An automatic stereoscopic warehouse and a method for entering and exiting the warehouse

Abstract

The application discloses an automatic stereoscopic warehouse and an in-out warehouse method thereof, and realizes pre-stacking before warehousing by stacking two goods up and down through a lifting and conveying mechanism, a lifting frame and a clamping arm; solves the problem that a fork is difficult to be inserted into a non-pallet box type goods by lifting the goods to form a fork taking gap through a jacking mechanism and a jacking plate; pushes the goods to the center of a conveying line through a centering mechanism and two side cylinders to drive a centering and arranging plate; and realizes flexible direction changing when multi-channel feeding converges through a rotating mechanism and a gear ring to drive a rotating table to rotate. When warehousing, the goods are sequentially subjected to labeling, centering, pre-stacking, rotating direction changing, outer frame detection, jacking and forking, and then are stored into a shelf by a stacking machine; when out-warehousing, the goods are sequentially subjected to jacking and falling back and output by an out-feeding conveying mechanism after being forked by the stacking machine. The application realizes full-process integration and linkage of centering, pre-stacking, jacking and forking and rotating direction changing.

Description

Technical Field

[0001] This invention relates to an automated storage and retrieval system and its inbound and outbound methods, belonging to the field of automated warehousing and logistics equipment. Background Technology

[0002] Currently, automated storage and retrieval systems (AS / RS) are a core component of modern logistics systems, widely used across various industries to achieve automated storage and flow of goods. An AS / RS typically consists of high-rise racking, aisle stacker cranes, inbound and outbound conveyor systems, and a warehouse management system. The inbound process usually involves goods being delivered via conveyor lines, retrieved by stacker cranes, and stored on racks. The outbound process usually involves stacker cranes removing goods from racks, placing them on conveyor lines, and then outputting them.

[0003] Our company has also successively developed and applied for relevant patents, such as Chinese patent 2024202231781 "Automatic Storage System for Rubber Tires" and 2025110960636 "A Tire Capsule Automated Storage and Retrieval Warehouse", as well as supporting mechanisms for automated warehouses 2024221491341 "Lifting and Traveling Trolley for Automated Warehouses" and 2025218760991 "A Climbing Mechanism for Tire Automated Warehouses". However, the above-mentioned automated warehouses still have shortcomings: First, they lack the function of centering and sorting goods before they are put into storage: the feeding conveyor lines of existing automated warehouses usually do not have a dedicated centering mechanism. When goods enter, there may be a positional offset, which will cause the center of gravity of the goods to shift when the palletizer forks pick up the goods, affecting the storage and retrieval accuracy and safety. Second, the system lacks a pre-stacking function before goods are received. In the existing solution, goods are stored individually. When two items need to be stacked, a stacker crane is required at the rack end for stacking, increasing the complexity of the stacker crane's operation and reducing the overall inbound / outbound efficiency. Furthermore, an additional pallet rack is needed to stack two items, increasing operating costs. Third, the system lacks a bottom lifting mechanism to work with the palletizer. In the existing solution, after goods arrive at the rack entrance, the stacker crane's forks typically insert directly into the bottom pallet. However, in scenarios without pallet racks, the container is in close contact with the conveyor rollers, making it difficult for the forks to insert directly. Therefore, the conventional approach is either single-item stacking or adding an extra pallet to stack two items vertically.

[0004] Therefore, there is an urgent need for an automated storage and retrieval system that integrates centering, pre-stacking, and bottom lifting separation functions, as well as its inbound and outbound methods, to address the shortcomings of the existing technologies. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings and provide an automated storage and retrieval system with centering, pre-stacking, and bottom lifting separation functions, as well as its inbound and outbound methods.

