Sealed warehousing system and method for automatic storage of storage units

Abstract

The invention discloses a sealed warehousing system and method for automatic storage of storage units. The system comprises a sealed bin body, a stereoscopic warehouse arranged in the bin body, an automatic carrying, storing and taking device, a temporary storage and positioning station, a discharging port and a sealed partition door which is arranged between the stereoscopic warehouse and the temporary storage and positioning station and can be opened and closed. Therefore, the system forms a feeding path and a discharging path which are independent from each other. The method comprises the steps that during warehousing, a storage unit is stored in a stereoscopic warehouse through a temporary storage station along a feeding path, and a sealing partition door is kept closed; and during warehouse-out, the sealing partition door is opened, and the storage units are taken out of the stereoscopic warehouse, pass through the door and are transferred to a temporary storage station, and are stacked and output after being positioned and corrected. Through the internal dynamic sealing isolation design, the stability of the gas environment of the core storage area of the stereoscopic warehouse can be effectively maintained while full-process automation is achieved.

Description

Technical Field

[0001] This invention relates to the field of automated warehousing technology, and more specifically to a sealed warehousing system and method for automated storage of storage units. Background Technology

[0002] Automated warehousing systems are widely used in modern logistics and manufacturing. Their core objective is to achieve high-density storage, rapid and accurate retrieval, and efficient management of materials through automated equipment. For some materials that are sensitive to environmental conditions (such as humidity and oxygen content), such as electronic components, precision instruments, pharmaceuticals, or certain chemical raw materials, they need to be stored in a specific atmosphere to prevent oxidation, moisture absorption, or contamination.

[0003] Existing automated warehousing solutions typically focus on increasing storage density and retrieval efficiency, such as using automated racking systems combined with stacker cranes or shuttles. However, these systems are often open or only have simple physical protection, making it difficult to achieve precise and stable control of the gas environment within the storage space. To achieve environmental control, the entire warehouse usually needs to be converted into a large clean room or air-filled room. This approach is costly, energy-intensive, and lacks flexibility, as any material entering or leaving the warehouse can cause drastic fluctuations in the internal environment.

[0004] On the other hand, existing automated systems are typically quite simple in their material handling interfaces. For materials carried by storage units, especially those entering and exiting in series, existing systems often lack an efficient and compact integrated solution that can simultaneously complete the entire process of receiving grouped storage units, automatically destacking, independently storing and retrieving them under controlled conditions, restacking, and sealing and outputting them within a single sealed unit. The various functional modules of the system (such as environmental control, storage, handling, and entry / exit interfaces) are often relatively independent, resulting in a loose overall layout, a large footprint, and multiple potential leakage points, which is not conducive to maintaining a stable internal environment.

[0005] Therefore, there is an urgent need for a highly integrated automated warehousing system that can not only provide high-density automated storage, but also maintain a stable gas environment within a compact, sealed unit, and smoothly handle group entry and exit as well as individual access operations of storage units, in order to solve the aforementioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing automated warehousing systems, such as high cost and poor performance in environmental control, low integration of functional modules and insufficient process continuity, and to provide a highly integrated, environmentally controllable, smooth process and high space utilization compact sealed warehousing system and method.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A sealed storage system for automated storage of storage units, comprising: The sealed chamber has a feed inlet at its front end and a dry gas supply device at its rear end to maintain the gas environment inside the chamber. The automated warehouse located inside the sealed compartment has multiple layers and rows of storage unit placement positions. An automated handling and storage device installed inside the sealed chamber; The discharge port is provided on the sealed chamber; Temporary storage and positioning workstations; and An openable and closable sealed partition door is installed between the automated warehouse and the temporary storage and positioning workstation. The feed inlet, the automated handling and storage device, and the temporary storage and positioning station constitute an independent feeding path; the automated warehouse, the sealed partition door, the temporary storage and positioning station, and the discharge outlet constitute an independent discharge path.

[0008] The core innovation of this solution lies in the introduction of an "internal sealed partition door" as a dynamic environmental boundary, and the design of separate material flow paths based on this boundary. This is not simply placing the door at the discharge port, but rather intelligently dividing the sealed silo into a core storage area (high-level environment) and an infeed / outfeed operation area through the opening and closing of the door, thereby achieving a fundamental shift from "overall warehouse environment control" to "precise maintenance of the core storage area".

[0009] Preferably, the automated handling and storage device includes a first handling module and a second handling module connected in sequence. The first handling module includes a gripper mechanism movable in a first direction, dedicated to transferring storage units between the feed inlet and the temporary storage and positioning station, and between the temporary storage and positioning station and the discharge outlet. The second handling module includes a multi-degree-of-freedom robot arm, dedicated to performing storage and retrieval operations within the automated warehouse; and specifically, during outbound operations, the multi-degree-of-freedom robot arm is configured to pass through the open, sealed partition door to transfer storage units between the automated warehouse and the temporary storage and positioning station. This dual-module division of labor and path binding design makes the material flow logic extremely clear and maximizes efficiency.

