Automatic stereoscopic warehouse based on warp beam storage

Abstract

The invention discloses an automatic stereoscopic warehouse based on warp beam storage, and relates to the technical field of automatic storage. According to the automatic stereoscopic warehouse based on warp beam storage, the multiple bearing supports are arranged in the storage frame, warp beams with different side disc sizes can be stored, manual adjustment is not needed during storage, and the bearing supports can move downwards due to gravity to automatically complete stacking storage operation; meanwhile, in the stacking process of the bearing supports, bearing operation can be completed by making contact with the warp beams below, on one hand, the storage stability of the warp beams is improved, and on the other hand, the space utilization rate is greatly increased.

Description

Technical Field

[0001] This invention relates to the field of automated warehousing technology, specifically to an automated three-dimensional warehouse based on warp beam storage. Background Technology

[0002] As a crucial pillar of the real economy, the equipment manufacturing industry is rapidly transforming towards digitalization and intelligence. In the textile equipment sector, automated storage and retrieval systems (AS / RS) provide reliable support for production logistics due to their advantages such as high space utilization, fast storage and retrieval efficiency, and intelligent management. As a core component of the weaving process, the storage, scheduling, and turnover of warp beams directly affect the continuity of production. By relying on AS / RS to achieve precise positioning, automatic inbound and outbound operations, and full traceability of warp beams, the warehousing process is effectively optimized, and production collaboration capabilities are enhanced. Referring to the Chinese patent, "An Automated Three-Dimensional Warehouse Based on Logistics Warehousing" with publication number "CN120156803B", this patent points out that once the racks of the current automated three-dimensional warehouse are built, it is inconvenient to adjust them. This means that the reserved space between each rack may be wasted due to changes in the volume of the stored goods. That is, the racks with large spacing between the layers may be wasted when storing small-volume goods that cannot be stacked high. The aforementioned equipment can only store rectangular or similar goods. Its ability to store roller-shaped workpieces or warp beams is limited, affecting the warehouse's applicability. Furthermore, traditional warp beam storage typically reserves space for the side trays. Therefore, if the side tray dimensions deviate, the warp beam may not fit into the reserved space, or the reserved space may exceed the side tray dimensions. This affects space utilization when storing warp beams. To address these issues, we propose an automated three-dimensional warehouse based on warp beam storage. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an automated three-dimensional warehouse based on warp beam storage, which solves the problems mentioned in the background section.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution: an automated three-dimensional warehouse based on warp beam storage, comprising a base frame and storage racks, a hoisting mechanism on the top of the base frame for transferring and conveying warp beams, and multiple storage racks forming a three-dimensional warehouse for storing warp beams; The storage rack has multiple load-bearing supports slidably connected inside. Each load-bearing support is equipped with a counterweight between itself and the storage rack. A traction cable is connected between the counterweight and the corresponding load-bearing support. The storage rack is equipped with multiple rollers. The traction cable passes around the corresponding roller. The counterweight is used to limit the initial position of the load-bearing support until it is placed inside the corresponding load-bearing support by the weaving beam. The load-bearing support then moves downward by gravity to complete the stacking. The top of the load-bearing bracket has rectangular slots on both sides, and a sliding plate slides inside each rectangular slot. The side of the load-bearing bracket has a sliding groove, and end positioning plates are slidably fitted at the ends of the rectangular slots on both sides. A locking rod is fixed inside the end positioning plate, and a locking frame that matches the locking rod is installed inside the load-bearing bracket. An unlocking pressure frame is fixed inside the locking frame. The end of the end positioning plate is located inside the sliding groove, allowing it to rotate and slide relative to each other along the groove. Multiple transmission cables are connected between the end positioning plate and the sliding plate, which are used to drive the end positioning plate to move horizontally through the sliding plate to achieve self-locking operation.

[0005] Preferably, positioning frames are fixedly installed on both sides of the inside of the load-bearing bracket, the locking frame is slidably installed inside the two positioning frames, and multiple support springs are fixedly connected between the locking frame and the inside of the positioning frames. Multiple locking blocks are fixedly installed on the top of the locking frame, and the locking blocks are used to cooperate with the locking rod to complete the self-locking of the end positioning plate.