[0006] The objective of this invention is achieved as follows: An automated storage and retrieval system (AS / RS) includes multi-level shelving, a palletizer, and inbound / outbound conveying mechanisms, connecting conveying mechanisms, outbound conveying mechanisms, inbound conveying mechanisms, and feed conveying mechanisms. It also includes a clamping and conveying mechanism, a lifting mechanism, and a slewing mechanism; The clamping lifting and conveying mechanism is located between the feeding conveying mechanism and the rotary mechanism. It includes a clamping and conveying mechanism at the bottom and a lifting frame above it. The lifting frame is equipped with a lifting frame that can be raised and lowered along the lifting guide rail module, and two sets of clamping arms arranged symmetrically on the left and right. The clamping arms can move horizontally towards each other under the drive of the clamping arm translation cylinder to clamp the goods. The lifting mechanism is located below the end of the inbound / outbound conveying mechanism near the multi-layer shelf. It includes a lifting cylinder and a lifting plate. The lifting plate can pass through the conveyor rollers of the inbound / outbound conveying mechanism under the drive of the lifting cylinder to lift the goods upward, so as to form a fork gap between the bottom of the goods and the conveyor rollers for the palletizer to insert its fork teeth. The rotary mechanism is located at the end of the inbound / outbound conveying mechanism away from the multi-layer shelf, and is used to rotate the goods on the horizontal plane to change the conveying direction.

[0007] Preferably, the feeding conveyor mechanism has multiple feeders arranged in parallel and connected to a rotary mechanism to rotate at a certain angle before being fed into the clamping and lifting conveyor mechanism. A centering mechanism is installed on one of the feeders connected to the clamping and lifting conveyor mechanism to center and arrange the goods before they enter the clamping and lifting conveyor mechanism. The centering mechanism includes two centering cylinders located on both sides of the feeder mechanism. Centering and arranging plates are connected to the piston rods of the two cylinders, and the two centering and arranging plates are arranged in parallel.

[0008] Preferably, lifting guide frames are vertically arranged on the left and right sides of the lifting frame, and two horizontally inwardly arranged translation limit rods are arranged on each lifting guide frame. Rolling bearings are fitted on the free ends of the translation limit rods. The clamping arm includes an L-shaped horizontal frame and a vertical frame. A guide member is provided at the bottom of the vertical frame, and an oblong guide hole is provided on the guide member along its length direction. The rolling bearing is rotatably arranged in the guide hole.

[0009] Preferably, the rotary mechanism includes a rotary base, a rotary shaft, a rotary table, a drive gear, and a rotary gear ring. The rotary table is hinged to the rotary base via a vertical rotary shaft, and the drive gear meshes with the rotary gear ring to drive the rotary table to rotate. A roller support is mounted on the rotary table via a support column, and multiple transition rollers with progressively decreasing lengths are respectively provided at both ends of the roller support.

[0010] Preferably, the rotary mechanism is connected to the discharge conveying mechanism, and the inlet and outlet conveying mechanisms connected to the same rotary mechanism are located on the same straight line, and the connecting conveying mechanism is connected between two adjacent rotary mechanisms.

[0011] Preferably, an outer frame detection mechanism is provided between the clamping lifting and conveying mechanism and the rotary mechanism; the lifting plate has a U-shaped structure, with its horizontal plate located below the inlet and outlet conveying mechanism, and vertical plates are provided at the front and rear ends of the horizontal plate, which can pass through the conveying roller track of the inlet and outlet conveying mechanism.

[0012] An automated storage and retrieval system (AS / RS) inbound and outbound method includes the following steps: Warehouse entry steps: S1. Goods are fed in via the feeding conveyor and an automatic labeling machine labels the goods. S2. The goods are aligned and sorted by the centering mechanism so that they are located in the center of the conveyor line; S3. After centering, the goods enter the clamping and lifting conveyor mechanism. After the first piece of goods is conveyed to the position by the clamping and lifting conveyor mechanism, the lifting frame descends, the clamping arms move towards each other to clamp the first piece of goods, and the lifting frame rises to lift the first piece of goods. The second piece of goods is conveyed to the bottom of the first piece of goods, the clamping arms release and the first piece of goods falls and stacks on the second piece of goods. S4. After being rotated by a predetermined angle by the rotary mechanism, the stacked goods are transported to the infeed end of the multi-layer shelf by the infeed conveyor mechanism. S5. The lifting plate of the lifting mechanism lifts the goods upward, forming a fork gap between the bottom of the goods and the conveyor rollers. S6. The palletizer's insert teeth extend into the fork gap, the lifting plate falls back to let the goods fall on the palletizer's insert teeth, and the palletizer stores the goods in the multi-layer rack. Outbound procedures: S7. The palletizer picks up the target goods from the multi-layer rack and moves them above the inbound / outbound conveyor mechanism; S8. The lifting mechanism drives the lifting plate to rise and hold the goods in place. The palletizer's insert teeth return to their original positions, and the lifting plate falls back to allow the goods to fall onto the in-and-out conveyor mechanism. S9. Goods are output via a rotary mechanism and a discharge conveyor.

