement. When the hook 41 engages the cartridge handle, the handle enters the hook and triggers second sensor 43, confirming engagement before initiating the pulling action. Closed-loop control between first sensor 42 and the telescopic drive assembly eliminates positioning errors and the risk of mechanical interference. Secondary verification of the engagement by second sensor 43 ensures the stability of the cartridge during pulling.

[0082] In a specific embodiment, the hook-pull assembly 52 further includes a first contact plate 44 located at the front of the hook 41. The detection end of the first sensor 42 presses against the rear side of the first contact plate 44. The first contact plate 44 is a plate-like structure mounted at the front of the hook 41 and in direct contact with the cartridge. Specifically, it can be made of metal or engineering plastic and fixed to the front of the hook 41 by bolts or welding. It transmits the contact force of the cartridge to the sensor. The front surface of the first contact plate 44 can be flat or curved to accommodate various cartridge shapes. The rear side forms a pressing relationship with the sensor detection end, ensuring that the first contact plate 44 generates sensor-detectable displacement when subjected to external force. When the first contact plate 44 is pushed backward by the cartridge, the sensor detection end senses the displacement or pressure change and outputs a signal, triggering the telescopic drive assembly to stop or adjust the extension and retraction amount. Specifically, when the front of the hook 41 approaches the cartridge, the first contact plate 44 preferentially contacts the cartridge surface. The reaction force from the cartridge pushes the first contact plate 44 backward, causing the rear side of the first contact plate 44 to press against the detection end of the first sensor 42. The sensor converts displacement or pressure changes into an electrical signal, which is fed back to the telescopic drive assembly to control the telescopic frame 3 to stop extending or fine-tune its position. The first contact plate 44 acts as an intermediate force transmission component, protecting the sensor from direct external impact. It also eliminates signal fluctuations caused by unevenness or vibration of the magazine surface through mechanical transmission, ensuring the stability and accuracy of contact detection.

[0083] The hook pull assembly 52 also includes a second touch plate 45 rotatably mounted within the hook opening of the hook 41. The detection end of the second sensor 43 is located within the rotation path of the second touch plate 45. When the magazine handle is engaged with the hook opening, the second touch plate 45 is depressed downward to trigger the second sensor 43. The second touch plate 45 is a plate-like structure mounted within the hook opening of the hook 41 and rotatable about an axis. Specifically, it can be implemented using a hinge or a rotating shaft in conjunction with a torsion spring reset mechanism. It is designed to be depressed downward and rotated when the magazine handle is engaged. The rotation path refers to the spatial trajectory of the second touch plate 45 during the force-induced rotation process. Specifically, the rotation angle can be controlled by adjusting the position of the rotating shaft and the shape of the touch plate to ensure that the touch plate displacement accurately triggers the sensor.

[0084] Specifically, when the magazine handle enters the hook opening of the hook 41, the handle contacts and applies pressure to the second touch plate 45, forcing the second touch plate 45 to rotate downward about the axis. The rotational displacement of the touch plate drives its distal end into the detection range of the second sensor 43, triggering the sensor to generate a confirmation signal. If the handle is not fully engaged or the engagement is not secure, the touch plate cannot rotate to the trigger position, and the sensor remains untriggered. At this point, the system can determine that the engagement has failed and perform error correction actions. By combining the mechanical linkage of the touch plate with sensor detection, the actual contact state between the handle and the hook 41 can be directly reflected, avoiding the risk of falling off during the pulling process due to false contact or misjudgment.

[0085] In some specific embodiments, the second touch panel 45 can be designed as an L-shaped structure, with its short side extending to the inside of the hook mouth for contacting the handle, and a protrusion provided at the end of the long side to precisely align with the sensor detection end. The rotating shaft can be installed in the middle of the touch panel, and a reset force is provided by a torsion spring to ensure that the touch panel automatically returns to its position after the handle is detached. The sensor can use a waterproof and dustproof micro switch, whose contacts maintain a preset gap with the touch panel protrusion, and the circuit is closed only when the touch panel is fully pressed down. Through the above technical solution, the present application realizes the precise detection of the clamping state of the material box, effectively preventing the problem of traction falling off or positioning deviation caused by loose clamping. The mechanical linkage mechanism between the touch panel and the sensor can accurately identify whether the handle is fully engaged in the hook mouth, and provide a reliable start confirmation signal for the subsequent traction action, thereby improving the stability and safety of the entire pick-and-place process.