[0006] Preferably, an outer shell is fixedly installed on the outside of the storage rack, and a plurality of negative pressure cylinders adapted to the counterweights are fixedly installed between the outer shell and the storage rack. The counterweights are slidably installed inside the corresponding negative pressure cylinders, and a piston end is fixedly installed at the end of the counterweight. The piston end is slidably installed inside the negative pressure cylinder. A negative pressure device is connected to the outside of the negative pressure cylinder for driving the counterweights to slide inside the corresponding negative pressure cylinder through negative pressure.

[0007] Preferably, a negative pressure end is fixedly installed at the end of the negative pressure cylinder, the negative pressure device is fixedly installed on the outside of the storage rack, a connecting end is connected between the negative pressure end and the negative pressure device, an inner sliding tube is slidably installed on the inner side of the end of the negative pressure cylinder near the negative pressure end, a through hole is opened at the end of the inner sliding tube and a return spring is fixedly installed between the end and the inner wall of the negative pressure end, and multiple exhaust holes are symmetrically opened inside the inner sliding tube, the negative pressure cylinder and the negative pressure end.

[0008] Preferably, reinforcing rods are fixedly installed on both sides of each of the multiple load-bearing supports.

[0009] Preferably, a crane is mounted on the top of the base frame, the hoisting mechanism is slidably connected below the crane, and a feeding mechanism is mounted on the bottom of the hoisting mechanism. The feeding mechanism is used to grab the warp beam and transfer the warp beam in the transverse, longitudinal and vertical directions respectively.

[0010] Preferably, the feeding mechanism and the hoisting mechanism are connected by multiple connecting steel cables.

[0011] Preferably, a feeding module is fixedly installed on the top of the feeding mechanism, and telescopic arms are fixedly installed on both sides of the feeding module, with mechanical grippers mounted on the telescopic arms.

[0012] Preferably, hydraulic drive modules are fixedly installed on both sides of the top of the feeding mechanism, and the hydraulic drive modules are used to drive the feeding module to perform translational operations.

[0013] Preferably, an unlocking pressure plate is fixedly installed at the end of the telescopic arm.

[0014] This invention provides an automated three-dimensional warehouse based on warp beam storage. Compared with existing technologies, it has the following advantages: (1) The automated three-dimensional warehouse based on warp beam storage can store warp beams of different side plate sizes through multiple load-bearing supports inside the storage rack. No manual adjustment is required during storage. The load-bearing supports can automatically complete the stacking storage operation due to gravity. At the same time, the load-bearing supports can complete the bearing operation by contacting the warp beams below during the stacking process. This improves the storage stability of the warp beams and greatly improves the space utilization rate.

[0015] (2) The automated three-dimensional warehouse based on warp beam storage, through the setting of load-bearing brackets, enables the end positioning plate to automatically move along the warp beam in cooperation with the sliding plate during the storage process, and automatically locks the stored warp beam through the cooperation of the locking frame, further improving the storage stability of the warp beam.

[0016] (3) The automated three-dimensional warehouse based on warp beam storage, through the setting of negative pressure cylinder, when taking out the warp beam, can drive the counterweight to slide inside the corresponding negative pressure cylinder through the operation of the negative pressure device, and lift the load-bearing bracket above the warp beam to be taken out through the cooperation of the traction cable, further improving the ease of operation of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the storage rack structure of the present invention; Figure 3 For the present invention Figure 2 Side view structural diagram; Figure 4 This is a schematic cross-sectional view of the outer shell of the present invention; Figure 5 This is a schematic diagram of the load-bearing support structure of the present invention; Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A in the middle; Figure 7 For the present invention Figure 5 Enlarged structural diagram at point B; Figure 8 This is a schematic diagram of the structure of the load-bearing bracket and the warp beam of the present invention; Figure 9 This is a schematic diagram of the feeding mechanism of the present invention.

