Sorting control system based on stereoscopic warehouse with non-fixed storage locations

Abstract

The invention discloses a sorting control system based on a non-fixed storage location stereoscopic warehouse, which comprises a warehouse body structure assembly, a tray storage and transmission assembly, a driving and positioning assembly, a safety detection assembly, a sorting operation assembly and a push-pull type tray stacking machine, the garage body structure assembly comprises a garage body main stand column, a garage body stand column adjusting foot, a garage body back pull rod and a garage body vertical adjusting pull rod, the garage body main stand column is vertically arranged, and the garage body stand column adjusting foot is connected to the bottom of the garage body main stand column to adjust the levelness of the garage body; the garage body back pull rod and the garage body vertical adjusting pull rod are connected between the garage body main stand columns in a crossed mode so as to enhance the stability of the garage body structure. By constructing a complete equipment frame comprising the warehouse body structure assembly, the tray storage and transmission assembly, the driving and positioning assembly, the safety detection assembly and the sorting operation assembly, the multi-module collaborative operation non-fixed warehouse location sorting control function is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stereoscopic storage, in particular to a picking control system based on a non-fixed location stereoscopic warehouse. BACKGROUND

[0002] The industrial automatic stereoscopic storage system realizes the full-process automation operation of goods from warehousing, storage, transportation to warehousing by combining mechanical execution, automatic control and information management. When the system works, the goods are conveyed to the warehousing station by the conveying line, the goods information is collected by the code scanning or recognition device, and the goods category, specification, batch and other data are uploaded to the warehouse management system (WMS). The WMS automatically allocates the target location according to the inventory strategy, location state and warehousing priority, and issues the storage and retrieval instructions to the warehouse control system (WCS). The motion control commands are issued to the execution equipment such as the roadway stacker, shuttle vehicle and conveyor. The stacker runs horizontally along the roadway track, and the cargo table vertically lifts along the column to accurately deliver the goods to the designated location to complete the warehousing operation; when warehousing, the stacker takes the goods from the target location according to the instructions, and transfers the goods to the warehousing station through the conveying system. During the whole process, the sensors real-time feedback the position, speed, presence or absence of goods and equipment state, the WCS plans the path and coordinates the scheduling of multiple devices to avoid conflicts and ensure the safety and efficiency of the operation. The system realizes the automatic storage, automatic transportation, automatic inventory and automatic retrieval of goods through closed-loop control, forming an automatic warehousing operation mode integrating logistics, information flow and control flow.

[0003] The current industrial automatic stereoscopic storage system is a highly automated warehousing solution, and the core operation logic is to stack the goods on the special mother pallet in the warehouse area, and realize the automatic transportation of the pallet goods between the warehouse area and the warehouse station through the track roadway stacker, forks, fixed shelf location, conveyor and warehouse station, which is one of the mainstream application solutions in the current warehousing field.

[0004] However, this kind of traditional automatic stereoscopic warehouse has obvious technical limitations and is difficult to adapt to diversified warehousing needs: on the one hand, the location height is fixed and the single warehouse location and stacker only adapt to a single storage unit, which cannot dynamically adjust the space occupation according to the height of the goods to improve the utilization rate of vertical space, and also limits the storage compatibility of different specifications of goods; on the other hand, the warehouse station is fixed at both ends of the stacker roadway, and needs to rely on the conveyor for auxiliary transfer, and the addition of the warehouse station needs to occupy a large area of site to lay the conveying line, which seriously restricts the flexible application of the site and the diversity of logistics direction; at the same time, the control mode of the stacker can only complete the transfer operation according to the fixed instructions, and the picking mode needs to send the goods out of the warehouse area for disassembling and picking, which is rigid and low in efficiency.

[0005] These limitations result in the picking and control of traditional automatic stereoscopic warehouses presenting a single mode feature, requiring users to passively adjust their site layout, logistics flow and picking mode to adapt to the equipment, rather than customizing the design based on actual user needs, which not only makes it difficult to achieve lean management, but also cannot meet the development requirements of flexibility, efficiency and diversification of modern warehousing. Therefore, a stereoscopic warehouse picking control system that can break the inherent mode and be customized as needed is urgently needed to solve the above problems. SUMMARY

[0006] To solve the problems raised in the background art, the purpose of the present application is to provide a picking control system based on a non-fixed location stereoscopic warehouse, which has the advantages of breaking the inherent mode and being customizable on demand, solving the problem that the picking and control of traditional automatic stereoscopic warehouses present a single mode feature, requiring users to passively adjust their site layout, logistics flow and picking mode to adapt to the equipment, rather than customizing the design based on actual user needs, which not only makes it difficult to achieve lean management, but also cannot meet the development requirements of flexibility, efficiency and diversification of modern warehousing.