[0013] in: In the warehousing step S3, the lifting frame raises the first item to a height slightly higher than the item's height, allowing the second item to pass underneath. When the clamping arm releases the first item, it falls smoothly onto the second item under the control of the clamping arm's vertical frame.

[0014] In the warehousing step S4, before the stacked goods enter the rotary mechanism, they first pass through the outer frame inspection mechanism to check the outer frame size.

[0015] In the warehousing step S4, when there are multiple feeding conveyors, the multiple feeding conveyors are turned 90° by their respective rotary mechanisms and then converge into the feeding conveyor, and then input into the clamping lifting conveyor. In the outbound step S9, the rotary mechanism does not operate when the goods are outbound, and the goods are directly transferred from the inbound and outbound conveyors to the outbound conveyor via the rotary mechanism.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention features an automatic centering mechanism before goods enter the warehouse, ensuring accurate positioning and centered center of gravity for the palletizer during subsequent operations, effectively improving storage and retrieval accuracy and safety. Simultaneously, pre-stacking of goods before entry involves a clamping and lifting conveyor mechanism that stacks two items vertically before warehousing. This allows the stacker crane to easily retrieve both stacked items and store them on the shelf in a single operation, reducing crane movements, improving warehousing efficiency, and minimizing equipment footprint. Furthermore, a lifting mechanism creates a forklift gap for the palletizing mechanism, adapting to palletless applications. Located below the inbound / outbound conveyor, the lifting mechanism lifts the goods upwards, creating a forklift gap between the bottom of the goods and the conveyor rollers. This allows the palletizer's forks to easily insert, solving the problem of difficult forklift insertion in palletless boxed goods scenarios. The entire lifting mechanism is simple in structure and reliable in operation. Furthermore, the rotary mechanism ensures flexible reversal, allowing for cargo orientation adjustment between the inbound / outbound and connecting conveyor systems. This supports flexible turning and flow when multiple feed lines converge. The rotary mechanism also features a transition roller at its end to prevent interference with other conveyor systems during rotation. Finally, the entire process is integrated and interconnected, combining centering, labeling, pre-stacking, reversal, frame detection, lifting forklift retrieval, and palletizing into a single automated warehouse inbound / outbound process. The interconnected workstations enable unmanned, highly efficient automated warehousing operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of an automated storage and retrieval system according to the present invention.

[0018] Figure 2 This is a schematic diagram of the centering mechanism in an automated storage and retrieval system according to the present invention.

[0019] Figure 3 This is a front view of a clamping, lifting, and conveying mechanism in an automated storage and retrieval system according to the present invention.

[0020] Figure 4 This is a schematic diagram of the lifting frame and clamping arm of an automated storage and retrieval system (AS / RS) lifting and conveying mechanism according to the present invention.

[0021] Figure 5 This is a top view of the lifting frame and clamping arm of an automated storage and retrieval system (AS / RS) according to the present invention.

[0022] Figure 6 This is a top view of the lifting frame of the clamping and conveying mechanism in an automated storage and retrieval system according to the present invention.

[0023] Figure 7 This is a top view of the clamping arm of a clamping, lifting, and conveying mechanism in an automated storage and retrieval system according to the present invention.

[0024] Figure 8 This invention relates to an automated storage and retrieval system. Figure 5 A schematic diagram (i.e., side view) from direction A.

[0025] Figure 9 This is a side view of the lifting frame of the clamping and conveying mechanism in an automated storage and retrieval system according to the present invention.

[0026] Figure 10 This is a side view of the clamping arm of a clamping, lifting, and conveying mechanism in an automated storage and retrieval system according to the present invention.

[0027] Figure 11 This is a side view (non-lifting state) of a lifting mechanism in an automated storage and retrieval system according to the present invention.