[0010] Preferably, the multi-degree-of-freedom manipulator includes: a mounting base; a linear drive mechanism disposed on the mounting base for driving the manipulator to move horizontally and move vertically; a rotary drive mechanism disposed at the end effector of the manipulator; and a pick-and-place head connected to the rotary drive mechanism. The pick-and-place head has a retractable motion part and a gripping part for holding storage units. This manipulator integrates multiple degrees of freedom, including horizontal movement, lifting, rotation, and retraction of the pick-and-place head, giving it extremely high spatial flexibility and maneuverability. In particular, the retractable motion part design allows it to perform storage and retrieval operations at specific locations without interfering with the shelving structure, which is key to achieving direct operation within high-density storage spaces.

[0011] Preferably, the storage unit placement position of the automated warehouse has a hollow channel in the middle, allowing the moving part of the retrieval head to pass through. This hollow channel design, combined with the extendable moving part of the robotic arm, constitutes the core storage and retrieval mechanism of this invention. This structure allows the robotic arm to operate directly through the placement position from the "front" of the shelf, eliminating the need to reserve additional robotic arm operating space on each shelf level. This overcomes the contradiction between shelf depth and robotic arm operating space in traditional warehousing systems, maximizing storage space utilization.

[0012] Preferably, the temporary storage and positioning station includes: a platform for supporting storage units; a positioning detection sensor and identification device disposed on the platform; a fixed first limiting block; and a second push rod driven by a cylinder and disposed opposite to the first limiting block, wherein the opposing sides of the first limiting block and the second push rod have guide surfaces adapted to the edge contour of the storage unit. The mechanical correction function of this station (driving the second push rod) is configured to be activated only during the outbound process to provide extremely high positional accuracy for outbound stacking, while only detection and identification are performed during inbound, thus improving process efficiency.

[0013] Preferably, when closed, the sealed partition door, together with the sealed compartment and the racking structure of the automated warehouse, defines an independent core storage chamber with better airtightness. The system also includes a gas concentration sensor installed in the core storage chamber; the drying gas supply device is signal-connected to the gas concentration sensor to form a closed-loop control system, used to prioritize monitoring and maintaining a preset gas environment (such as low oxygen, dryness) in the core storage chamber.

[0014] Preferably, the discharge port is equipped with an output station for carrying empty rods. This dedicated output station provides a fixed operating position for the discharge operation, ensuring that the placement of empty rods and the loading of full storage units are orderly and standardized. This simplifies the discharge process and improves the efficiency and repeatability of the outbound operation.

[0015] Preferably, the gripper mechanism of the first handling module is further configured to transfer the storage unit from the second handling module and place it on the string rod at the discharge port. This configuration achieves reverse automation of the outbound process. The first handling module is responsible not only for unpacking but also for stacking, making full use of the handling capacity of the same set of equipment. This realizes a complete closed loop from single-pan storage to string-by-string entry and exit, enabling the system to efficiently handle material flow needs in units of "strings" and improving overall operational efficiency.

[0016] Preferably, each level of the automated warehouse is configured to accommodate a single storage unit or two storage units arranged along the depth direction. This flexible storage configuration allows the automated warehouse to adjust its storage density and capacity according to the size and storage volume requirements of the storage units. It can be used to store larger storage units, or to store more standard-sized storage units arranged in a row, improving the adaptability of the warehousing system and the flexibility of space utilization. Preferably, the sealed partition door is driven by a motor to open or close vertically. Using a motor to drive the sealed partition door vertically ensures precise control and smooth operation. Compared to translation or rotation, vertical opening and closing typically saves more external space required for door movement, and the structure is more compact and reliable, which helps maintain the overall sealing and mechanical stability of the discharge port area.

[0017] Corresponding to the above system, the present invention also provides an automated storage method for storage units using the sealed storage system. The method is based on independent infeed and outfeed paths, including an inbound process and an outbound process.

[0018] The warehousing process is executed along the feeding path, automatically disassembling, identifying and storing the grouped storage units into the automated warehouse. During this process, the sealed partition door remains closed to isolate the core storage area.

[0019] The outbound process follows the outbound path, opening the sealed partition door to retrieve the designated storage unit from the automated warehouse. After precise positioning and correction at the temporary storage station, it is reassembled and output. This method also includes environmental control steps coordinated with the storage and retrieval process, steps for differentiated positioning operations at the temporary storage station based on the process (inbound / outbound), and intelligent transfer steps performed when retrieving deep storage units. Through these methods, precise and efficient maintenance of the core storage area environment is achieved while maintaining highly automated storage and retrieval.