[0086] To sum up, the modular expandable three-dimensional storage system and its quick material box retrieval device provided in this application realize the rapid disassembly and expansion of shelves and efficient storage and retrieval of material boxes through the rigid plug-in structure 7 of the modular expandable vertical warehouse and the precise hook and pull mechanism 52 of the loading platform device 5, and have the advantages of stable structure, flexible expansion and convenient installation.

[0087] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0088] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention.

Claims

1. A three-dimensional storage system for quickly taking out and placing material boxes, comprising a modular and expandable vertical warehouse, a lifting door frame (6), and a loading platform device (5) arranged on a mobile support; characterized in that: The modular and expandable library includes: - at least two vertical warehouse frames (10), each vertical warehouse frame being formed by stacking at least two standardized material rack units (1) in a vertical direction via a detachable connection structure; - the vertical storage frame bodies (10) are arranged in parallel in the horizontal direction; - at least one top beam (4) is horizontally mounted on the top of all parallel vertical warehouse frames (10); - a plug-in structure (7) provided at the bottom of the top beam (4); The top beam (4) is detachably and rigidly connected to the top of each vertical warehouse frame body (10) through its plug-in structure (7), so that all vertical warehouse frame bodies (10) form an overall stable structure; The lifting gantry (6) is laterally movable and arranged on the top beam (4), and the cargo platform device (5) is movably arranged on the lifting gantry (6) to enable the cargo platform device (5) to move two-dimensionally in a vertical plane.

2. A three-dimensional storage system for quick access and placement of material boxes according to claim 1, characterized in that: The lifting gantry (6) further includes a bottom track (61) at the lower end of the modular expandable vertical library; The top of the lifting door frame (6) is slidably arranged on the top beam (4), and the lower end is slidably arranged on the bottom track (61); The lifting gantry (6) comprises a gantry body (62), a traction chain (63) arranged on the gantry body (62), and a lifting motor (64) for driving the traction chain (63) to move; The cargo platform device (5) is slidably arranged on the door frame body (62) and connected to the traction chain (63).

3. A three-dimensional storage system for quick access and placement of material boxes according to claim 1 or 2, characterized in that: The material rack unit (1) comprises a frame unit constructed of a plurality of upright columns (11) and a plurality of cross bars (12); The crossbar (12) is provided with a layer plate or a bracket (14); A material rack cavity (15) is formed above the layer plate, or a material rack cavity (15) is formed between two opposite brackets (14); An open cavity opening (16) is provided at the front end of each material rack cavity (15).

4. A three-dimensional storage system for quick access and placement of material boxes according to claim 3, characterized in that: The front and rear ends of the bracket (14) are fixed on the crossbar (12), and include: - a bottom plate (141) for supporting the bottom side edge of the magazine (13); - side panels (142) arranged perpendicular to the bottom panel (141); The material rack cavity (15) is formed between the side plates (142) of the two opposing brackets (14).

5. The three-dimensional storage system for quick access and placement of material boxes according to claim 1, characterized in that: When the two rack units (1) are stacked in a vertical direction, the lower end of the column (11) of the upper rack unit (1) is directly connected to the upper end of the column (11) of the lower rack unit (1); The detachable connection structure comprises a guide plug-in column (21) fixedly connected to the upper end of the column (11), and the guide plug-in column (21) is a cone-shaped body; The lower end of the column (11) of the upper material rack unit (1) is provided with a plug-in hole that matches the guide plug-in column (21).