[0028] Figure 12 This is a front view (lifting state) of a lifting mechanism in an automated storage and retrieval system according to the present invention.

[0029] Figure 13 This is a side view of a rotary mechanism in an automated storage and retrieval system according to the present invention.

[0030] Figure 14 This is a front view of a rotary mechanism in an automated storage and retrieval system according to the present invention.

[0031] Figure 15 This is a top view of a rotary mechanism in an automated storage and retrieval system according to the present invention.

[0032] in: Automatic labeling machine 1, centering machine 2, clamp lifting and conveying mechanism 3, lifting mechanism 4, outer frame detection mechanism 5, palletizer 6, rotary mechanism 7; Multi-layer shelving 101, inbound / outbound conveying mechanism 102, connecting conveying mechanism 103, outbound conveying mechanism 104, inbound conveying mechanism 105, and feed conveying mechanism 106; Centering cylinder 2.1, centering and straightening plate 2.2; 3.1 Clamping and conveying mechanism, 3.2 Lifting frame, 3.3 Lifting guide rail module, 3.4 Lifting motor, 3.5 Lifting drive shaft, 3.6 Lifting sprocket, 3.7 Lifting frame, 3.8 Clamping arm translation cylinder, 3.9 Clamping arm, 3.10; Lifting guide frame 3.8.1, translation limit rod 3.8.2, rolling bearing 3.8.3, translation guide rail module 3.8.4, lifting connecting block 3.8.5; Horizontal frame 3.10.1, vertical frame 3.10.2, guide component 3.10.3, guide hole 3.10.4; 4.1 Lifting cylinder mounting bracket, 4.2 Lifting cylinder, 4.3 Lifting plate; 7.1 Rotary base, 7.2 Rotary shaft, 7.3 Rotary table, 7.4 Drive gear, 7.5 Rotary gear ring, 7.6 Support column, 7.7 Roller support seat, 7.8 Roller, 7.9 Roller drive motor, 7.10 Transition roller; Detailed Implementation

[0033] See Figures 1-15 This invention relates to an automated storage and retrieval system (AS / RS), in which inspected and qualified goods are input via a feeding conveyor 105, and during the input process, corresponding labels are affixed by an automatic labeling machine 1. The feeding conveyor 105 can be equipped with a single input. In this case, the feeding conveyor 105 is directly connected to the clamping lifting conveyor 3, and the feeding conveyor 105 is equipped with a centering mechanism 2. Multiple feeding conveyor mechanisms 105 can be provided. The multiple feeding conveyor mechanisms 105 are arranged in parallel with each other, and the multiple feeding conveyor mechanisms 105 are respectively connected to the rotary mechanism 7 and rotated 90°. Then, they are fed into the clamp lifting conveyor 3 through one or more feeding conveyor mechanisms 106. A centering mechanism 2 is installed on one of the feeding conveyor mechanisms 106 connected to the clamp lifting conveyor 3. The centering mechanism 2 includes two centering cylinders 2.1 located on both sides of the feeding conveying mechanism 106. Centering and sorting plates 2.2 are respectively connected to the piston rods of the two centering cylinders 2.1, and the two centering and sorting plates 2.2 are arranged parallel to each other.

[0034] Multiple parallel multi-layer shelves 101 are used to store goods, and a set of palletizers 6 is set between every two multi-layer shelves 101. The palletizers 6 travel in the palletizing aisle between the two multi-layer shelves 101, and each palletizer 6 can process the materials on the multi-layer shelves 101 on both sides.

[0035] Each multi-layer shelf 101 is provided with a set of inbound and outbound conveying mechanisms 102. The palletizer 6 can be moved forward to the side of the inbound and outbound conveying mechanism 102. Each set of inbound and outbound conveying mechanisms 102 is provided with a set of lifting mechanisms 4 near the bottom of the multi-layer shelf 101.

