Intelligent vertical warehouse

Abstract

The application relates to the technical field of warehouse equipment, and particularly discloses an intelligent vertical warehouse, which comprises a goods shelf provided with a plurality of storage positions with different volumes; a stacking machine comprising a goods carrying basket capable of moving horizontally and lifting vertically and used for carrying a material box; a warehouse entry station comprising a first conveying device, a height detection assembly and a weight detection assembly, the first conveying device being used for conveying the material box to a material receiving station from which the goods carrying basket can take out the material box; the height detection assembly being used for detecting the height size of the material box, and the weight detection assembly being used for detecting the weight size of the material box; a warehouse exit station comprising a second conveying device, which is used for conveying the material box taken out by the stacking machine to a material discharging station; the height detection assembly and the weight detection assembly are both signal-connected with the stacking machine, and the stacking machine carries the material box to the storage position with the corresponding volume according to the detection results of the height detection assembly and the weight detection assembly. The intelligent vertical warehouse can solve the problems of small application scope and low storage efficiency.

Description

Technical Field

[0001] This invention relates to the field of warehousing equipment technology, and in particular to an intelligent automated storage and retrieval system (AS / RS). Background Technology

[0002] Existing intelligent automated storage and retrieval systems (AS / RS) utilize automated equipment to store and retrieve goods, and their racking systems typically employ standardized and modular structural designs. However, in the planning and construction of current common AS / RS systems, the racking dimensions are often relatively uniform, with parameters such as the height and width of each storage location generally remaining fixed within the system.

[0003] This fixed-size shelving design is clearly insufficient for adapting to a wide variety of goods with significant size differences. Larger goods cannot be stored in smaller locations, while storing smaller goods in larger locations results in a serious waste of storage space, leading to reduced warehouse capacity utilization and limiting the applicability and storage efficiency of automated storage and retrieval systems (AS / RS). Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent automated storage system to solve the problems of limited applicability and low storage efficiency of intelligent automated storage systems.

[0005] This invention provides an intelligent automated warehouse, which includes: The shelves have multiple storage compartments of varying sizes; Stacker cranes include cargo baskets capable of horizontal movement and vertical lifting for transporting containers; The receiving platform includes a first conveying device, a height detection component, and a weight detection component. The first conveying device is used to convey the material box to a receiving station where the cargo basket can be taken out. The height detection component is used to detect the height of the material box, and the weight detection component is used to detect the weight of the material box. The outbound platform includes a second conveying device for conveying the material box taken out by the stacker crane to the outbound station; Both the height detection component and the weight detection component are connected to the stacker crane via signals. The stacker crane moves the material box to the storage position with the corresponding volume based on the detection results of the height detection component and the weight detection component.

[0006] As an optional technical solution, an identification code is set on the material box, and the warehousing station also includes a barcode scanning component. The barcode scanning component is connected to the stacker crane signal and is used to scan the identification code on the material box to obtain the information of the material box.

[0007] As an optional technical solution, the warehousing station also includes a first arrival detection component, which is signal-connected to the stacker crane and is used to detect whether the material box has been conveyed to the receiving station.

[0008] As an optional technical solution, the stacker crane includes: The base module includes a ground rail and a ground vehicle device, wherein the ground vehicle device is movably disposed on the ground rail along a first direction; The lifting module includes a column device and a cargo basket. The column device is disposed on the ground vehicle device, and the cargo basket is movably disposed on the column device. The cargo basket is used to carry the material box. The top support module includes a crane device, which is connected to the column device. A top rail extending along a first direction is installed on the top of the rack, and the crane device and the top rail are slidably connected along the first direction. The ground vehicle device is equipped with a first guiding mechanism, which includes a first guiding base, two first guiding wheel sets and a first obstacle avoidance radar, both mounted on the first guiding base. The two first guiding wheel sets are spaced apart along a second direction and roll in cooperation with the left and right sides of the ground rail, respectively. The installation position of at least one first guiding wheel set in the second direction is adjustable. The first direction is perpendicular to the second direction. The two first guiding wheel sets roll in cooperation with the ground rail to guide the ground vehicle device. The detection end of the first obstacle avoidance radar is set along the first direction and is used to detect whether there is an obstacle on the forward side of the ground vehicle device.