[0007] To achieve the above purpose, the present application provides the following technical solution: a picking control system based on a non-fixed location stereoscopic warehouse, comprising a warehouse body structure assembly, a tray storage and transmission assembly, a driving and positioning assembly, a detection and safety assembly, a picking operation assembly and a push-pull tray stacking machine, the warehouse body structure assembly comprising a warehouse body main column, a warehouse body column adjusting foot, a warehouse body back pull rod and a warehouse body vertical adjusting pull rod, the warehouse body main column being vertically arranged, the warehouse body column adjusting foot being connected to the bottom of the warehouse body main column to adjust the levelness of the warehouse body, the warehouse body back pull rod and the warehouse body vertical adjusting pull rod being cross-connected between the warehouse body main columns to enhance the stability of the warehouse body structure, the push-pull tray stacking machine being used for stacking trays; The tray storage and transmission assembly comprises a tray, a tray storage bracket, a tray guide assembly, a tray hook and a hook guide, the tray storage bracket being an L-shaped structure for overhead supporting the tray, the tray guide assembly being arranged inside the tray storage bracket to guide the movement of the tray, the hook guide being fixed to the end of the tray storage bracket, the tray hook being adapted to the hooks on both sides of the tray for hooking and pulling the tray to achieve horizontal movement; The driving positioning assembly comprises an X-axis walking motor, an X-axis walking top frame assembly, a first X-axis walking guide wheel set, a second X-axis walking guide wheel set, a Z-axis walking chain wheel assembly, a Z-axis lifting chain, a vertical lifting guide wheel assembly, a vertical lifting chain tensioning assembly, a trolley linking assembly, a trolley driving chain wheel assembly, a trolley driven chain wheel assembly, a chain assembly and a chain guide assembly, the X-axis walking motor drives the first X-axis walking guide wheel set and the second X-axis walking guide wheel set to move along the X-axis walking top frame assembly, the Z-axis walking chain wheel assembly cooperates with the Z-axis lifting chain to drive the tray extractor mechanism to move in the vertical direction, the vertical lifting guide wheel assembly and the vertical lifting chain tensioning assembly ensure the vertical lifting stability, the trolley driving chain wheel assembly drives the trolley driven chain wheel assembly to rotate through the chain assembly, the chain guide assembly guides the transmission direction of the chain assembly, and the trolley linking assembly connects various trolley components. The detection safety assembly comprises Z-axis walking position detection, tray in-place detection sensors, tray anti-collision sensors, height measurement light curtains, safety light curtain assemblies, a first tray position inspection hole and a second tray position detection hole, the Z-axis walking position detection is used for detecting the Z-axis moving position, the tray in-place detection sensors are arranged at the ends of the tray storage support to detect whether the tray is in place, the tray anti-collision sensors are installed on both sides of the tray extractor mechanism to prevent collision, the height measurement light curtains are arranged at the entrance of the warehouse area to detect the height of goods, the safety light curtain assemblies are arranged around the operation opening to ensure operation safety, and the first tray position inspection hole and the second tray position detection hole are arranged on the side surface of the warehouse body to manually check the tray position. The picking operation assembly comprises an operation opening, an entrance and exit manipulator, an entrance and exit lighting assembly and a tray horizontal movement motor, the operation opening is arranged corresponding to the tray storage support, the entrance and exit manipulator is installed on one side of the operation opening to automatically grab materials, the entrance and exit lighting assembly is fixed above the operation opening to provide lighting, and the tray horizontal movement motor drives the tray hook to move to push the tray to the operation opening or pull the tray back to the tray storage support.

[0008] As preferred in the application, the tray storage transmission assembly further comprises a tray extractor mechanism and a tray extractor chain mechanism, the tray extractor mechanism is fixedly connected with the tray hook, and the tray extractor chain mechanism is in transmission connection with the tray extractor mechanism and is used to drive the tray extractor mechanism to move along the length direction of the tray storage support, thereby driving the tray hook to complete the extraction and placement actions of the tray.

[0009] As preferred in the application, the driving positioning assembly further comprises an X-axis walking limit sensor, the X-axis walking limit sensor is installed at both ends of the X-axis walking top frame assembly and is used to limit the moving stroke of the X-axis walking mechanism, so as to avoid overtravel operation of the X-axis walking mechanism and cause damage to the equipment, and the X-axis walking limit sensor cooperates with the X-axis walking motor to realize accurate positioning in the X-axis direction.

[0010] As the preferred of the present application, the sorting operation assembly further comprises a weighing system, the weighing system is integrated on the tray supporting surface below the operation port, the weighing sensors of the weighing system are uniformly distributed on the four corners of the supporting surface, and the weighing sensors are used for detecting the weight of the tray and the stored articles on the tray in real time.

[0011] As the preferred of the present application, the hanging ears on the two sides of the tray are L-shaped bending structures, and the surfaces of the hanging ears are sprayed with wear-resistant coatings, and the wear-resistant coatings are ceramic particle coatings.

[0012] As the preferred of the present application, the L-shaped supporting surface of the tray storage support is provided with anti-skid lines, and the edge of the supporting surface is provided with a circular arc transition structure.

[0013] As the preferred of the present application, the vertical lifting guide wheel assembly comprises a guide wheel body and a guide wheel shaft, the guide wheel body is made of polyurethane material, and the guide wheel shaft is matched with the guide rail on the main stand column of the warehouse body, so that noiseless and stable operation is ensured during vertical lifting.