[0036] The lifting mechanism 4 includes a lifting cylinder mounting bracket 4.1 fixedly installed on the frame of the inlet and outlet conveying mechanism 102. Two lifting cylinders 4.2 are vertically installed on the lifting cylinder mounting bracket 4.1, and the top piston rod of the lifting cylinder 4.2 is connected to a U-shaped lifting plate 4.3. The horizontal plate constituting the lifting plate 4.3 is located below the inlet and outlet conveying mechanism 102, and the bottom front and rear ends of the horizontal plate are fixedly connected to the top piston rods of the two lifting cylinders 4.2. Vertical plates are set vertically upward at the front and rear ends of the horizontal plate, and the vertical plates can pass through the conveying roller conveyor of the inlet and outlet conveying mechanism 102.

[0037] Each of the inlet and outlet conveying mechanisms 102 is equipped with a rotary mechanism 7 at the end away from the multi-layer shelf 101. Adjacent rotary mechanisms 7 are connected to each other through a connecting conveying mechanism 103. The rotary mechanism 7 is connected to the discharge conveying mechanism 104. The inlet and outlet conveying mechanism 102 and the discharge conveying mechanism 104 connected to the same rotary mechanism 7 are located on a straight line. The connecting conveying mechanism 103 is arranged perpendicular to the inlet and outlet conveying mechanism 102.

[0038] The rotating mechanism 7 includes a rotating base 7.1 fixed to the ground. A horizontally positioned rotating platform 7.3 is hinged to the rotating base 7.1 via a vertically positioned rotating shaft 7.2. A drive gear 7.4 mounted on the drive shaft of a rotating drive motor fixed to the rotating base 7.1 meshes with a rotating gear ring 7.5 outside the rotating platform 7.3, thereby driving the rotating platform 7.3 to rotate on the horizontal plane. A roller support 7.7 is mounted on the rotating platform 7.3 via a support column 7.6. Multiple parallel rollers 7.8 are mounted on the roller support 7.7. A roller drive motor 7.9 mounted on the support column 7.6 drives the rollers 7.8 to rotate via a rack and pinion. Multiple transition rollers 7.10 with progressively decreasing lengths are respectively provided at both ends of the roller support 7.7. The purpose of providing the transition rollers 7.10 is to avoid interference with other transmission mechanisms during rotation and to provide clearance fit to prevent goods from falling or getting stuck.

[0039] The outermost rotary mechanism 7 is connected to a clamping and lifting conveying mechanism 3. The bottom of the clamping and lifting conveying mechanism 3 is provided with a clamping conveying mechanism 3.1, and the conveying direction of the clamping conveying mechanism 3.1 is perpendicular to the conveying direction of the in-and-out conveying mechanism 102. The clamping and lifting conveying mechanism 3 includes a lifting frame 3.2, which is located above the clamping conveying mechanism 3.1. Four sets of lifting guide rail modules 3.3 are vertically arranged on the four columns of the lifting frame 3.2, and the four corners of the lifting frame 3.8 are fixedly installed on the four sets of lifting guide rail modules 3. On the slider of 3, U-shaped lifting guide frames 3.8.1 are vertically arranged on the left and right sides of the lifting frame 3.8, and the lifting guide frames 3.8.1 are also slidably and fixedly connected to the lifting guide rail module 3.3, so that the lifting frame 3.8 is more stable when it moves up and down; two horizontally inward translation limit rods 3.8.2 are arranged on each lifting guide frame 3.8.1. The length direction of the translation limit rods 3.8.2 is parallel to the transmission direction of the clamping conveying mechanism 3.1, and rolling bearings 3.8.3 are fitted on the free end of the translation limit rods 3.8.2.

[0040] The top two sides of the lifting frame 3.8 are respectively equipped with translation guide rail modules 3.8.4. Two sets of clamping arms 3.10 are symmetrically arranged on the left and right sides. The horizontal frame 3.10.1 constituting the clamping arm 3.10 is fixed on the slider of the translation guide rail module 3.8.4. The bottom front and rear ends of the vertical frame 3.10.2 constituting the clamping arm 3.10 have guide members 3.10.3 protruding outward. The horizontal frame 3.10.1 and the vertical frame 3.10.2 form an L-shaped structure. The guide member 3.10.3 has an oblong guide hole 3.10.4 along its length. The rolling bearing 3.8.3 on the translation limit rod 3.8.2 is rolled in the guide hole 3.10.4, thereby making the clamping arm 3.10 more stable when it translates.