[0018] In the diagram: 1. Base frame; 2. Overhead crane; 3. Lifting mechanism; 4. Feeding mechanism; 401. Feeding module; 402. Hydraulic drive module; 403. Telescopic boom; 404. Mechanical gripper; 405. Unlocking pressure plate; 406. Connecting steel cable; 5. Warp beam; 6. Storage rack; 601. Outer shell; 7. Load-bearing bracket; 701. Rectangular slot; 702. Slide groove; 8. Reinforcing connecting rod; 9. End positioning plate; 901. Locking rod; 902. Transmission cable 10. Rope; 11. Moving slide plate; 12. Locking frame; 13. Support spring; 14. Locking block; 15. Positioning frame; 16. Unlocking pressure frame; 17. Negative pressure cylinder; 18. Inner slide tube; 19. Negative pressure end; 10. Exhaust port; 11. Through hole; 12. Return spring; 13. Connecting end; 14. Counterweight; 15. Piston end; 16. Traction cable; 17. Roller; 18. Negative pressure device. Detailed Implementation

[0019] 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.

[0020] Please see Figures 1-9 The present invention provides two technical solutions, specifically including the following embodiments: Example 1

[0021] In this embodiment of the invention, an automated three-dimensional warehouse based on warp beam storage includes a base frame 1 and storage racks 6. The top of the base frame 1 is provided with a hoisting mechanism 3, which is used to transfer and transport warp beams 5. There are multiple storage racks 6, and multiple storage racks 6 form a three-dimensional warehouse for storing warp beams 5. Specifically, the hoisting mechanism 3 is an existing device, which can be used to hoist the warp beam 5 by means of a built-in winch during implementation; Furthermore, multiple load-bearing supports 7 are slidably connected inside the storage rack 6. Each load-bearing support 7 is provided with a counterweight 15 between itself and the storage rack 6. A traction cable 16 is connected between the counterweight 15 and the corresponding load-bearing support 7. Multiple rollers 1601 are installed inside the storage rack 6. The traction cable 16 passes around the corresponding roller 1601. The counterweight 15 is used to limit the initial position of the load-bearing support 7 until it is placed inside the corresponding load-bearing support 7 by the weaving beam 5. The load-bearing support 7 then moves down by gravity to complete the stacking. For details, please refer to Figure 2 , Figure 3 Multiple load-bearing supports 7 are installed at an angle. The lowest load-bearing support 7 is fixedly connected to the storage rack 6. The remaining load-bearing supports 7 are stacked inside the storage rack 6 by the traction of the traction cable 16 and the cooperation of the counterweight 15. The weight of the counterweight 15 is greater than the weight of the load-bearing support 7, and the weight of the counterweight 15 is less than the weight of the load-bearing support 7 plus the warp beam 5. This ensures that when the load-bearing support 7 is not carrying loads, its initial position is located above the inner side of the storage rack 6 through the cooperation of the counterweight 15. (Reference) Figure 3 When the load-bearing bracket 7 is carrying out load-bearing operations, as the warp beam 5 is placed above the corresponding load-bearing bracket 7, the counterweight 15 can be moved upward by the traction cable 16. During operation, batches of warp beams 5 are placed on top of the support bracket 7 from bottom to top for storage. When the second warp beam 5 is placed, as the warp beam 5 is placed on top of the support bracket 7, the support bracket 7 can be supported and moved downwards along the storage rack 6. During the downward movement, the counterweight 15 is moved upwards by the traction cable 16 until the bottom of the support bracket 7 contacts the warp beam 5 below and stops. At this point, the support bracket 7 completes the support of the warp beam 5. Then, through the cooperation of the counterweight 15 and the support bracket 7, the internal storage space of the storage rack 6 can be automatically adjusted when storing the warp beams 5. Compared with the traditional storage method, it can better utilize the space. The storage space is designed to store warp beams 5 of different side plate sizes. During the stacking process, the bottom of the support bracket 7 can contact the warp beams 5 below to provide support, thereby ensuring the load-bearing capacity of the equipment. With multiple support brackets 7 inside the storage rack 6, the storage of warp beams 5 of different side plate sizes can be carried out without manual adjustment. The support brackets 7 can automatically complete the stacking storage operation due to gravity. During the stacking process, the support brackets 7 can complete the load-bearing operation by contacting