[0020] This invention also provides an automated storage method for storage units using this sealed storage system. The method includes independent inbound and outbound processes: The warehousing process is executed along the feeding path and includes the following steps: The string rod carrying multiple storage units is fed into the sealed chamber through the feed port; The automated handling and retrieval device removes the storage units one by one from the string and transfers them to the temporary storage and positioning station. The storage unit is located and information is identified at the temporary storage and positioning station. The automated handling and storage device stores the positioned storage units into the designated storage unit placement position of the automated warehouse, while the sealed partition door remains closed during the process. The outbound process is executed along the outbound path and includes the following steps: According to the outbound command, the sealed partition door is opened; The target storage unit is taken out from the automated warehouse by the automated handling and retrieval device and transferred to the temporary storage and positioning station through the sealed partition door; Control the sealing partition door to close; The automated handling and storage device transfers the storage unit located at the temporary storage and positioning station and loads it onto the empty string rod located at the discharge port. The string rod loaded with the storage unit is sent out from the discharge port.

[0021] Preferably, the process further includes an environmental control step that is executed in conjunction with the inbound and outbound processes, the environmental control step including: Real-time monitoring of gas environment parameters is conducted within the core storage chamber where the automated warehouse is located. The monitored gas environment parameters are compared with preset thresholds; Based on the comparison results, the drying gas supply device is controlled to supply conditioning gas to the sealed chamber to maintain the gas environment in the core storage chamber within a preset range. Specifically, before executing the step of "controlling the opening of the sealed partition door" in the outbound process, the drying gas supply device is first controlled to supply gas to the core storage chamber, so that the internal air pressure forms a slightly positive pressure state relative to the external operating area, and then the opening action is executed.

[0022] Preferably, the step of locating and identifying information of the storage unit at the temporary storage and positioning station specifically includes: The storage unit is placed on the support platform of the temporary storage and positioning station; The storage unit has been confirmed to have reached the predetermined position by a positioning detection sensor installed on the carrying platform. The identification information of the storage unit is read by an identification device installed on the carrier platform; If the current process is the outbound process, then the second push rod, which is opposite to the first limiting block fixed on one side of the platform, is driven to move, so that the second push rod and the first limiting block work together to clamp and correct the position of the storage unit using the guide surface whose side is adapted to the edge contour of the storage unit, thus completing the precise positioning. If the current process is the warehousing process, then the step of driving the second push rod to move is omitted.

[0023] Preferably, when it is necessary to access an internal storage cell that is blocked by other storage cells in the depth direction, the method further includes a data transfer step: Control the automated handling and storage device to first move the blocking storage unit located outside the target storage unit from its original placement in the automated warehouse; The blocking storage unit is temporarily transferred and stored in another vacant location within the same automated warehouse. The automated handling and access device is controlled to perform a predetermined access operation on the target storage unit; After completing the operation on the target storage unit, the automated handling and retrieval device is controlled to move the blocking storage unit back from the temporary placement position to the original placement position.

[0024] Compared with the prior art, the present invention has the following beneficial effects: 1. Revolutionary improvement in environmental control precision and energy efficiency: The design of the internal sealed partition door dynamically isolates the core storage area (automated warehouse) from the external operating area (including temporary storage stations and inlet / outlet ports). The door is only opened briefly when necessary for outbound operations, which greatly limits the volume and exposure time of the high-level environmental space, significantly reduces the energy consumption for environmental maintenance (such as inert gas consumption), and greatly improves the stability and uniformity of environmental parameters in the core area.

[0025] 2. Ultimate optimization of system integration and space utilization: All functional modules (storage, handling, environmental control, and access interfaces) are integrated into a single sealed warehouse. The dual-path design ensures unidirectional and orderly material flow, avoiding cross-interference. The hollow aisle design of the automated warehouse, combined with the telescopic robotic arm, enables storage and retrieval without reserved operating space in the depth direction of the racks, maximizing space utilization to its theoretical limit.

[0026] 3. High level of automation and intelligence throughout the entire process: The system achieves complete closed-loop automation from receiving grouped storage units, automatic depalletizing, information identification, high-density storage, on-demand precise picking, intelligent warehouse transfer, precise outbound positioning, automatic palletizing to sealed output. Intelligent process decisions (such as door opening and closing, and the start and stop of workstation correction functions) reduce manual intervention and improve operation speed, accuracy and reliability.

[0027] 4. Flexible deployment and convenient maintenance: The entire system forms a compact modular unit, facilitating rapid deployment, relocation, or expansion in different locations. The sealed unit design also allows for maintenance of internal equipment without affecting the external environment. Attached Figure Description

[0028] Figure 1 This is a front view of the overall structure of the sealed storage system according to an embodiment of the present invention.