[0014] As the preferred of the present application, the power supply assembly comprises a slide wire and a current collector, the slide wire is arranged along the length direction of the top frame assembly of the X-axis walking mechanism, the current collector is connected with the X-axis walking mechanism, and the current collector is used for continuously supplying power for the X-axis walking motor, the Z-axis driving part and the detection assembly.

[0015] As the preferred of the present application, the tray extractor mechanism further comprises a tray extractor mechanism guide wheel assembly, the tray extractor mechanism guide wheel assembly is installed on the two sides of the tray extractor mechanism, the tray extractor mechanism guide wheel assembly is matched with the pre-set guide groove on the side surface of the tray storage support, and the tray extractor mechanism guide wheel assembly is used for guiding the tray extractor mechanism to move along the fixed path.

[0016] Compared with the prior art, the present application has the following advantages: 1. The application realizes the non-fixed warehouse location picking control function of multi-module collaborative operation by constructing a complete equipment framework including a warehouse body structure assembly, a tray storage and transmission assembly, a driving positioning assembly, a detection safety assembly and a picking operation assembly. The warehouse body structure assembly ensures that the warehouse body adapts to different installation sites and remains structurally stable through the vertical load-bearing of the warehouse body main stand, the horizontal degree adjustment of the warehouse body stand adjusting foot, and the cross stabilizing effect of the warehouse body back pull rod and the warehouse body vertical adjusting pull rod; the tray storage and transmission assembly realizes the overhead support of the tray through the L-shaped tray storage support, and achieves stable movement of the tray in the horizontal direction through the precise docking of the tray guide assembly and the tray hook; the driving positioning assembly realizes the precise driving of the equipment in the two-dimensional space by moving the X-axis walking motor driven guide wheel group along the X-axis, the Z-axis walking sprocket assembly cooperating with the Z-axis lifting chain to realize vertical lifting, and the stable protection of the vertical lifting guide wheel assembly; the detection safety assembly covers the whole process safety protection through the position control of the Z-axis walking position detection, the collision protection of the tray anti-collision sensor, and the operation safety warning of the safety light curtain assembly; the picking operation assembly improves the picking convenience through the cooperation of the operation port and the entrance and exit mechanical hand. The whole claim breaks the traditional fixed warehouse location restriction of the stereoscopic warehouse, lays the foundation for subsequent customization of warehouse location and picking mode according to site and logistics direction, effectively improves the warehouse space utilization and operation safety, and adapts to diversified warehousing needs.

[0017] 2. The application adds a tray extractor mechanism and a tray extractor chain mechanism on the basis of the tray storage and transmission assembly, and drives the tray extractor mechanism to move along the length direction of the tray storage support through the transmission connection of the two, and then drives the tray hook to complete the extraction and placement actions of the tray. Compared with the traditional fork type extraction method, this design does not need to reserve space for fork lifting and clamping on the left and right and above and below of the tray, greatly compresses the redundant space required for tray movement, and significantly improves the horizontal space utilization of the warehouse area; at the same time, the stable characteristics of chain transmission ensure the accurate and controllable movement of the tray extractor mechanism, reduce the deviation or collision risk of the tray in the extraction and placement process, and protect the transmission safety of the tray and the stored goods on the tray, provide more efficient tray transmission support for flexible adjustment of picking position and optimization of picking process under non-fixed warehouse location, and further adapt to diversified warehousing scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of the application; Figure 2 is a rear view structural schematic diagram of the application; Figure 3 is a structural schematic diagram of the warehouse body structure assembly of the application; Figure 4 is a structural schematic diagram of the tray extractor mechanism of the application; Figure 5This is a schematic diagram of the height measurement light curtain structure of the present invention; Figure 6 This is a schematic diagram of the pallet guide assembly structure of the present invention; Figure 7 For the present invention Figure 1 A magnified structural diagram of A in the middle; Figure 8 For the present invention Figure 4 A magnified structural diagram of B in the diagram.

[0019] In the diagram: 1. Warehouse column adjusting feet; 2. Warehouse main column; 3. Power supply assembly; 4. Pallet extractor chain mechanism; 5. Pallet extractor mechanism; 6. X-axis travel limit sensor; 7. X-axis travel motor; 8. First X-axis travel guide wheel assembly; 9. Z-axis travel sprocket assembly; 10. Pallet extractor mechanism guide wheel assembly; 11. Z-axis travel position detection; 12. Z-axis lifting chain; 13. X-axis travel top frame assembly; 14. Second X-axis travel guide wheel assembly; 15. Pallet; 16. Stored items; 17. Pallet storage bracket; 18. Push-pull pallet stacker; 19. Warehouse back tie rod; 20. Warehouse vertical adjustment tie rod. 21. Pallet guide assembly; 22. Height measuring light curtain; 23. First pallet position inspection hole; 24. Second pallet position detection hole; 25. Hook guide component; 26. Pallet hook; 27. Trolley link assembly; 28. Trolley driven sprocket assembly; 29. ​​Chain guide assembly; 30. Chain assembly; 31. Vertical lifting guide wheel assembly; 32. Vertical lifting chain tensioning assembly; 33. Pallet position detection sensor; 34. Pallet anti-collision sensor; 35. Pallet horizontal movement motor; 36. Trolley drive sprocket assembly; 37. Entrance / exit robot arm; 38. Operating port; 39. Safety light curtain assembly; 40. Entrance / exit lighting assembly. Detailed Implementation