[0041] The left and right translational force of the clamping arm 3.10 comes from the clamping arm translation cylinder 3.9. Two clamping arm translation cylinders 3.9 are fixedly installed on the horizontal frame 3.10.1 of the clamping arm 3.10, facing each other. The piston rods of the two clamping arm translation cylinders 3.9 are fixedly installed on the lifting frame 3.8; or the piston rods of the two clamping arm translation cylinders 3.9 are connected together, and the piston rods of the two clamping arm translation cylinders 3.9 are on the same straight line. Thus, the clamping arm 3.10 moves inward simultaneously to clamp the goods via the clamping arm translation cylinders 3.9.

[0042] The lifting power of the lifting frame 3.8 comes from the lifting motor 3.4, which is installed on the top of the lifting frame 3.2. A lifting drive shaft 3.5 is also installed on the top of the lifting frame 3.2. A drive sprocket is mounted on the output shaft of the lifting motor 3.4, and a driven sprocket is mounted on the lifting drive shaft 3.5. The drive sprocket and the driven sprocket are connected by a transmission chain. Lifting sprockets 3.6 are provided at both ends of the lifting drive shaft 3.5. The lifting sprockets 3.6 are connected to the lifting connecting blocks 3.8.5 at both ends of the lifting frame 3.8 via lifting chains 3.7. When needed, the lifting motor 3.4 starts, causing the lifting chain 3.7 to wind around the lifting sprocket 3.6, or, like a chain electric hoist, its free end hangs into the chain box, thereby lifting the lifting frame 3.2.

[0043] The working process of the clamp lifting and conveying mechanism 3 is as follows: After the first piece of goods is aligned and centered by the centering mechanism 2, it is transferred to its position via the clamping conveyor mechanism 3.1. At this time, the clamping arms 3.10 are in the open position on both sides. Then, the lifting frame 3.8 descends. At this time, the clamping arms 3.10 will not touch the goods. After the lifting frame 3.8 descends to its position, the clamping arm translation cylinder 3.9 moves, causing the two clamping arms 3.10 to move inward to clamp the first piece of goods. Then, the clamping arm translation cylinder 3.9 is held in place. The lifting motor 3.4 starts, causing the lifting frame 3.8 to rise to its position with the first piece of goods, the rising height of which is slightly higher than the height of the goods. Then, the second piece of goods is transferred to its position below the first piece of goods via the clamping conveyor mechanism 3.1. The clamping arm translation cylinder 3.9 moves in the opposite direction to release the first piece of goods. At this time, the first piece of goods can fall smoothly onto the first piece of goods under the limit of the two vertical frames 3.10.2, thus realizing the stacking of the two pieces of goods.

[0044] The infeed conveyor 102, connecting conveyor 103, discharging conveyor 104, feeding conveyor 105, and receiving conveyor 106 are all conventional roller conveyor mechanisms. The subsequent cooperation of the clamping and lifting conveyor 3 with other mechanisms of the present invention to store goods is as follows: Two stacked goods enter the rotary mechanism 7, which rotates the two stacked materials 90°. After passing through an inlet / outlet conveyor 102 and the outer frame detection mechanism 5, they are transported to the inlet end of the corresponding multi-layer shelf 101. Then, the lifting mechanism 4 located below the inlet / outlet conveyor 102 is activated. The lifting cylinder 4.2 is activated, causing the lifting plate 4.3 to lift the two stacked goods upward, thereby creating a fork gap between the goods below and the inlet / outlet conveyor 102. At this time, the fork of the palletizer 6 extends into the fork gap, and the lifting cylinder 4.2 falls back, causing the two stacked goods to fall on the fork of the palletizer 6. Then, after the fork of the palletizer 6 returns to its original position, it places the two stacked goods on the empty shelf position of the corresponding multi-layer shelf 101.

[0045] When goods need to be retrieved, the palletizer 6 first uses its forks to pick up the corresponding goods from the multi-layer shelf 101 and moves them above the inlet / outlet conveyor 102. The lifting cylinder 4.2 drives the lifting plate 4.3 to rise and hold the goods, so that the palletizer 6's insert teeth can return to their original position. Then the lifting cylinder 4.2 falls back, causing the goods to fall onto the inlet / outlet conveyor 102. The goods are then output by the discharge conveyor 104 after passing through the corresponding rotary mechanism 7 (the rotary mechanism 7 does not operate).