[0009] As an optional technical solution, the first guide wheel assembly includes a first guide wheel and a first eccentric shaft. The first eccentric shaft is arranged in a vertical direction and includes an upper end and a lower end whose axes are not collinear. The upper end is connected to the first guide base, and the first guide wheel is rotatably sleeved on the lower end. The two first guide wheels abut against the side wall of the ground rail. The upper end can rotate relative to the first guide base about its own axis and can be selectively locked to the first guide base to adjust the distance of the first guide wheel relative to the ground rail.

[0010] As an optional technical solution, the first guide mechanism further includes a cleaning brush, which is installed on the first guide base and used to clean the ground track.

[0011] As an optional technical solution, the overhead crane device is provided with a second guiding mechanism, which includes a second guiding base and a first crane guiding assembly and a second crane guiding assembly mounted on the second guiding base. The first crane guide assembly includes two third guide wheels spaced apart along a second direction, and the two third guide wheels are used to abut against the left and right sides of the crane track respectively; The second trolley guide assembly includes two fourth guide wheels spaced apart along a first direction, the two fourth guide wheels being used to abut against the bottom side of the skyrail respectively.

[0012] As an optional technical solution, the ground vehicle device is equipped with a positioning module, which includes a positioning bracket and a first positioning detection element, a second positioning detection element and an optical communication module installed on the positioning bracket. The optical communication module is used to transmit signals with an external control module. The first positioning detection component is electrically connected to the optical communication module, and its detection end is set in the first direction to detect the position of the ground vehicle device moving along the ground rail. The second positioning detection component is electrically connected to the optical communication module, with its detection end facing upward, and is used to detect the height position of the cargo basket as it rises and falls along the column device.

[0013] As an optional technical solution, the column device includes a column body and a lifting mechanism. The cargo basket slides vertically on the column body, and the lifting mechanism includes: A lifting drive component is installed on the column body; A reel is connected to the output end of the lifting drive component. The reel has at least two winding positions, each of which is wound with a lifting rope. The outer ends of the at least two lifting ropes are connected to the cargo basket. The lifting drive can drive the reel to rotate, thereby causing at least two of the lifting ropes on it to unwind and rewind synchronously.

[0014] As an optional technical solution, the lifting rope is connected to the cargo basket via a floating component, the floating component comprising: A lever assembly, the upper end of which is connected to the outer end of the lifting rope; The first mounting component is fixed to the cargo basket; An elastic component is located below the first mounting member, and the lower end of the pull rod assembly is connected to the elastic component. The pull rod assembly can apply an upward force to the first mounting member through the elastic component.

[0015] As an optional technical solution, the elastic component includes a second mounting member and an elastic member, the second mounting member being located below the first mounting member, the elastic member being embedded in the second mounting member, and the upper end of the elastic member abutting against the first mounting member; The pull rod assembly passes through the first mounting member and the second mounting member from top to bottom, and the lower end of the pull rod assembly is connected to the second mounting member. The lifting rope can apply an upward force to the second mounting member through the pull rod assembly, so that the second mounting member abuts against the first mounting member upward. At this time, the elastic member is in a compressed state.

[0016] As an optional technical solution, the tie rod assembly includes: The first pull rod has its upper end connected to the lifting rope; The second pull rod has its lower end connected to the second mounting component; The intermediate pull rod has one end threaded to the lower end of the first pull rod and the other end threaded to the upper end of the second pull rod, and the thread direction of the intermediate pull rod is opposite to that of the threaded engagement of the first pull rod and the second pull rod.