[0020] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1 to 8As shown, the present invention provides a picking control system based on a non-fixed location automated warehouse, including a warehouse structure component, a pallet storage and transmission component, a drive and positioning component, a detection and safety component, a picking operation component, and a push-pull pallet stacker 18. The warehouse structure component includes a warehouse main column 2, a warehouse column adjusting foot 1, a warehouse back tie rod 19, and a warehouse vertical adjustment tie rod 20. The warehouse main column 2 is vertically arranged. The warehouse column adjusting foot 1 is connected to the bottom of the warehouse main column 2 to adjust the warehouse level. The warehouse back tie rod 19 and the warehouse vertical adjustment tie rod 20 are cross-connected between the warehouse main columns 2 to enhance the stability of the warehouse structure. The push-pull pallet stacker 18 is used for stacking pallets 15. The pallet storage and transfer assembly includes a pallet 15, a pallet storage support 17, a pallet guide assembly 21, a pallet hook 26, and a hook guide 25. The pallet storage support 17 has an L-shaped structure and is used to support the pallet 15 in the air. The pallet guide assembly 21 is located inside the pallet storage support 17 to guide the movement of the pallet 15. The hook guide 25 is fixed to the end of the pallet storage support 17. The pallet hook 26 is adapted to the hanging ears on both sides of the pallet 15 and is used to hook the pallet 15 to achieve horizontal movement. The drive positioning assembly includes an X-axis travel motor 7, an X-axis travel top frame assembly 13, a first X-axis travel guide wheel assembly 8, a second X-axis travel guide wheel assembly 14, a Z-axis travel sprocket assembly 9, a Z-axis lifting chain 12, a vertical lifting guide wheel assembly 31, a vertical lifting chain tensioning assembly 32, a trolley link assembly 27, a trolley drive sprocket assembly 36, a trolley driven sprocket assembly 28, a chain assembly 30, and a chain guide assembly 29. The X-axis travel motor 7 drives the first X-axis travel guide wheel assembly 8, the second X-axis travel guide wheel assembly 9, the Z-axis travel top frame assembly 13, the first X-axis travel guide wheel assembly 8, the second X-axis travel guide wheel assembly 14, the Z-axis travel sprocket assembly 9, the Z-axis lifting chain 12, the vertical lifting guide wheel assembly 31, the vertical lifting chain tensioning assembly 32, the trolley link assembly 27, the trolley drive sprocket assembly 36, the trolley driven sprocket assembly 28, the chain assembly 30, and the chain guide assembly 29. The X-axis traveling guide wheel assembly 14 moves along the X-axis traveling top frame assembly 13. The Z-axis traveling sprocket assembly 9, in conjunction with the Z-axis lifting chain 12, drives the tray extractor mechanism 5 to move vertically. The vertical lifting guide wheel assembly 31 and the vertical lifting chain tensioning assembly 32 ensure the stability of vertical lifting. The trolley active sprocket assembly 36 drives the trolley driven sprocket assembly 28 to rotate through the chain assembly 30. The chain guide assembly 29 guides the transmission direction of the chain assembly 30. The trolley link assembly 27 connects each trolley component. The safety detection components include a Z-axis travel position detector 11, a pallet position detection sensor 33, a pallet anti-collision sensor 34, a height measuring light curtain 22, a safety light curtain assembly 39, a first pallet position inspection hole 23, and a second pallet position detection hole 24. The Z-axis travel position detector 11 is used to detect the Z-axis movement position. The pallet position detection sensor 33 is set at the end of the pallet storage bracket 17 to detect whether the pallet 15 is in place. The pallet anti-collision sensor 34 is installed on both sides of the pallet extractor mechanism 5 to prevent collisions. The height measuring light curtain 22 is set at the entrance of the storage area to detect the height of the goods. The safety light curtain assembly 39 is arranged around the operating port 38 to ensure operational safety. The first pallet position inspection hole 23 and the second pallet position detection hole 24 are opened on the side of the storage body for manual inspection of the pallet position. The picking operation components include an operation port 38, an entrance / exit robot 37, an entrance / exit lighting component 40, and a pallet horizontal movement motor 35. The operation port 38 is set corresponding to the pallet storage bracket 17. The entrance / exit robot 37 is installed on one side of the operation port 38 for automatically grabbing materials. The entrance / exit lighting component 40 is fixed above the operation port 38 to provide lighting. The pallet horizontal movement motor 35 drives the pallet hook 26 to move to push the pallet 15 to the operation port 38 or pull it back to the pallet storage bracket 17.