[0029] Figure 2 This is a partial structural diagram of the automated handling and storage device and the automated warehouse in an embodiment of the present invention.

[0030] Figure 3 This is a top view schematic diagram of the temporary storage and positioning station in an embodiment of the present invention.

[0031] Figure 4 This is a structural diagram of the multi-degree-of-freedom robotic arm's pick-and-place head in an embodiment of the present invention.

[0032] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention.

[0033] Explanation of the labels in the diagram: 1. Sealed silo body; 11. Inlet; 12. Drying gas supply device; 13. Outlet; 131. Sealed partition door; 2. Automated warehouse; 21. Storage unit placement position; 3. Automated handling and storage device; 31. Gripper mechanism; 32. Multi-degree-of-freedom robot; 321. Pick-and-place head; 4. Temporary storage and positioning station; 41. First limit block; 42. Second push rod. Detailed Implementation

[0034] Example: The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] In the description of this invention, it should be noted that the terms "front", "rear", "up", "down", "horizontal", "vertical", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0036] Analysis of the current state of technology: With the continuous improvement of industrial automation and intelligence, automated warehousing systems are widely used in logistics, manufacturing, and other fields. In existing technologies, to achieve high-density storage and automated retrieval of materials, a combination of automated racking systems with stacker cranes, shuttles, or robotic arms is commonly used. These systems effectively improve warehousing capacity and operational efficiency by increasing vertical space utilization and the speed of handling equipment.

[0037] However, existing automated warehousing systems have significant limitations for materials with special storage requirements, such as electronic components, precision instruments, or specialty chemicals that need to be protected against oxidation and moisture. To meet environmental control needs, a common practice is to convert the entire warehouse area into a large cleanroom or airtight sealed chamber. This approach not only incurs high initial construction costs and consumes enormous amounts of energy, but also presents challenges in atmosphere replacement and maintenance due to the large space. Any material handling can cause drastic fluctuations in the internal environment, resulting in poor stability and high operating costs.

[0038] On the other hand, in terms of material flow interfaces and processing flows, existing systems typically have relatively independent functional modules and low integration. For example, functions such as material receiving, depalletizing, detection, storage, picking, stacking, and output are often performed by dispersed equipment in different areas, resulting in a loose overall system layout, large footprint, and long and complex material flow paths. In particular, for materials that are batch-entered and exited in a series grouped manner (such as storage unit strings), existing systems lack an integrated solution that can complete the entire process of "group receiving, automatic disassembly, individualized precise storage and retrieval, on-demand recombination, and sealed output" within a compact unit. This discrete architecture not only affects operational efficiency but also increases the difficulty of environmental control and the risk of leakage due to the existence of multiple material inlets and outlets and connecting links, making it difficult to maintain a stable and reliable microenvironment.

[0039] Furthermore, while pursuing high storage density, there is a conflict between the storage location design of the existing automated warehouse 2 and the operating space of the storage and retrieval robots. To facilitate the robots' gripping, a large operating space is usually required in front of each shelf layer, which limits the layout density in the depth direction of the shelves and fails to achieve optimal space utilization.

[0040] In summary, existing automated warehousing technologies suffer from several drawbacks when dealing with materials requiring specific atmospheric conditions: high environmental control costs and inconsistent performance. In terms of system architecture, they suffer from low integration of functional modules and disjointed material handling throughout the entire process. Furthermore, they face bottlenecks in space utilization due to the interplay between storage density and mechanical operating space. Therefore, the industry urgently needs a highly integrated, environmentally controllable, streamlined, and space-efficient compact automated sealed warehousing system to address these technical challenges.

[0041] Based on this, the solution of the present invention is as follows: Please see Figures 1 to 4 This invention provides a sealed storage system for automated storage of storage units, comprising: The sealed chamber 1 has a feed inlet 11 at its front end and a dry gas supply device 12 at its rear end for maintaining the gas environment inside the chamber. The three-dimensional warehouse 2 is set inside the sealed container 1, and the three-dimensional warehouse 2 has multiple layers and rows of storage unit placement positions 21; An automated handling and storage device 3 is installed inside the sealed chamber 1; The discharge port 13 is provided on the sealed chamber 1; The temporary storage and positioning station 4 is set within the active range of the automated handling and storage device 3; and An openable and closable sealed partition door 131 is installed between the automated warehouse 2 and the temporary storage and positioning station 4; The feed inlet 11, the automated handling and storage device 3, and the temporary storage and positioning station 4 constitute an independent feeding path; the automated warehouse 2, the sealed partition door 131, the temporary storage and positioning station 4, the automated handling and storage device 3, and the discharge port 13 constitute an independent discharge path.