[0017] The beneficial effects of this intelligent automated warehouse include at least the following: This intelligent automated storage and retrieval system (AS / RS) features storage spaces with varying volumes on its racks and integrates height and weight detection components at the receiving station. This allows for real-time monitoring of the size and weight of incoming boxes, transmitting the results to the stacker crane. Based on the received box height and weight information, the stacker crane dynamically calculates and selects a matching storage space, precisely delivering the box to its designated location. Weight data is used to verify the load-bearing capacity of the stacker crane and storage spaces, preventing overloading of the stacker crane and overweight storage of boxes, thus ensuring the structural safety of the racks and the stable operation of the AS / RS. This process not only ensures that boxes of different sizes are allocated to appropriately sized storage spaces, avoiding the waste of space caused by small boxes occupying large storage locations and preventing large boxes from being unable to fit into small storage locations, achieving efficient use of storage space, but also ensures the safety of the receiving process. Therefore, while improving warehouse capacity utilization, expanding its applicability, and optimizing storage and retrieval efficiency, it also enhances the overall reliability and adaptability of the AS / RS. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the intelligent automated warehouse structure in an embodiment of the present invention; Figure 2 This is a schematic diagram of the shelf structure in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the warehouse entry platform in an embodiment of the present invention; Figure 4 This is a schematic diagram of the outbound platform in an embodiment of the present invention; Figure 5 This is a schematic diagram of the stacker crane in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the ground vehicle device in an embodiment of the present invention; Figure 7 This is a schematic diagram of the installation structure of the first guide mechanism in an embodiment of the present invention; Figure 8 This is a schematic diagram of the installation structure of the first guide wheel assembly in an embodiment of the present invention; Figure 9 This is a schematic diagram of the installation structure of the buffer module in an embodiment of the present invention; Figure 10 This is a schematic diagram of the overhead crane device in an embodiment of the present invention; Figure 11 This is a schematic diagram of the lifting mechanism in an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the cargo basket and floating assembly in an embodiment of the present invention; Figure 13 This is a schematic diagram of the internal structure of the floating component in an embodiment of the present invention.

[0019] In the picture: 1000, Shelf; 1001, Vertical column; 1002, Horizontal pallet; 1100, Storage location; 1200, Interaction port; 2000, Stacker crane; 3000, Inbound platform; 3001, Inbound rack; 3100, First conveyor device; 3101, First conveyor wheel set; 3102, First clearance space; 3200, Height detection component; 3201, Through-beam switch sensor; 3300, Weight detection component; 3400, Barcode scanning component; 3500, First arrival detection component; 4000, Outbound Platform; 4001, Outbound Rack; 4100, Second Conveying Device; 4101, Second Conveying Wheel Set; 4102, Second Clearance Space; 4200, Second Arrival Detection Component; 100. Ground track; 110. Buffer baffle; 120. Sliding guide wire; 200. Ground vehicle device; 210. Drive module; 220. First main beam; 230. First carrier; 240. Second carrier; 250. Buffer component; 251. Buffer mounting bracket; 252. Current collector shoe; 300. Column assembly; 310. Column body; 320. Lifting mechanism; 3201. Lifting drive component; 3202. Reel; 3203. Lifting rope; 400. Cargo basket; 410. Cargo platform; 420. Lifting guide wheel assembly; 500. Crane assembly; 510. Crane base plate; 600. Crane track; 10. First guide mechanism; 11. First guide base; 111. Shaft hole seat; 12. First guide wheel assembly; 121. First guide wheel; 122. First eccentric shaft; 1221. Upper end; 1222. Lower end; 1223. Adjustment hole; 1224. Locking step; 123. End cap; 124. Adjusting bolt; 125. Radial bearing; 126. Snap ring; 13. First obstacle avoidance radar; 131. Radar mounting base; 14. Cleaning brush; 141. Brush holder; 151. Guide mounting bracket; 1511. Clearance hole; 152. Second guide wheel; 20. Positioning module; 21. Positioning bracket; 22. First positioning detection component; 23. Second positioning detection component; 30. Second guide mechanism; 31. Second guide base; 311. Lateral adjustment hole; 32. First trolley guide assembly; 321. Third guide wheel; 322. Mounting pin; 33. Second trolley guide assembly; 331. Fourth guide wheel; 40. Floating assembly; 41. Tie rod assembly; 411. First tie rod; 412. Second tie rod; 413. Intermediate tie rod; 42. First mounting component; 43. Second mounting component; 44. Elastic component; 45. Locking nut; 51. Limit switch; 52. Limit sensor. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0024] like Figures 1 to 13 As shown, this embodiment provides an intelligent automated storage and retrieval system (AS / RS), primarily used in the warehousing and logistics field, aiming to achieve automated, efficient, and high-density storage of goods of different sizes and specifications. The intelligent AS / RS mainly includes racks 1000, stacker cranes 2000, inbound platforms 3000, and outbound platforms 4000. The racks 1000 provide multiple storage spaces; the stacker cranes 2000, as handling equipment, move horizontally and vertically within the aisles of the racks 1000 to access and retrieve boxes; the inbound platform 3000 receives and inspects boxes to be stored; and the outbound platform 4000 receives and delivers boxes retrieved by the stacker cranes 2000, completing the outbound process.