[0022] refer to Figure 1 , Figure 4 and Figure 7 The pallet storage and transfer assembly also includes a pallet extractor mechanism 5 and a pallet extractor chain mechanism 4. The pallet extractor mechanism 5 is fixedly connected to the pallet hook 26, and the pallet extractor chain mechanism 4 is driven to the pallet extractor mechanism 5. It is used to drive the pallet extractor mechanism 5 to move along the length of the pallet storage bracket 17, thereby driving the pallet hook 26 to complete the extraction and placement of the pallet 15.

[0023] As a technical optimization of this invention, a pallet extractor mechanism 5 and a pallet extractor chain mechanism 4 are added to the pallet storage and transmission component. These two are connected by a transmission mechanism, driving the pallet extractor mechanism 5 to move along the length of the pallet storage support 17, thereby driving the pallet hook 26 to complete the extraction and placement of the pallet 15. Compared to traditional forklift extraction methods, this design eliminates the need for forklift and clamping space on the left, right, top, and bottom of the pallet 15, significantly reducing the redundant space required for pallet 15 movement and significantly improving the utilization rate of horizontal space in the warehouse area. Simultaneously, the stable characteristics of the chain drive ensure precise and controllable movement of the pallet extractor mechanism 5, reducing the risk of pallet 15 offset or collision during extraction and placement, ensuring the safety of pallet 15 and the items 16 stored on it during transmission. This provides more efficient pallet 15 transmission support for flexibly adjusting picking positions and optimizing picking processes in non-fixed storage locations, further adapting to diverse warehousing scenarios.

[0024] refer toFigure 1 The drive positioning component also includes an X-axis travel limit sensor 6, which is installed at both ends of the X-axis travel top frame component 13 to limit the travel stroke of the X-axis travel mechanism, prevent the X-axis travel mechanism from running beyond its travel range and causing equipment damage, and at the same time work with the X-axis travel motor 7 to achieve accurate positioning in the X-axis direction.

[0025] As a technical optimization of this invention, an X-axis travel limit sensor 6 is added to the drive positioning assembly and installed at both ends of the X-axis travel top frame assembly 13. On the one hand, this sensor can effectively limit the travel distance of the X-axis travel mechanism, preventing the first X-axis travel guide wheel group 8 and the second X-axis travel guide wheel group 14 from colliding with the warehouse structure due to overtravel, reducing the probability of component damage and extending the overall service life of the equipment. On the other hand, the X-axis travel limit sensor 6 works in conjunction with the X-axis travel motor 7 to accurately control the stopping position of the X-axis travel mechanism, ensuring that the pallet extractor mechanism 5, the entrance / exit robot arm 37, and other actuators can accurately dock with the target pallet storage bracket 17 or the operating port 38, reducing positioning errors and improving the efficiency of pallet 15 transfer and material picking. Especially in non-fixed warehouse scenarios, the flexible layout of multiple warehouses requires higher positioning accuracy in the X-axis direction. This design provides a key guarantee for precise operation, avoiding material loss or work process delays caused by inaccurate positioning.

[0026] refer to Figure 2 The picking operation components also include a weighing system, which is integrated on the pallet support surface below the operation port 38. The weighing sensors of the weighing system are evenly distributed at the four corners of the support surface to detect the weight of the pallet 15 and the items 16 stored on the pallet in real time.

[0027] As a technical optimization of this invention, a weighing system is integrated into the picking operation component, with weighing sensors evenly distributed at the four corners of the pallet support surface below the operating port 38. This design can detect the weight of the pallet 15 and the items 16 stored on it in real time, eliminating the need to remove the pallet from the operating port for separate weighing as in traditional warehousing, thus saving additional weighing processes, shortening material handling time, and significantly improving picking efficiency. Simultaneously, real-time weight data can intuitively reflect whether materials are sufficient and whether there are any omissions or errors, providing accurate data support for inventory quantity management and facilitating lean warehouse management. In non-fixed storage locations, real-time monitoring of material weight information is necessary for picking in various scenarios. The integration of this weighing system meets this core requirement, further improving the accuracy and reliability of warehousing operations.

[0028] refer to Figure 6 The hanging ears on both sides of the tray 15 are L-shaped bent structures, and the surface of the hanging ears is coated with a wear-resistant coating, which is a ceramic particle coating.

[0029] As a technical optimization of this invention, the lugs on both sides of the pallet 15 are designed as L-shaped bends, and a ceramic particle wear-resistant coating is sprayed onto the surface of the lugs. The L-shaped bend structure increases the contact area between the lugs and the pallet hooks 26, enhances their compatibility, ensures the stability of the pallet hooks 26 when pulling the pallet 15, and prevents the pallet from falling off during horizontal movement or vertical lifting, thus ensuring transmission safety. The ceramic particle wear-resistant coating has high hardness and high wear resistance, which can effectively reduce the wear and tear of the lugs, pallet hooks 26, and pallet storage brackets 17 during long-term contact and friction, extend the service life of the pallet 15, and reduce equipment maintenance costs. In non-fixed storage location scenarios, the pallet 15 needs to move frequently between different pallet storage brackets 17 and the operating port 38, and the lugs are used frequently. This design can effectively address the wear and tear caused by high-frequency use and ensure long-term stable operation of the equipment.