the warp beams 5 below. This improves the storage stability of the warp beams 5 and greatly enhances the space utilization rate. The load-bearing bracket 7 has rectangular slots 701 on both sides of its top, and a sliding plate 10 slides inside each rectangular slot 701. The load-bearing bracket 7 has a sliding groove 702 on its side. End positioning plates 9 are slidably fitted to the ends of the rectangular slots 701 on both sides. A locking rod 901 is fixed inside the end positioning plate 9. A locking frame 11, compatible with the locking rod 901, is installed inside the load-bearing bracket 7. An unlocking pressure frame 13 is fixed inside the locking frame 11. The end of the end positioning plate 9 is located inside the sliding groove 702, allowing it to rotate and slide relative to each other along the groove direction. The end of the end positioning plate 9 can rotate... A rotating shaft is connected to the slide groove 702 and is slidably connected thereto. The rotating shaft is not shown in the figure. It allows the end of the end positioning plate 9 to rotate along the rotating shaft inside the slide groove 702 and to drive the rotating shaft to slide along the groove of the slide groove 702. Multiple transmission cables 902 are connected between the end positioning plate 9 and the movable slide plate 10. The movable slide plate 10 can drive the end positioning plate 9 to translate and achieve self-locking operation. The end of the transmission cable 902 is connected to the middle position of the corresponding end positioning plate 9 and can drive the end positioning plate 9 to rotate along the rotating shaft when subjected to force. Furthermore, the rectangular slot 701 is created for storage operations on the side discs of the warp beam 5. The specific operation process is as follows: (Refer to...) Figure 5 , Figure 6 , Figure 8 When the warp beam 5 is placed above the corresponding support bracket 7, the support bracket 7 is installed at an angle. At this time, the side plate of the warp beam 5 can be located inside the corresponding rectangular slot 701 and roll along the rectangular slot 701 due to gravity, thereby pushing the movable slide plate 10 to slide along the rectangular slot 701. Through the sliding of the movable slide plate 10, multiple transmission cables 902 are connected between the movable slide plate 10 and the corresponding end positioning plate 9. The end positioning plate 9 can be rotated along the rotating shaft through the transmission cables 902, so that the end positioning plate 9 can slide along the rectangular slot 701 in contact with the rolling warp beam 5. At this time, the end positioning plate 9 can simultaneously drive the rotating shaft to slide inside the slide groove 702 until the warp beam 5 contacts the inner wall of the storage rack 6 and stops. As the end positioning plate 9 moves, it can drive the locking rod 901 fixedly installed on its outer side to move along the corresponding locking frame 11. Positioning frames 12 are fixedly installed on both sides of the inside of the load-bearing bracket 7. Locking frames 11 are slidably installed inside the two positioning frames 12. Multiple support springs 1101 are fixedly connected between the locking frame 11 and the inside of the positioning frames 12. Multiple locking blocks 1102 are fixedly installed on the top of the locking frame 11. The locking blocks 1102 are used to cooperate with the locking rod 901 to complete the self-locking of the end positioning plate 9. Specifically, when the locking rod 901 moves along the corresponding locking frame 11, it can continuously pass over multiple locking blocks 1102. During the process of the locking rod 901 passing over the locking block 1102, the locking block 1102 can be forced to slide the locking frame 11 downward inside the positioning frame 12, squeezing the support spring 1101 until the end positioning plate 9 stops. Then the locking frame 11 can be located on one side of the corresponding locking block 1102 to achieve the locking operation. An elastic pull rope is connected between the end positioning plate 9 and the locking frame 1102, which is used to drive the corresponding moving slide plate 10 to reset after the warp beam 5 is taken out. The elastic pull rope is not shown in the figure. Specifically, the height of the movable slide plate 10 exceeds that of the load-bearing bracket 7. This design enables the equipment to perform self-locking operations when storing roller-shaped or rectangular workpieces or goods. When the equipment stores roller-shaped or rectangular workpieces, the movable slide plate 10 can still be moved horizontally as the workpiece moves along the top of the load-bearing bracket 7, thus achieving the locking operation through the above steps.