[0025] Furthermore, such as Figures 1 to 5 As shown, the rack 1000 has multiple storage positions 1100 of varying volumes, and the stacker crane 2000 includes a horizontally movable and vertically lifting cargo basket 400. The receiving platform 3000 includes a first conveying device 3100, a height detection component 3200, and a weight detection component 3300. The first conveying device 3100 conveys the material box to the receiving station, the height detection component 3200 detects the height of the material box, and the weight detection component 3300 detects the weight of the material box. Both the height detection component 3200 and the weight detection component 3300 are signal-connected to the stacker crane 2000. Based on the detection results of the height detection component 3200 and the weight detection component 3300, the stacker crane 2000 moves the material box to the corresponding storage position 1100 on the rack 1000.

[0026] Specifically, the intelligent automated storage and retrieval system (AS / RS) provided in this embodiment is equipped with storage spaces 1100 of different volumes on the rack 1000, and integrates a height detection component 3200 and a weight detection component 3300 on the inbound platform 3000. This enables real-time detection of the size and weight of the inbound boxes and transmits the detection results to the stacker crane 2000 in real time. Based on the received height and weight information of the boxes, the stacker crane 2000 dynamically calculates and selects the storage space 1100 with a matching volume, thereby accurately transporting the boxes to the corresponding storage space 1100. The weight data can be used to verify the load-bearing capacity of the stacker crane 2000 and the storage space 1100, preventing overloading of the stacker crane 2000 and overweight storage of boxes, ensuring the structural safety of the rack 1000 and the stable operation of the intelligent AS / RS. This process not only ensures that bins of different sizes can be allocated to appropriately sized storage spaces, avoiding the waste of space caused by small bins occupying large storage locations and preventing the problem of large bins not being able to be stored in small storage locations, thus achieving efficient use of storage space, but also ensures the security of the warehousing process. In this way, while improving warehouse capacity utilization, expanding the scope of application, and optimizing storage and retrieval efficiency, it also enhances the reliability and adaptability of the entire intelligent automated warehouse.

[0027] For example, such as Figure 3 As shown, the inbound platform 3000 also includes an inbound frame 3001. A first conveying device 3100 is mounted on the inbound frame 3001. The first conveying device 3100 includes a first conveying motor and two first conveying wheel sets 3101 spaced apart along a first direction. It is understood that the first direction is perpendicular to the conveying direction of the first conveying wheel sets 3101. The output end of the first conveying motor is simultaneously connected to the two first conveying wheel sets 3101 via a transmission link and a transmission belt structure. A first clearance space 3102 is formed between the two first conveying wheel sets 3101, allowing the cargo basket 400 of the stacker crane 2000 to extend into it. In some embodiments, the first conveying device 3100 may also employ an existing horizontal conveying module such as a belt conveyor module.