[0042] The specific plan is as follows: Figure 1 As shown, the core of the system is a sealed silo 1, constructed from welded or spliced ​​metal sheets and other materials to ensure structural strength and basic airtightness. An inlet 11 is located at the front of the silo to connect to external feeding equipment (such as manual trolleys or AGVs) and receive the rods carrying fully loaded storage units. A dry gas supply device 12, such as a nitrogen generator or pipelines, valves, and purification devices connecting to an external gas source, is installed at the rear of the silo to fill it with dry inert gas (such as nitrogen) to replace or maintain a low-oxygen, low-humidity environment. When closed, the sealed partition door 131, together with the sealed silo 1 and the racking structure of the automated warehouse 2, defines an independent core storage chamber (Area A) that requires priority maintenance of a specific gas environment. The inlet / outlet 13 and the temporary storage and positioning station 4 are located in an operating area (Area B) outside this core storage chamber. The internal space of the silo is rationally planned. An automated handling and retrieval device 3 is installed behind the inlet 11.

[0043] In some embodiments, the automated handling and storage device 3 includes a first handling module and a second handling module connected in sequence. The first handling module includes a gripper mechanism 31 movable in a first direction, used to pick up and transfer storage units from the feed inlet 11 to the temporary storage and positioning station 4. The second handling module includes a multi-degree-of-freedom robot 32, used to transfer storage units between the temporary storage and positioning station 4 and the storage unit placement position 21 of the automated warehouse 2. During outbound operations, the multi-degree-of-freedom robot 32 is configured to pass through the sealed partition door 131 to transfer storage units from the automated warehouse 2 to the temporary storage and positioning station 4. This dual-module sequentially connected handling architecture achieves functional division of labor and process optimization. The first handling module is dedicated to interacting with external feeds and supplying materials to the temporary storage station, while the second handling module is dedicated to precise storage and retrieval within the high-density automated warehouse 2. Their collaborative work makes the material flow path clearer and more efficient, while also simplifying the motion complexity of individual mechanical structures.

[0044] The multi-degree-of-freedom manipulator 32 includes: a mounting base; a linear drive mechanism mounted on the mounting base for driving the manipulator to move horizontally and move vertically; a rotary drive mechanism located at the end effector of the manipulator; and a pick-and-place head 321 connected to the rotary drive mechanism. The pick-and-place head 321 has a retractable motion part and a gripping part for holding storage units. This manipulator integrates multiple degrees of freedom, including horizontal movement, lifting, rotation, and the retraction of the pick-and-place head 321, giving it extremely high spatial flexibility and maneuverability. In particular, the retractable motion part design allows it to reach into specific locations for storage and retrieval operations without interfering with the shelving structure, which is key to achieving direct operation within high-density storage spaces.

[0045] The specific plan is as follows: Figure 1 and Figure 2 As shown, the automated handling and storage device 3 includes two functionally connected modules. The first handling module is a gripper mechanism 31 that can reciprocate on a horizontal track, with a vacuum suction cup or clamp at its end for picking up storage units one by one from the string rod resting at the feed inlet 11. The second handling module is a multi-degree-of-freedom robot 32. In this embodiment, the multi-degree-of-freedom robot 32 is mounted on a slide module (linear drive mechanism) that can move along the X-axis (front and back) and Z-axis (up and down), with a rotary motor (rotary drive mechanism) installed at its end and connected to a dedicated pick-and-place head 321. The pick-and-place head 321 has a moving part that can extend and retract along the Y-axis (left and right), and the front end of the moving part is provided with an openable and closable gripping piece (gripping part) for gripping the storage units.

[0046] In some embodiments, the storage unit placement position 21 of the automated warehouse 2 is provided with a hollow channel in the middle, allowing the moving part of the pick-and-place head 321 to pass through. The hollow channel design of the storage unit placement position 21, in conjunction with the retractable moving part of the robotic arm, constitutes the core storage and retrieval mechanism of the present invention. This structure allows the robotic arm to operate directly through the placement position from the "front" of the shelf, without the need to reserve additional robotic arm operating space on each shelf layer. This overcomes the contradiction between shelf depth and robotic arm operating space in traditional warehousing systems, maximizing the utilization of storage space.

[0047] The specific plan involves setting up an automated warehouse 2 within the operating range of the robotic arm. This automated warehouse 2 consists of multiple rows and layers of shelving, forming densely arranged storage unit placement spaces 21. Crucially, as... Figure 4 As shown, the central area of ​​each placement position is hollow, forming a hollow channel through which the moving part of the pick-and-place head 321 of the multi-degree-of-freedom manipulator 32 can completely pass. This allows the manipulator to move to the front of the target placement position, extend the pick-and-place head 321, and carry the storage unit through the hollow channel to the rear of the placement position. Then, through a lowering or raising motion, it accurately places the storage unit on the support beam of the storage unit placement position 21. Finally, the pick-and-place head 321 releases the storage unit and retracts, completing the storage operation. The retrieval operation is the reverse.