[0046] Additionally, it should be noted that the above-described specific implementation is merely an optimized solution of this patent, and any modifications or improvements made by those skilled in the art based on the above concept are within the scope of protection of this patent.

Claims

1. An automated storage and retrieval system (AS / RS) comprising multi-layer shelving (101), a palletizer (6), and inbound / outbound conveying mechanisms (102), connecting conveying mechanisms (103), outbound conveying mechanisms (104), inbound conveying mechanisms (105), and feed conveying mechanisms (106); characterized in that: It also includes a clamp lifting and conveying mechanism (3), a lifting mechanism (4) and a slewing mechanism (7). The clamping lifting and conveying mechanism (3) is located between the feeding conveying mechanism (106) and the rotary mechanism (7), including the clamping conveying mechanism (3.1) at the bottom and the lifting frame (3.2) above it. The lifting frame (3.2) is provided with a lifting frame (3.8) that can be raised and lowered along the lifting guide rail module (3.3), and two sets of clamping arms (3.10) arranged symmetrically on the left and right. The clamping arms (3.10) can move horizontally towards each other under the drive of the clamping arm translation cylinder (3.9) to clamp the goods. The lifting mechanism (4) is located below the end of the inlet and outlet conveying mechanism (102) near the multi-layer shelf (101), and includes a lifting cylinder (4.2) and a lifting plate (4.3). The lifting plate (4.3) can be driven by the lifting cylinder (4.2) to pass through the conveyor roller of the inlet and outlet conveying mechanism (102) to lift the goods upward, so as to form a fork gap between the bottom of the goods and the conveyor roller for the palletizer (6) to insert its fork teeth. The rotary mechanism (7) is located at one end of the inlet / outlet conveyor mechanism (102) away from the multi-layer shelf (101) and is used to rotate the goods on the horizontal plane to change the conveying direction.

2. An automated storage and retrieval system according to claim 1, characterized in that: The feeding conveyor (105) is provided in multiple ways. The multiple feeding conveyors (105) are arranged in parallel with each other and are respectively connected to the rotary mechanism (7) and rotated 90° before being fed into the clamp lifting conveyor (3) through the feeding conveyor (106). The centering mechanism (2) is installed on one of the feeding conveyors (106) connected to the clamp lifting conveyor (3) for centering and sorting the goods before they enter the clamp lifting conveyor (3). The centering mechanism (2) includes two centering cylinders (2.1) located on both sides of the feeding conveyor (106). The piston rods of the two centering cylinders (2.1) are respectively connected to centering and sorting plates (2.2), and the two centering and sorting plates (2.2) are arranged in parallel with each other.

3. An automated storage and retrieval system according to claim 1, characterized in that: The lifting frame (3.8) is vertically provided with lifting guide frames (3.8.1) on its left and right sides respectively. Each lifting guide frame (3.8.1) is provided with two horizontally inwardly oriented translation limit rods (3.8.2). Rolling bearings (3.8.3) are fitted on the free ends of the translation limit rods (3.8.2). The clamping arm (3.10) includes an L-shaped horizontal frame (3.10.1) and a vertical frame (3.10.2). A guide member (3.10.3) is provided with an outwardly protruding bottom of the vertical frame (3.10.2). An oblong guide hole (3.10.4) is provided on the guide member (3.10.3) along its length direction. The rolling bearing (3.8.3) is rotatably disposed in the guide hole (3.10.4).

4. An automated storage and retrieval system according to claim 1, characterized in that: The rotary mechanism (7) includes a rotary base (7.1), a rotary shaft (7.2), a rotary table (7.3), a drive gear (7.4), and a rotary gear ring (7.5). The rotary table (7.3) is hinged to the rotary base (7.1) via the vertical rotary shaft (7.2). The drive gear (7.4) meshes with the rotary gear ring (7.5) to drive the rotary table (7.3) to rotate. A roller support seat (7.7) is installed on the rotary table (7.3) via a support column (7.6). Multiple transition rollers (7.10) with successively decreasing lengths are respectively provided at both ends of the roller support seat (7.7).