[0022] Example 2: Based on Example 1, an outer shell 601 is fixedly installed on the outside of the storage rack 6. Multiple negative pressure cylinders 14 that are adapted to the counterweights 15 are fixedly installed between the outer shell 601 and the storage rack 6. The counterweights 15 are slidably installed inside the corresponding negative pressure cylinders 14. A piston end 1501 is fixedly installed at the end of the counterweights 15. The piston end 1501 is slidably installed inside the negative pressure cylinders 14. A negative pressure device 17 is connected to the outside of the negative pressure cylinders 14 to drive the counterweights 15 to slide inside the corresponding negative pressure cylinders 14 through negative pressure. Specifically, when it is necessary to retrieve the stored warp beam 5, the negative pressure device 17 can be operated to generate negative pressure inside the negative pressure cylinder 14, which in turn drives the counterweight 15 to slide down along the negative pressure cylinder 14 through the piston end 1501. At this time, with the cooperation of the traction cable 16, the corresponding load-bearing bracket 7 can be moved up, so that the load-bearing bracket 7 is separated from the warp beam 5 at the bottom, making it easier to retrieve the warp beam 5. A negative pressure end 1402 is fixedly installed at the end of the negative pressure cylinder 14, and a negative pressure device 17 is fixedly installed on the outside of the storage rack 6. A connecting end 1406 is connected between the negative pressure end 1402 and the negative pressure device 17. An inner sliding tube 1401 is slidably installed on the inner side of the end of the negative pressure cylinder 14 near the negative pressure end 1402. A through hole 1404 is opened at the end of the inner sliding tube 1401, and a return spring 1405 is fixedly installed between the end and the inner wall of the negative pressure end 1402. Multiple exhaust holes 1403 are symmetrically opened inside the inner sliding tube 1401, the negative pressure cylinder 14, and the negative pressure end 1402. Further reference Figure 5 , Figure 7When the warp beam 5 is supported above the load-bearing bracket 7, as the load-bearing bracket 7 moves downward under gravity, it can move the corresponding counterweight 15 end and piston end 1501 upward inside the corresponding negative pressure cylinder 14 through the cooperation of the traction cable 16. At this time, external air can enter the negative pressure cylinder 14 through the exhaust port 1403. Similarly, when the warp beam 5 is removed, as gravity disappears, the counterweight 15 end and piston end 1501 return to their original positions inside the corresponding negative pressure cylinder 14, and the gas inside the negative pressure cylinder 14 can be discharged through the exhaust port 1403. When the negative pressure device 17 is running, the gas is discharged through the negative pressure end... During the negative pressure extraction process at the connecting end 1406 at the end of 1402, the inner slide tube 1401 can slide down under force to squeeze the return spring 1405. As the inner slide tube 1401 moves down, it can block the exhaust hole 1403 opened inside the negative pressure cylinder 14, thereby allowing the counterweight 15 to move down inside the corresponding negative pressure cylinder 14 through the piston end 1501, realizing the lifting operation of the load-bearing bracket 7. On the one hand, it facilitates the removal of the warp beam 5, and on the other hand, it can prevent the load-bearing bracket 7 from moving down too quickly after the warp beam 5 is removed, further improving the safety and convenience of the operation. The negative pressure device 17 is an existing negative pressure device, which is controlled by an existing hydraulic controller, and will not be described in detail here.

[0023] Reinforcing rods 8 are fixedly installed on both sides of multiple load-bearing supports 7. The reinforcing rods 8 are used to improve the load-bearing capacity of the load-bearing supports 7. The number of internal load-bearing supports 7 of the storage rack 6 is set according to the size of the warp beams 5 to be stored in batches, so as to avoid affecting the storage space inside the storage rack 6 when the size of the warp beams 5 is too large or too small.

[0024] The top of the base frame 1 is equipped with a crane 2, and the hoisting mechanism 3 is slidably connected to the bottom of the crane 2. The bottom of the hoisting mechanism 3 is equipped with a feeding mechanism 4, which is used to grab the warp beam 5 and transfer the warp beam 5 in the horizontal, longitudinal and vertical directions respectively.