[0028] For example, such as Figure 3As shown, the height detection component 3200 includes at least two sets of through-beam switch sensors 3201 with different heights. Each through-beam switch sensor 3201 includes a first sensor and a second sensor, spaced apart and arranged opposite each other along a first direction, with a space between them for the material box to pass through. One of the first and second sensors serves as a transmitter, and the other as a receiver. For example, the first sensor is mounted on a first conveyor wheel set 3101, and the second sensor is mounted on another first conveyor wheel set 3101, with the first and second sensors arranged opposite each other. Alternatively, the first and second sensors are respectively mounted on the receiving rack 3001 via brackets, with the two arranged opposite each other. During conveying, the material box may block or trigger the through-beam switch sensors 3201 at specific heights. The system determines the height range of the material box, such as "large," "medium," or "small," based on the combination of triggered through-beam switch sensors 3201. In this embodiment, the height detection component 3200 includes two sets of through-beam switch sensors 3201 with different heights. When neither of the two sets of through-beam switch sensors 3201 is triggered, the bin is determined to be a bin of the first size. When the set of through-beam switch sensors 3201 located at the lower position is triggered, the bin is determined to be a bin of the second size. When both sets of through-beam switch sensors 3201 are triggered, the bin is determined to be too tall, wherein the height of the bin of the second size is higher than that of the bin of the first size. As another embodiment, the height detection component 3200 can also be an ultrasonic ranging sensor, a laser rangefinder, or a visual recognition system, to obtain accurate height values ​​through non-contact ranging.

[0029] For example, such as Figure 3 As shown, the weight detection component 3300 can be a weight sensor, electronic scale, etc., and is fixed to the ground. The warehousing frame 3001 is installed on the weight detection component 3300. When the material box is transported to the receiving station, the weight detection component 3300 measures the actual weight value. The actual weight value is subtracted from the empty weight value when the warehousing station is empty, which is the weight value of the material box.

[0030] For example, such as Figure 3 As shown, to improve the accuracy and reliability of the warehousing process, the warehousing station 3000 may also include a barcode scanning component 3400. An identification code is set on the material bin, which can be a QR code, barcode, etc. The barcode scanning component 3400 is used to scan the identification code on the material bin to obtain the bin model and preset information about the materials inside. It can be understood that the information linked to the QR code can be the model information of the material bin and / or the information about the materials contained within. The material information can be weight information, size information, or type information. Thus, when the identification code is scanned, the information corresponding to that material bin can be obtained.

[0031] For example, such as Figure 3 As shown, the receiving station 3000 also includes a first positioning detection component 3500, used to detect whether the material box has been conveyed by the first conveying device 3100 to the receiving station where the stacker crane 2000 can pick up and place the material box, ensuring that the material box is in place when the stacker crane 2000 performs the box picking action, and preventing misoperation. The first positioning detection component 3500 can specifically be a photoelectric sensor, limit switch, etc.

[0032] Specifically, the height detection component 3200, weight detection component 3300, and barcode scanning component 3400 can communicate with the stacker crane 2000 via a host computer or directly with the stacker crane 2000. The material bin is fed in via the first conveyor device 3100. During this process, the height detection component 3200 detects the height of the material bin. If the height exceeds the limit, an alarm is triggered. If the height of the material bin is within specifications, a storage space 1100 with the corresponding volume on the shelf 1000 is allocated according to the actual height. Regarding height detection, when both the first arrival detection component 3500 and the weight detection component 3300 detect the material bin, if neither of the two sets of photoelectric sensor 3201 with different height settings is triggered, the material bin height is calibrated as small; if only the lower photoelectric sensor 3201 is triggered, the material bin height is calibrated as large; if both sets of photoelectric sensor 3201 are triggered, the material bin height is calibrated as excessively high.