5. An automated storage and retrieval system according to claim 1, characterized in that: The rotary mechanism (7) is connected to the discharge conveying mechanism (104). The inlet and outlet conveying mechanisms (102) and the outlet conveying mechanism (104) connected to the same rotary mechanism (7) are located on the same straight line. The connecting conveying mechanism (103) is connected between two adjacent rotary mechanisms (7).

6. An automated storage and retrieval system according to claim 1, characterized in that: An outer frame detection mechanism (5) is also provided between the clamp lifting and conveying mechanism (3) and the rotary mechanism (7); the lifting plate (4.3) is a U-shaped structure, with its horizontal plate located below the inlet and outlet conveying mechanism (102), and vertical plates are set at the front and rear ends of the horizontal plate, which can pass through the conveying roller track of the inlet and outlet conveying mechanism (102).

7. An automated storage and retrieval system (AS / RS) method for inbound and outbound operations, employing an AS / RS as described in any one of claims 1 to 6, characterized in that: The inbound and outbound method includes the following steps: Warehouse entry steps: S1. Goods are input via the feeding conveyor (105), and the automatic labeling machine (1) labels the goods. S2. The goods are centered and sorted by the centering mechanism (2) so that the goods are located in the center of the conveyor line; S3. After centering, the goods enter the clamping and lifting conveyor mechanism (3). After the first piece of goods is conveyed to the position by the clamping and lifting conveyor mechanism (3.1), the lifting frame (3.8) descends, and the clamping arms (3.10) move towards each other to clamp the first piece of goods. The lifting frame (3.8) rises to lift the first piece of goods. The second piece of goods is conveyed to the position directly below the first piece of goods, and the clamping arms (3.10) release to allow the first piece of goods to fall and stack on the second piece of goods. S4. After being rotated by a predetermined angle by the rotary mechanism (7), the stacked goods are transported to the inlet end of the multi-layer shelf (101) by the inlet and outlet conveyor mechanism (102); S5, the lifting plate (4.3) of the lifting mechanism (4) lifts the goods upward, forming a fork gap between the bottom of the goods and the conveyor rollers below; S6. The insert teeth of the palletizer (6) extend into the fork gap, and the lifting plate (4.3) falls back to make the goods fall on the insert teeth of the palletizer (6). The palletizer (6) stores the goods in the multi-layer shelf (101). Outbound procedures: S7. The palletizer (6) picks up the target goods from the multi-layer shelf (101) and moves them above the inbound / outbound conveyor (102); S8. The lifting mechanism (4) drives the lifting plate (4.3) to rise and hold the goods. The palletizer (6) returns the tooth to its original position, and the lifting plate (4.3) falls back so that the goods fall onto the in-and-out conveyor mechanism (102). S9. Goods are output via the rotary mechanism (7) and the discharge conveyor (104).

8. The method for entering and exiting an automated storage and retrieval system according to claim 7, characterized in that: In the warehousing step S3, the lifting frame (3.8) raises the first item to a height slightly higher than the item height, allowing the second item to pass underneath; when the clamping arm (3.10) releases the first item, the first item falls smoothly onto the second item under the limit of the vertical frame (3.10.2) of the clamping arm (3.10).

9. The method for inbound and outbound operations of an automated storage and retrieval system according to claim 7, characterized in that: In the warehousing step S4, before the stacked goods enter the rotary mechanism (7), they first pass through the outer frame inspection mechanism (5) for outer frame size inspection.

10. The method for entering and exiting an automated storage and retrieval system according to claim 7, characterized in that: In the warehousing step S4, when there are multiple feeding conveyors (105), the multiple feeding conveyors (105) are turned 90° by the corresponding rotary mechanism (7) and then converge to the feeding conveyor (106), and then input into the clamping lifting conveyor (3); in the warehousing step S9, the rotary mechanism (7) does not move when warehousing, and the goods are directly transferred from the inbound and outbound conveyor (102) to the outbound conveyor (104) via the rotary mechanism (7) for output.

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