[0025] The feeding mechanism 4 and the hoisting mechanism 3 are connected by multiple connecting steel cables 406. The hoisting mechanism 3 has a built-in winch, which is used to drive the feeding mechanism 4 to complete the vertical and horizontal movement through the connecting steel cables 406.

[0026] A feeding module 401 is fixedly installed on the top of the feeding mechanism 4. Telescopic arms 403 are fixedly installed on both sides of the feeding module 401, and mechanical grippers 404 are assembled through the telescopic arms 403. Hydraulic drive modules 402 are fixedly installed on both sides of the top of the feeding mechanism 4. The hydraulic drive modules 402 are used to drive the feeding module 401 to perform translational operations. Furthermore, the overhead crane 2, the hoisting mechanism 3, and the feeding mechanism 4 are all existing equipment, used to grab the warp beam 5 and transfer the warp beam 5 in the horizontal, longitudinal, and vertical directions respectively, which will not be described in detail here; The hydraulic drive module 402, the mechanical gripper 404, and the telescopic arm 403 are all controlled based on the hydraulic controller and the PLC control module, which will not be described in detail here. Detailed work process: (See reference) Figure 1 , Figure 9 After the mechanical gripper 404 grasps the warp beam 5, the gantry crane 2 moves horizontally to transfer the warp beam 5. The hoisting mechanism 3 moves vertically along the gantry crane 2 to transfer the warp beam 5. The hoisting mechanism 3 drives the feeding mechanism 4 to move up and down to transfer the warp beam 5 vertically. When the warp beam 5 is transferred vertically, the feeding mechanism 4 and the warp beam 5 need to be raised to the highest point. When the warp beam 5 reaches the corresponding storage rack 6, the hydraulic drive module 402 runs, driving the feeding module 401 to move horizontally. Through the extension of the telescopic arm 403 and the cooperation of the mechanical gripper 404, the warp beam 5 is pushed to the top of the corresponding load-bearing bracket 7. The same principle applies when grasping.

[0027] An unlocking pressure plate 405 is fixedly installed at the end of the telescopic arm 403. When the telescopic arm 403 extends and grabs and removes the warp beam 5 through the mechanical gripper 404, the unlocking pressure plate 405 can move horizontally with the telescopic arm 403 until it contacts the unlocking pressure frame 13. The unlocking pressure frame 13 is installed at an angle, and as it is subjected to force, it can drive the locking frame 11 to move downward, so that the locking block 1102 can release the locking rod 901 as the locking frame 11 moves downward. This reduces the upward stroke of the mechanical gripper 404 after grabbing the warp beam 5, improving the convenience of operation. (Reference) Figure 9 The unlocking pressure plate 405 is fixed to the lower middle part of the two corresponding telescopic arms 403, and is used to extend with the telescopic arms 403.

[0028] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0029] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. An automated three-dimensional warehouse based on warp beam storage, comprising a base frame (1) and storage racks (6), wherein a hoisting mechanism (3) is provided on the top of the base frame (1), the hoisting mechanism (3) being used for transferring and conveying warp beams (5), characterized in that: There are multiple storage racks (6), and multiple storage racks (6) form a three-dimensional warehouse for storing warp beams (5); The storage rack (6) has multiple load-bearing supports (7) slidably connected inside. Each load-bearing support (7) is provided with a counterweight (15) between it and the storage rack (6). A traction cable (16) is connected between the counterweight (15) and the corresponding load-bearing support (7). The storage rack (6) is equipped with multiple rollers (1601). The traction cable (16) passes around the corresponding roller (1601). The counterweight (15) is used to limit the initial position of the load-bearing support (7) until it is placed inside the corresponding load-bearing support (7) by the weaving beam (5). The load-bearing support (7) then moves down by gravity to complete the stacking. The top of the load-bearing bracket (7) has rectangular slots (701) on both sides, and a movable slide plate (10) slides inside the rectangular slots (701). The side of the load-bearing bracket (7) has a sliding groove (702). The ends of the rectangular slots (701) on both sides are slidably fitted with end positioning plates (9). A locking rod (901) is fixed inside the end positioning plate (9). A locking frame (11) that matches the locking rod (901) is installed inside the load-bearing bracket (7). An unlocking pressure frame (13) is fixed inside the locking frame (11). The end of the end positioning plate (9) is located inside the sliding groove (702) and can be rotated and slid relative to each other along the groove. Multiple transmission cables (902) are connected between the end positioning plate (9) and the movable slide plate (10) to drive the end positioning plate (9) to move horizontally to achieve self-locking operation.