[0048] In some embodiments, the temporary storage and positioning station 4 includes: a platform for supporting storage units; a positioning detection sensor and identification device disposed on the platform; a fixed first limiting block 41; and a second push rod 42 driven by a cylinder and disposed opposite to the first limiting block 41. The opposing sides of the first limiting block 41 and the second push rod 42 have guide surfaces adapted to the edge contour of the storage unit. The second push rod 42 is configured to be activated only during the outbound process to accurately position and correct the attitude of the storage unit. This temporary storage and positioning station 4 integrates detection, identification, and physical correction functions. The sensor and identification device ensure accurate acquisition of material information, while the mechanical correction mechanism composed of the fixed limiting block and the cylinder-driven push rod can actively and reliably correct the positional deviation and angular offset of the storage unit on the platform, providing a crucial positional reference for subsequent accurate storage or outbound stacking, and ensuring the stability and reliability of the entire process.

[0049] The specific solution is that a temporary storage and positioning station 4 is set up near the discharge port 13 along the activity path of the automated handling and storage device 3. For example... Figure 1 and Figure 3As shown, the workstation includes a support platform equipped with a photoelectric sensor (position detection sensor) and a QR code scanner (identification device). A first limiting block 41 is fixed to one side of the platform, and a second push rod 42 driven by a cylinder is provided on the other side. The sides of the first limiting block 41 and the second push rod 42 opposite to each other are machined with guide arc surfaces that match the arc shape or specific shape of the two sides of the storage unit. When the gripper mechanism 31 places the storage unit in the approximate position on the platform, the sensor detects the position and initiates the outbound process to precisely position and correct the attitude of the storage unit. The cylinder pushes the second push rod 42 toward the first limiting block 41, using the guide arc surface to guide and clamp the storage unit, completing the precise positioning and attitude correction.

[0050] In some embodiments, the discharge port 13 is provided with an output station for carrying empty rods. This dedicated output station provides a fixed operating position for the discharge operation, ensuring that the placement of empty rods and the loading of full storage units are orderly and standardized. This simplifies the discharge process and improves the efficiency and repeatability of the outbound operation.

[0051] The sealed partition door 131 is driven by a motor to open or close vertically. Using a motor to drive the vertical movement of the sealed partition door 131 ensures precise control and smooth operation. Compared to translation or rotation, vertical opening and closing typically saves more external space required for door movement, and the structure is more compact and reliable, which is beneficial for maintaining the overall sealing and mechanical stability of the discharge port 13 area.

[0052] The gripper mechanism 31 of the first handling module is also configured to transfer the storage unit from the second handling module and place it on the string rod at the discharge port 13. This configuration realizes reverse automation of the outbound process. The first handling module is responsible not only for unpacking but also for stacking, making full use of the handling capacity of the same set of equipment. This achieves a complete closed loop from single-pan storage to string-by-string entry and exit, enabling the system to efficiently handle material flow needs in units of "strings" and improving overall operational efficiency.

[0053] The specific solution is as shown in the attached diagram. The sealed partition door 131, located between the automated warehouse 2 and the temporary storage and positioning station 4, is driven by a motor. In this embodiment, the door can move up and down along the vertical guide rail to open and close. When closed, the sealed partition door 131, together with the inner wall of the sealed warehouse 1 and the racking structure of the automated warehouse 2, defines a more airtight and independent core storage chamber (Area A).

[0054] In some embodiments, the system further includes a gas concentration sensor (e.g., an oxygen content sensor) disposed within the core storage chamber (Area A); the dry gas supply device 12 is signal-connected to the gas concentration sensor to form a closed-loop environmental control system, used to prioritize monitoring and maintaining a preset gas environment (e.g., low oxygen, dry state) within the core storage chamber. When the sensor detects that the oxygen concentration within the core storage chamber is higher than a set threshold (e.g., 100 ppm), the control unit will activate the dry gas supply device 12 to fill the chamber (especially the core storage chamber) with dry inert gas (e.g., nitrogen) until the gas environment parameters return to a preset safe range.

[0055] In some embodiments, each level of the automated warehouse 2 is configured to accommodate a single storage unit or two storage units arranged along the depth direction. This flexible storage configuration allows the automated warehouse 2 to flexibly adjust its storage density and capacity according to the size and storage volume requirements of the storage units. It can be used to store larger storage units, or to store more standard-sized storage units arranged in a row, improving the adaptability of the warehousing system and the flexibility of space utilization. The workflow is briefly described below: Warehousing process (the sealed partition door 131 remains closed): The external full-load rod is fed in through the feed port 11.