[0033] The weight detection component 3300 works in conjunction with the barcode scanning component 3400. The control module in the host computer or stacker crane 2000 reads the measured weight value fed back by the weight detection component 3300. At the same time, it obtains the standard weight range of the corresponding material information based on the bin model identified by the barcode scanning component 3400. The measured weight value is compared with the standard weight range to determine whether there is an error in the material in the bin. If the measured weight value is outside the standard weight range, an alarm is triggered, intercepting the error at the source of warehousing and ensuring inventory accuracy. If the measured weight value is within the standard weight range, the system combines the height and weight data and selects the target storage location from the available storage locations 1100 of the shelf 1000 that matches the current bin in terms of volume and load-bearing capacity. It then generates a handling instruction, and the stacker crane 2000 removes the bin for further warehousing, further optimizing space and structural safety. For example, the standard weight range of materials that the bin can carry can be pre-input, and the identification code contains this weight information. The barcode scanning component 3400 scans the identification code of the bin, and the control module obtains the preset weight information of the bin. When the actual weight value of the fully loaded bin measured by the weight detection component 3300 does not match the preset weight information, it indicates that the wrong material may have been placed, and the system alarms. When the actual weight value matches the preset weight information, the stacker crane 2000 picks up the bin and moves it to the designated storage position 1100 to complete the storage.

[0034] For example, such as Figure 4As shown, the outbound platform 4000 includes an outbound frame 4001, a second conveying device 4100 mounted thereon, and a second positioning detection component 4200. The second conveying device 4100 receives the boxes taken from the shelf storage position 1100 and horizontally conveys them out of the warehouse. The second positioning detection component 4200 detects whether the boxes have been conveyed to the predetermined unloading position, thus completing the outbound detection. The second conveying device 4100 includes a second conveying motor and two second conveying wheel sets 4101 spaced apart along a first direction. The output end of the second conveying motor is simultaneously connected to the two second conveying wheel sets 4101 via a transmission link and a transmission belt structure. A second clearance space 4102 is formed between the two second conveying wheel sets 4101, allowing the cargo basket 400 of the stacker crane 2000 to extend into it. The second positioning detection component 4200 may specifically be a photoelectric sensor, a limit switch, etc.

[0035] For example, such as Figure 2 As shown, the shelf 1000 consists of multiple vertical columns 1001 and multiple pairs of horizontal carrier plates 1002 connected to form a stable frame structure. The pairs of horizontal carrier plates 1002 are arranged at intervals in the vertical direction and extend along a second direction, thereby enclosing multiple storage positions 1100 between adjacent vertical columns 1001 and between upper and lower layers of horizontal carrier plates 1002. By adjusting the installation height and spacing of the horizontal carrier plates 1002, storage positions 1100 with different volumes, heights, and depths can be flexibly formed to accommodate diverse bin sizes. The second direction is horizontal and perpendicular to the first direction.

[0036] For example, such as Figure 1 and Figure 2 As shown, the shelf 1000 has an interaction port 1200 at one end along the first direction. The inbound platform 3000 and the outbound platform 4000 are arranged side by side at the interaction port 1200 to centrally manage the inbound and outbound processes of goods.

[0037] like Figures 5 to 13 As shown, the stacker crane 2000 includes a base module, a lifting module, and a top seat module. The base module is located at the bottom of the lifting module, and the top seat module is located at the top of the lifting module. The base module and the top seat module work together to drive the lifting module to move in a horizontal first direction. The lifting module includes a column device 300 and a cargo basket 400. The cargo basket 400 is used to carry materials and is vertically and vertically mounted on the column device 300 to drive the materials to rise and fall.