[0030] refer to Figure 3 The L-shaped support surface of the tray storage bracket 17 has anti-slip texture, and the edge of the support surface has a rounded transition structure.

[0031] As a technical optimization of the present invention, anti-slip textures are provided on the L-shaped support surface of the pallet storage bracket 17, and a rounded transition structure is designed at the edge of the support surface. The anti-slip textures can increase the friction between the pallet 15 and the L-shaped support surface, preventing the pallet 15 from sliding due to vibration, tilting, or other factors during storage, static placement, or movement and start-up, thus ensuring the stability of the pallet 15 and the stored items 16. Especially in non-fixed storage locations, where the pallet 15 needs to move in multiple directions, the anti-slip design can further reduce the risk of material tipping. The rounded transition structure at the edge of the support surface can avoid scratching damage to the bottom of the pallet 15 and the packaging of the stored items 16 caused by traditional sharp edges, while reducing the risk of operators being scratched during equipment maintenance and manual inspection, significantly improving the safety of equipment use and the integrity of material storage, and optimizing the overall warehousing operation experience.

[0032] refer to Figure 4 The vertical lifting guide wheel assembly 31 includes a guide wheel body and a guide wheel shaft. The guide wheel body is made of polyurethane material, and the guide wheel shaft is adapted to the guide rail on the main column 2 of the warehouse to ensure noiseless and stable operation during vertical lifting.

[0033] As a technical optimization of this invention, the vertical lifting guide wheel assembly 31 is optimized by using polyurethane material for the guide wheel body and adapting the guide wheel shaft to the guide rail on the main column 2 of the warehouse. Polyurethane material has good elasticity and shock absorption properties, which can significantly reduce frictional noise between the guide wheel body and the guide rail during vertical lifting, improving the warehousing operating environment, especially suitable for industrial or logistics scenarios with high noise control requirements. Simultaneously, the high wear resistance of polyurethane material reduces wear and tear on the guide wheel over long-term operation. Combined with the precise adaptation of the guide wheel shaft and the guide rail, this ensures smooth operation of the vertical lifting mechanism, preventing pallet 15 from shifting or stored items 16 from tipping over due to lifting sway. In non-fixed storage locations, pallets 15 need to be frequently transferred between storage locations at different heights. This design provides a key guarantee for precise and stable vertical transfer, further improving equipment operational stability and material transfer safety.

[0034] refer to Figure 1 The power supply component 3 includes a sliding contact line and a current collector. The sliding contact line is arranged along the length of the X-axis traveling top frame component 13. The current collector is connected to the X-axis traveling mechanism and is used to continuously supply power to the X-axis traveling motor 7, the Z-axis drive component and the detection component.

[0035] As a technical optimization of this invention, by setting up a sliding contact line and a current collector, compared with the traditional wired power supply method, the sliding contact line and the current collector can move synchronously with the X-axis traveling mechanism, providing continuous power to the driving components such as the X-axis traveling motor 7 and the Z-axis traveling sprocket assembly 9, as well as the detection components such as the Z-axis traveling position detection 11 and the pallet position detection sensor 33. This avoids power outages or cable damage caused by cable tangling or pulling, ensuring the stable operation of key components. At the same time, the sliding contact line is arranged along the top frame assembly 13 of the X-axis traveling mechanism, without occupying additional warehouse space. This adapts to the needs of multi-directional movement and flexible layout of equipment in non-fixed warehouse locations, reduces the limitations of the power supply system on equipment layout, and ensures that the equipment can be stably powered in different sites and different warehouse layout scenarios, improving the overall reliability of the system.

[0036] refer to Figure 1 The tray extractor mechanism 5 also includes a tray extractor mechanism guide wheel assembly 10, which is installed on both sides of the tray extractor mechanism 5. The tray extractor mechanism guide wheel assembly 10 is adapted to the guide groove preset on the side of the tray storage bracket 17 to guide the tray extractor mechanism 5 to move along a fixed path.

[0037] As a technical optimization of the present invention, guide wheel assemblies 10 are installed on both sides of the pallet extractor mechanism 5, and these guide wheel assemblies are adapted to the guide grooves pre-set on the sides of the pallet storage bracket 17. The guide wheel assemblies 10 guide the pallet extractor mechanism 5 to move along the fixed guide grooves, preventing the extractor mechanism from deviating or jamming when moving along the length of the pallet storage bracket 17. This ensures that the pallet hooks 26 can accurately engage with the hanging ears on both sides of the pallet 15, improving the accuracy of pallet retrieval and placement. Simultaneously, the rolling contact between the guide wheels and the guide grooves replaces traditional sliding contact, significantly reducing frictional wear between the pallet extractor mechanism 5 and the pallet storage bracket 17, extending component lifespan, and reducing maintenance costs. In non-fixed storage locations, pallets need to be frequently transferred between multiple storage locations and in multiple directions. This guide design provides stable guiding support for the pallet extractor mechanism 5, further optimizing equipment operating efficiency and operational stability, and ensuring smooth picking operations in multiple scenarios.