2. The automated three-dimensional warehouse based on warp beam storage according to claim 1, characterized in that: The load-bearing bracket (7) has a positioning frame (12) fixedly installed on both sides inside. The locking frame (11) is slidably installed inside the two positioning frames (12), and multiple support springs (1101) are fixedly connected between the locking frame (11) and the positioning frame (12). Multiple locking blocks (1102) are fixedly installed on the top of the locking frame (11). The locking blocks (1102) are used to cooperate with the locking rod (901) to complete the self-locking of the end positioning plate (9).

3. An automated three-dimensional warehouse based on warp beam storage according to claim 1, characterized in that: A housing (601) is fixedly installed on the outside of the storage rack (6). A plurality of negative pressure cylinders (14) adapted to the counterweight (15) are fixedly installed between the housing (601) and the storage rack (6). The counterweight (15) is slidably installed inside the corresponding negative pressure cylinder (14). A piston end (1501) is fixedly installed at the end of the counterweight (15). The piston end (1501) is slidably installed inside the negative pressure cylinder (14). A negative pressure device (17) is connected to the outside of the negative pressure cylinder (14) for driving the counterweight (15) to slide inside the corresponding negative pressure cylinder (14) through negative pressure.

4. An automated three-dimensional warehouse based on warp beam storage according to claim 3, characterized in that: The negative pressure cylinder (14) is fixedly installed with a negative pressure end head (1402) at its end. The negative pressure device (17) is fixedly installed on the outside of the storage rack (6). A connecting end head (1406) is connected between the negative pressure end head (1402) and the negative pressure device (17). An inner sliding tube (1401) is slidably installed on the inner side of the end of the negative pressure cylinder (14) near the negative pressure end head (1402). A through hole (1404) is opened at the end of the inner sliding tube (1401), and a return spring (1405) is fixedly installed between the end and the inner wall of the negative pressure end head (1402). Multiple exhaust holes (1403) are symmetrically opened inside the inner sliding tube (1401), the negative pressure cylinder (14), and the negative pressure end head (1402).

5. An automated three-dimensional warehouse based on warp beam storage according to claim 1, characterized in that: Reinforcing rods (8) are fixedly installed on both sides of each of the multiple load-bearing supports (7).

6. An automated three-dimensional warehouse based on warp beam storage according to claim 1, characterized in that: The top of the base frame (1) is equipped with a crane (2), and the hoisting mechanism (3) is slidably connected to the bottom of the crane (2). The bottom of the hoisting mechanism (3) is equipped with a feeding mechanism (4). The feeding mechanism (4) is used to grab the warp beam (5) and transfer the warp beam (5) in the horizontal, longitudinal and vertical directions respectively.

7. An automated three-dimensional warehouse based on warp beam storage according to claim 6, characterized in that: The feeding mechanism (4) and the hoisting mechanism (3) are connected by multiple connecting steel cables (406).

8. An automated three-dimensional warehouse based on warp beam storage according to claim 6, characterized in that: The top of the feeding mechanism (4) is fixedly installed with a feeding module (401), and telescopic arms (403) are fixedly installed on both sides of the feeding module (401), and mechanical grippers (404) are assembled through the telescopic arms (403).

9. An automated three-dimensional warehouse based on warp beam storage according to claim 8, characterized in that: Hydraulic drive modules (402) are fixedly installed on both sides of the top of the feeding mechanism (4). The hydraulic drive modules (402) are used to drive the feeding module (401) to perform translational operations.

10. An automated three-dimensional warehouse based on warp beam storage according to claim 8, characterized in that: An unlocking pressure plate (405) is fixedly installed at the end of the telescopic arm (403).

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