6. The three-dimensional storage system for quick access and placement of material boxes according to claim 1, characterized in that: The plug-in structure (7) comprises: - a top plate (71) fixed to the lower end surface of the top beam (4); - at least two connecting rods (72) vertically connected below the top plate (71); The connecting rods (72) are respectively inserted into the tops of the columns (11) of the adjacent vertical library frames (10). A limiting plate (73) is provided on the connecting rods (72). The limiting plate (73) is used to limit the depth of insertion into the columns (11).

7. The three-dimensional storage system for quick access and placement of material boxes according to claim 1, characterized in that: The cargo platform device (5) comprises: - a mobile platform (50) for two-dimensional movement in a vertical plane; - a rotating bracket (2) rotatably arranged on the mobile platform (50), and a receiving platform (51) for receiving the material box (13) is provided on the rotating bracket (2); - a telescopic frame (3), which is arranged on the rotating bracket (2); a hook and pull assembly (52) for engaging the material box (13) is provided at the telescopic end of the telescopic frame (3); Wherein, the cargo platform device (5) is configured as follows: - Positioning the target material box (13) by two-dimensional movement of the mobile platform (50); - driving the telescopic frame (3) to extend, so that the hook pull assembly (52) approaches and engages with the target material box (13); - driving the telescopic frame (3) to contract, and pulling the clamped target material box (13) onto the receiving platform (51).

8. The three-dimensional storage system for quick access and placement of material boxes according to claim 7, characterized in that: The receiving platform (51) is a sliding platform arranged along the telescopic direction of the telescopic frame (3); The receiving platform (51) is provided with a platform opening (211) on the extending direction side; The middle portion of the rotating bracket (2) is recessed downward to form a groove (53), and bosses (23) are provided on both sides of the groove (53); A baffle (24) is provided on the outer edge of the boss (23); The top surface of the boss (23) between the baffles (24) on both sides forms the receiving platform (51).

9. The three-dimensional storage system for quick access and placement of material boxes according to claim 8, characterized in that: The baffle (24) is provided with a guide plate (241) on the side close to the platform opening (211); A flared shape is formed between the guide plates (241) on both sides, for guiding the material box (13) to be pushed into the receiving platform (51).

10. The three-dimensional storage system for quick access and placement of material boxes according to claim 8, characterized in that: The telescopic frame (3) is a scissor frame; A guide rail (31) and a telescopic drive assembly are provided in the groove (53); The rear end of the telescopic frame (3) is connected to the rear end of the receiving platform (51); The front end or the lower end of the middle portion of the telescopic frame (3) is slidably arranged on the guide rail (31) via a slider (33); The telescopic drive assembly drives the slider (33) to move on the guide rail (31) to control the telescopic frame (3) to extend and retract.

11. A three-dimensional storage system for quick access and placement of material boxes according to claim 10, characterized in that: The telescopic drive assembly comprises an annular belt (321) and a drive motor; The annular belt (321) is arranged in the groove (53) through a roller and is parallel to the guide rail (31); The slider (33) is fixedly connected to the annular belt (321); The driving motor drives the endless belt (321) to rotate cyclically.

12. The three-dimensional storage system for quick access and placement of material boxes according to claim 7, characterized in that: The hook and pull assembly (52) includes a hook (41); A first sensor (42) is provided at the front end of the hook (41) for detecting contact with the material box (13) and feeding back a signal to the telescopic drive component to control the telescopic amount; A second sensor (43) is provided inside the hook opening of the hook (41) for detecting whether the hook (41) is engaged with the material box (13); The hook pull assembly (52) further includes a first touch plate (44) provided on the front side of the hook (41); the detection end of the first sensor (42) is pressed against the rear side of the first touch plate (44); The hook-pull assembly (52) further includes a second touch plate (45) rotatably arranged inside the hook opening of the hook (41); the detection end of the second sensor (43) is located in the rotation path of the second touch plate (45); when the handle of the material box (13) is engaged with the hook opening, the second touch plate (45) is pressed down to trigger the second sensor (43).

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