[0038] The working principle and usage process of this invention are as follows: A stable warehouse structure is formed by the main upright column 2 and the back tie rod 19 of the warehouse body. With the transmission cooperation of the pallet extractor mechanism 5 and the pallet extractor chain mechanism 4, combined with the X-axis walking motor 7 driving the guide wheel group to move along the X-axis walking top frame assembly 13, and the Z-axis walking sprocket assembly 9 cooperating with the Z-axis lifting chain 12 to achieve vertical lifting and lowering, a precise pallet transfer system in the horizontal and vertical directions is formed. At the same time, the Z-axis walking position detection 11, pallet anti-collision sensor 34, safety light curtain assembly 39 and other detection safety components are used to monitor the equipment operation status and operation safety in real time. Finally, through the operation port 38 and the matching entrance and exit robot arm 37, weighing system and other picking operation components, a multi-dimensional picking operation is realized. The usage process is as follows: First, when goods are received, the height-measuring light curtain 22 detects the height of the goods to adapt to non-fixed storage space. The pallet 15 is hooked by the pallet hook 26 and moves along the L-shaped pallet storage bracket 17 under the drive of the pallet extractor mechanism 5. It is then positioned to the target storage location via the X and Z axes. The pallet arrival detection sensor 33 confirms that the pallet has arrived in place and storage is completed. Second, during picking operations, any storage location can be set as an inbound / outbound platform according to requirements. The pallet horizontal movement motor 35 drives the pallet hook 26 to push the pallet 15 to the operation port 38. If manual picking is required, the entrance / exit lighting component 40 above the operation port 38 provides lighting. The weighing system... The system monitors weight in real time to assist in verification; if it is connected to an AGV or conveyor line, the pallet horizontal push-pull mechanism will send the pallet to the external equipment; if it is automated picking, the external operating table will work with the entrance and exit robot 37 to complete the material grabbing and handling; finally, after the operation is completed, the pallet 15 will be pulled back to the target storage location via the pallet hook 26 along the original path. The entire process is ensured by the safety light curtain component 39 and the pallet anti-collision sensor 34. The first pallet position inspection hole 23 and the second pallet position detection hole 24 can assist in manual verification of the pallet position. The whole process does not rely on fixed storage platforms and traditional forks, and can be flexibly customized according to the site, material flow direction and picking needs.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A picking control system for a non-fixed-location automated warehouse, comprising a warehouse structure component, a pallet storage and transmission component, a drive and positioning component, a detection and safety component, a picking operation component, and a push-pull pallet stacker (18), characterized in that: The warehouse structure components include a main warehouse column (2), a warehouse column adjusting foot (1), a warehouse back tie rod (19), and a warehouse vertical adjustment tie rod (20). The main warehouse column (2) is vertically arranged. The warehouse column adjusting foot (1) is connected to the bottom of the main warehouse column (2) to adjust the warehouse level. The warehouse back tie rod (19) and the warehouse vertical adjustment tie rod (20) are cross-connected between the main warehouse column (2) to enhance the stability of the warehouse structure. The push-pull pallet stacker (18) is used for stacking pallets (15). The pallet storage and transfer assembly includes a pallet (15), a pallet storage bracket (17), a pallet guide assembly (21), a pallet hook (26), and a hook guide (25). The pallet storage bracket (17) has an L-shaped structure and is used to support the pallet (15) in the air. The pallet guide assembly (21) is located inside the pallet storage bracket (17) to guide the movement of the pallet (15). The hook guide (25) is fixed to the end of the pallet storage bracket (17). The pallet hook (26) is adapted to the lugs on both sides of the pallet (15) and is used to hook the pallet (15) to achieve horizontal movement. The drive positioning assembly includes an X-axis walking motor (7), an X-axis walking top frame assembly (13), a first X-axis walking guide wheel assembly (8), a second X-axis walking guide wheel assembly (14), a Z-axis walking sprocket assembly (9), a Z-axis lifting chain (12), a vertical lifting guide wheel assembly (31), a vertical lifting chain tensioning assembly (32), a trolley link assembly (27), a trolley drive sprocket assembly (36), a trolley driven sprocket assembly (28), a chain assembly (30), and a chain guide assembly (29). The X-axis walking motor (7) drives the first X-axis walking guide wheel assembly (8), the second X-axis walking guide wheel assembly (14), the third X-axis walking guide wheel assembly (9), the fourth X-axis walking guide wheel assembly (12), the fifth X-axis walking guide wheel assembly (13), the sixth X-axis walking guide wheel assembly (14), the seventh X-axis walking guide wheel assembly (15), the eleventh X-axis walking guide wheel assembly (16), the eleventh X-axis walking guide wheel assembly (17), the eleventh X-axis walking guide wheel assembly (18), the eleventh X-axis walking guide wheel assembly (19), the eleventh X-axis walking guide wheel assembly (12), the eleventh X-axis walking guide wheel assembly (13), the eleventh X-axis walking guide wheel assembly (14), the eleventh ... The two X-axis walking guide wheel assembly (14) moves along the X-axis walking top frame assembly (13). The Z-axis walking sprocket assembly (9) cooperates with the Z-axis lifting chain (12) to drive the tray extractor mechanism (5) to move in the vertical direction. The vertical lifting guide wheel assembly (31) and the vertical lifting chain tensioning assembly (32) ensure the stability of vertical lifting. The trolley active sprocket assembly (36) drives the trolley driven sprocket assembly (28) to rotate through the chain assembly (30). The chain guide assembly (29) guides the transmission direction of the chain assembly (30). The trolley link assembly (27) connects each trolley component. The detection safety components include a Z-axis walking position detector (11), a pallet position detection sensor (33), a pallet anti-collision sensor (34), a height measuring light curtain (22), a safety light curtain assembly (39), a first pallet position inspection hole (23), and a second pallet position detection hole (24). The Z-axis walking position detector (11) is used to detect the Z-axis movement position. The pallet position detection sensor (33) is set at the end of the pallet storage bracket (17) to detect whether the pallet (15) is in place. The pallet anti-collision sensor (34) is installed on both sides of the pallet extractor mechanism (5) to prevent collisions. The height measuring light curtain (22) is set at the entrance of the warehouse area to detect the height of the goods. The safety light curtain assembly (39) is arranged around the operating port (38) to ensure operational safety. The first pallet position inspection hole (23) and the second pallet position detection hole (24) are opened on the side of the warehouse body for manual inspection of the pallet position. The picking operation component includes an operation port (38), an entrance / exit robot (37), an entrance / exit lighting component (40), and a pallet horizontal movement motor (35). The operation port (38) is set corresponding to the pallet storage bracket (17). The entrance / exit robot (37) is installed on one side of the operation port (38) for automatically grabbing materials. The entrance / exit lighting component (40) is fixed above the operation port (38) to provide lighting. The pallet horizontal movement motor (35) drives the pallet hook (26) to move to push the pallet (15) to the operation port (38) or pull it back to the pallet storage bracket (17).