[0038] Furthermore, such as Figure 1 and Figure 5As shown, the base module includes a ground rail 100 and a ground trolley device 200. The ground rail 100 is laid in the aisle of the rack 1000 along a first direction, and the ground trolley device 200 is movably mounted on the ground rail 100 along the first direction. The top module includes a crane device 500. A crane rail 600 extending along the first direction is installed on the top of the rack 1000, and the crane device 500 is slidably connected to the crane rail 600 along the first direction. The lower and upper ends of the column device 300 are respectively connected to the ground trolley device 200 and the crane device 500. The ground trolley device 200 can output power to drive the lifting module to reciprocate along the first direction, while the crane device 500 serves as an auxiliary guide structure at the top.

[0039] like Figures 5-7 As shown, the ground vehicle device 200 is equipped with a first guide mechanism 10, which is configured as an independent module structure. It includes a first guide base 11, two first guide wheel sets 12 mounted on the first guide base 11, and a first obstacle avoidance radar 13. The two first guide wheel sets 12 are spaced apart along a second direction and roll in cooperation with the left and right sides of the ground rail 100, respectively. The mounting position of at least one first guide wheel set 12 in the second direction is adjustable. The two first guide wheel sets 12 roll in cooperation with the ground rail 100 to guide the ground vehicle device 200. The detection end of the first obstacle avoidance radar 13 is arranged along a first direction and is used to detect whether there is an obstacle on the forward side of the ground vehicle device 200. It should be noted that, in this embodiment, the forward side is defined as the side at the front end when the ground vehicle device 200 moves along the positive direction of the first direction. The cargo basket 400 is located between the first obstacle avoidance radar 13 and the column device 300.

[0040] Specifically, the stacker crane 2000 provided in this embodiment cleverly integrates two first guide wheel sets 12 and a first obstacle avoidance radar 13 onto a first guide base 11, forming a highly integrated first guide mechanism 10. During the operation of the stacker crane 2000, the two first guide wheel sets 12, arranged at intervals along the second direction, roll in cooperation with the left and right sides of the ground rail 100, respectively. The installation position of at least one wheel set is adjustable, which can dynamically compensate for track manufacturing errors or wear caused by long-term operation, ensuring that the ground vehicle device 200 is always stably guided along the first direction, achieving high-precision linear movement guidance. At the same time, as the ground vehicle device 200 moves, the first obstacle avoidance radar 13 monitors obstacles on the travel path in real time through dynamic scanning. This structural design changes the past situation where the guide wheel was a single component with limited functionality. Within the limited space of the base, the integrated design of the first guide mechanism 10 integrates the two major functions of guidance and obstacle avoidance into the same structure. While achieving high-precision and adjustable guidance, it also gives the stacker crane 2000 the safety protection capability of forward obstacle avoidance detection, avoiding the waste of space and wiring complexity caused by the independent installation of additional brackets or sensors, and reducing assembly processes and subsequent maintenance points.

[0041] For example, such as Figure 6 and Figure 7 As shown, the ground vehicle device 200 is equipped with a drive module 210, two first main beams 220 spaced apart along a second direction, a first carrier 230 and a second carrier 240. The drive module 210 can be driven by a servo motor in conjunction with a friction wheel. The friction wheel cooperates with the ground rail 100 to drive the entire ground vehicle device 200 to move along the ground rail 100. The first carrier 230 and the second carrier 240 are located between the two first main beams 220. The first carrier 230 is used to support the column device 300, and the second carrier 240 is used to support auxiliary equipment such as electrical control cabinets.

[0042] In this embodiment, the mounting positions of the two first guide wheel assemblies 12 in the second direction are adjustable. Specifically, as shown... Figure 8 As shown, the first guide wheel assembly 12 includes a first guide wheel 121 and a first eccentric shaft 122. The first eccentric shaft 122 is arranged vertically and has an upper end 1221 and a lower end 1222 whose axes are not collinear. The upper end 1221 is connected to the first guide base 11; the first guide wheel 121 is rotatably sleeved on the lower end 1222 via a radial bearing 125 and a retaining ring 126, and the first guide wheel 121 abuts against the side wall of the ground rail 100. The upper end 1221 can rotate relative to the first guide base 11 about its own axis and can be selectively locked to the first guide base 11, thereby adjusting the distance of the first guide wheel 121 relative to the ground rail 100 in the second direction.