[0056] The first transport module (gripper mechanism 31) removes the storage units from the rod one by one and transfers them to the temporary storage and positioning station 4.

[0057] The sensor at temporary storage and positioning station 4 detects the position and the identification device reads the information from the storage unit. During this process, the second push rod 42 does not move.

[0058] The second handling module (robotic arm 32) takes the storage unit from the temporary storage station 4 and stores it in the designated empty space of the automated warehouse 2 according to the instructions.

[0059] Outbound process: The management system issues outbound instructions.

[0060] Optionally, environmental pre-protection is implemented: the dry gas supply device 12 is controlled to supply gas to the core storage chamber to establish a slight positive pressure.

[0061] Control the opening of the sealed partition door 131.

[0062] The second handling module (robotic arm 32) takes out the designated storage unit from the target location of the automated warehouse 2, passes it through the sealed partition door 131, and moves it to the temporary storage and positioning station 4.

[0063] Control the sealing partition door 131 to close.

[0064] The sensors at the temporary storage and positioning station 4 detect the position and identify the verification information. Subsequently, the cylinder drives the second push rod 42 to move, cooperating with the first limit block 41 to accurately position and correct the attitude of the storage unit.

[0065] At the same time, the empty string rod is sent to the output station of the discharge port 13.

[0066] The first transport module (gripper mechanism 31) takes out the storage unit that has been positioned on the temporary storage and positioning station 4 and places it on the empty string rod of the discharge port 13 in sequence to assemble it into a string.

[0067] The string rod loaded with the storage unit is sent out from the discharge port 13.

[0068] Relocation process: When it is necessary to access an internal storage unit that is blocked by other storage units, the system controls the robotic arm 32 to first remove the external blocking storage unit and temporarily transfer it to another vacant placement position in the same automated warehouse 2. Then, the target storage unit is operated on, and after the operation is completed, the blocking storage unit is returned to its original position.

[0069] Environmental control procedures (executed in conjunction with inbound and outbound processes): Real-time monitoring of gas environment parameters (such as oxygen concentration) is conducted within the core storage chamber (Area A) where the automated warehouse 2 is located.

[0070] The monitored gas environment parameters are compared with preset thresholds.

[0071] Based on the comparison results, the drying gas supply device 12 is controlled to supply conditioning gas (such as nitrogen) into the sealed chamber 1 to maintain the gas environment in the core storage chamber within a preset range.

[0072] Preferably, before executing the step of "controlling the opening of the sealed partition door" in the outbound process, the drying gas supply device 12 is first controlled to supply gas to the core storage chamber, so that the internal air pressure forms a slightly positive pressure state relative to the external operating area, and then the opening action is executed.

[0073] The library relocation step (executed when access to internal storage cells blocked by other storage cells in the depth direction is required): Control the second handling module (multi-degree-of-freedom manipulator 32) to first move the blocking storage unit located outside the target storage unit from its original placement position 21 in the three-dimensional warehouse 2.

[0074] The blocking storage unit is temporarily transferred and stored in another vacant location within the same automated warehouse 2.

[0075] The second transport module is controlled to perform a predetermined access operation on the target storage unit.

[0076] After completing the operation on the target storage unit, the second transport module is controlled to move the blocking storage unit back from the temporary placement position to the original placement position.

[0077] In the parts not detailed in this invention, such as specific motor models, guide rail specifications, control circuits, etc., all are conventional technical choices in the field.

[0078] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A sealed storage system for automated storage of storage units, characterized in that, include: The sealed chamber has a feed inlet at its front end and a dry gas supply device at its rear end to maintain the gas environment inside the chamber. The automated warehouse located inside the sealed compartment has multiple layers and rows of storage unit placement positions. An automated handling and storage device installed inside the sealed chamber; The discharge port is provided on the sealed chamber; Temporary storage and positioning stations set within the activity range of the automated handling and storage device; as well as An openable and closable sealed partition door is installed between the automated warehouse and the temporary storage and positioning workstation. The feed inlet, the automated handling and storage device, and the temporary storage and positioning station constitute an independent feeding path. The automated warehouse, the sealed partition door, the temporary storage and positioning station, the automated handling and retrieval device, and the discharge port constitute an independent discharge path.

2. The sealed storage system according to claim 1, characterized in that, The automated handling and storage device includes a first handling module and a second handling module connected in sequence. The first handling module includes a gripper mechanism movable in a first direction for picking up and transferring the storage unit from the feed bar at the feed inlet to the temporary storage and positioning station; The second handling module includes a multi-degree-of-freedom robotic arm for performing storage and retrieval operations in the automated warehouse; wherein, during outbound operations, the multi-degree-of-freedom robotic arm is configured to pass through the sealed partition door and transfer the storage unit from the automated warehouse to the temporary storage and positioning station.