2. The picking control system based on a non-fixed-location automated warehouse according to claim 1, characterized in that: The pallet storage and transmission assembly also includes a pallet extractor mechanism (5) and a pallet extractor chain mechanism (4). The pallet extractor mechanism (5) is fixedly connected to the pallet hook (26), and the pallet extractor chain mechanism (4) is driven to the pallet extractor mechanism (5). It is used to drive the pallet extractor mechanism (5) to move along the length of the pallet storage bracket (17), thereby driving the pallet hook (26) to complete the extraction and placement of the pallet (15).

3. The picking control system based on a non-fixed-location automated warehouse according to claim 2, characterized in that: The drive positioning component also includes an X-axis travel limit sensor (6), which is installed at both ends of the X-axis travel top frame component (13) to limit the travel stroke of the X-axis travel mechanism, prevent the X-axis travel mechanism from running beyond its travel range and causing equipment damage, and at the same time cooperate with the X-axis travel motor (7) to achieve accurate positioning in the X-axis direction.

4. The picking control system based on a non-fixed location automated warehouse according to claim 3, characterized in that: The picking operation component also includes a weighing system, which is integrated on the pallet support surface below the operation port (38). The weighing sensors of the weighing system are evenly distributed at the four corners of the support surface to detect the weight of the pallet (15) and the items (16) stored on the pallet in real time.

5. A picking control system based on a non-fixed-location automated warehouse according to claim 4, characterized in that: The hanging ears on both sides of the tray (15) are L-shaped bent structures, and the surface of the hanging ears is sprayed with a wear-resistant coating, which is a ceramic particle coating.

6. A picking control system based on a non-fixed-location automated warehouse according to claim 5, characterized in that: The L-shaped support surface of the tray storage bracket (17) is provided with anti-slip texture, and the edge of the support surface is provided with a rounded transition structure.

7. A picking control system based on a non-fixed-location automated warehouse according to claim 6, characterized in that: The vertical lifting guide wheel assembly (31) includes a guide wheel body and a guide wheel shaft. The guide wheel body is made of polyurethane material, and the guide wheel shaft is adapted to the guide rail on the main column (2) of the warehouse body to ensure that there is no noise and the operation is stable during the vertical lifting process.

8. A picking control system based on a non-fixed-location automated warehouse according to claim 7, characterized in that: The power supply component (3) includes a sliding contact line and a current collector. The sliding contact line is arranged along the length of the X-axis walking top frame component (13). The current collector is connected to the X-axis walking mechanism and is used to continuously supply power to the X-axis walking motor (7), the Z-axis drive component and the detection component.

9. A picking control system based on a non-fixed-location automated warehouse according to claim 8, characterized in that: The tray extractor mechanism (5) also includes a tray extractor mechanism guide wheel assembly (10), which is installed on both sides of the tray extractor mechanism (5). The tray extractor mechanism guide wheel assembly (10) is adapted to the guide groove preset on the side of the tray storage bracket (17) to guide the tray extractor mechanism (5) to move along a fixed path.

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