3. The sealed storage system according to claim 2, characterized in that, The multi-degree-of-freedom manipulator includes: Mounting base; A linear drive mechanism mounted on the mounting base to drive the robotic arm to move horizontally and move vertically. A rotary drive mechanism disposed at the end effector of the robotic arm; and The pick-and-place head is connected to the rotary drive mechanism and has a retractable moving part and a clamping part for clamping the storage unit.

4. The sealed storage system according to claim 2, characterized in that, The temporary storage and positioning station includes: A platform used to host storage units; Position detection sensors and identification devices are installed on the platform; The fixed first limit block; and A second push rod driven by a cylinder and positioned opposite the first limiting block has a guide surface on the opposite side of the first limiting block and the second push rod that is adapted to the edge contour of the storage unit.

5. The sealed storage system according to claim 1, characterized in that, When closed, the sealed partition door, together with the sealed compartment and the automated warehouse, defines an independent core storage chamber. The system also includes a gas concentration sensor disposed within the core storage chamber; The drying gas supply device is connected to the gas concentration sensor to monitor and maintain the preset gas environment in the core storage chamber.

6. The sealed storage system according to claim 2, characterized in that, During outbound operations, the gripper mechanism of the first handling module is also configured to pick up the storage unit from the temporary storage and positioning station, transfer it, and place it on the string rod at the discharge port.

7. An automated storage method for storage units using the sealed storage system as described in claim 1, characterized in that, The method includes independent inbound and outbound processes: The warehousing process is executed along the feeding path and includes the following steps: The string rod carrying multiple storage units is fed into the sealed chamber through the feed port; The automated handling and retrieval device removes the storage units one by one from the string and transfers them to the temporary storage and positioning station. The storage unit is located and information is identified at the temporary storage and positioning station. The automated handling and storage device stores the positioned storage units into the designated storage unit placement position of the automated warehouse, while the sealed partition door remains closed during the process. The outbound process is executed along the outbound path and includes the following steps: According to the outbound command, the sealed partition door is opened; The target storage unit is taken out from the automated warehouse by the automated handling and retrieval device and transferred to the temporary storage and positioning station through the sealed partition door; Control the sealing partition door to close; The automated handling and storage device transfers the storage unit located at the temporary storage and positioning station and loads it onto the empty string rod located at the discharge port. The string rod loaded with the storage unit is sent out from the discharge port.

8. The automated storage method for storage units according to claim 7, characterized in that, It also includes environmental control steps that are executed in conjunction with the inbound and outbound processes, the environmental control steps including: Real-time monitoring of gas environment parameters is conducted within the core storage chamber where the automated warehouse is located. The monitored gas environment parameters are compared with preset thresholds; Based on the comparison results, the drying gas supply device is controlled to supply conditioning gas to the sealed chamber to maintain the gas environment in the core storage chamber within a preset range. Specifically, before executing the step of "controlling the opening of the sealed partition door" in the outbound process, the drying gas supply device is first controlled to supply gas to the core storage chamber, so that the internal air pressure forms a slightly positive pressure state relative to the external operating area, and then the opening action is executed.

9. The automated storage method for storage units according to claim 7, characterized in that, The step of locating and identifying information of the storage unit at the temporary storage and positioning station specifically includes: The storage unit is placed on the support platform of the temporary storage and positioning station; The storage unit has been confirmed to have reached the predetermined position by a positioning detection sensor installed on the carrying platform. The identification information of the storage unit is read by an identification device installed on the carrier platform; If the current process is the outbound process, then the second push rod, which is opposite to the first limiting block fixed on one side of the platform, is driven to move, so that the second push rod and the first limiting block work together to clamp and correct the position of the storage unit using the guide surface whose side is adapted to the edge contour of the storage unit, thus completing the precise positioning. If the current process is the warehousing process, then the step of driving the second push rod to move is omitted.

10. The automated storage method for storage units according to claim 7, characterized in that, When it is necessary to access an internal storage cell that is blocked by other storage cells in the depth direction, the method further includes a database transfer step: Control the automated handling and storage device to first move the blocking storage unit located outside the target storage unit from its original placement in the automated warehouse; The blocking storage unit is temporarily transferred and stored in another vacant location within the same automated warehouse. The automated handling and access device is controlled to perform a predetermined access operation on the target storage unit; After completing the operation on the target storage unit, the automated handling and retrieval device is controlled to move the blocking storage unit back from the temporary placement position to the original placement position.

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