[0043] Regarding the above technical solutions, it is necessary to explain the installation and adjustment methods of the guide wheel assembly in the existing technology. In the existing technology, the first guide wheel assembly is usually connected to the guide wheel using a concentric shaft, and the concentric shaft is fixed by opening a slotted hole in the mounting base, thereby achieving fine adjustment of the guide wheel assembly's position in the second direction. However, this conventional structure has obvious shortcomings: on the one hand, the machining accuracy of the slotted hole is limited, and during the tightening process of the bolt and nut, due to the gap between the inner wall of the slotted hole and the bolt, coupled with the uneven distribution of tightening torque, the concentric shaft is prone to uncontrollable displacement at the moment of locking, causing the actual adjusted position to deviate from the preset value, making it difficult to guarantee the adjustment accuracy; on the other hand, the length direction of the slotted hole is consistent with the adjustment direction. Under long-term vibration conditions, the locked state may be displaced again due to bolt loosening, causing changes in the gap between the guide wheel assembly and the ground rail, affecting the guiding stability and the reliability of equipment operation. Therefore, the adjustment method of the concentric shaft and slotted hole in the existing technology has defects such as poor adjustment accuracy, easy misalignment during locking, and insufficient long-term stability. To overcome the aforementioned problems, this application configures at least one first guide wheel assembly 12 to be mounted on a first guide base 11 via a first eccentric shaft 122. The radial position of the first guide wheel assembly 12 in the second direction can be continuously and precisely changed by rotation, without relying on the large-range sliding adjustment of the oblong hole. After adjustment, the rotational freedom of the first eccentric shaft 122 only needs to be locked with simple fasteners. The locking process does not change the already adjusted eccentricity, avoiding secondary misalignment caused by tightening torque. Simultaneously, the eccentric shaft structure itself has high positioning stiffness and vibration resistance, maintaining a stable guide clearance during long-term operation, significantly improving adjustment accuracy and equipment reliability.

[0044] Furthermore, in order to achieve efficient adjustment of the first guide wheel assembly 12, such as Figure 8As shown, the first guide base 11 is provided with a shaft hole seat 111, which has a vertically penetrating mounting hole. The upper end 1221 passes through this mounting hole, and the top of the upper end 1221 has an adjustment hole 1223, which is a threaded hole. The first guide wheel assembly 12 also includes an end cap 123 and an adjusting bolt 124. The end cap 123 covers the upper end of the shaft hole seat 111 and has a through hole through which the adjusting bolt 124 passes. The adjusting bolt 124 passes through the through hole from top to bottom and is threaded into the adjusting hole 1223. By turning the adjusting bolt 124, the operator can drive the first eccentric shaft 122 to rise and fall as a whole. When the first guide wheel assembly 12 needs to be locked, the depth of the adjusting bolt 124 screwed into the adjusting hole 1223 is increased, causing the first eccentric shaft 122 to move upward, so that the lower end 1222 of the first eccentric shaft 122 presses against the first guide base 11. The end cover 123 locks the first eccentric shaft 122 to the first guide base 11 through the adjusting bolt 124. When the first guide wheel assembly 12 needs to be unlocked, the adjusting bolt 124 is turned in the opposite direction, reducing the depth of the adjusting bolt 124 screwed into the adjusting hole 1223, causing the first eccentric shaft 122 to move downward, so that the lower end 1222 of the first eccentric shaft 122 disengages from the first guide base 11. At this time, the first eccentric shaft 122 can rotate freely. The operator can use a wrench to clamp the first eccentric shaft 122 and drive it to rotate around its own axis, changing the distance between the two first guide wheels 121. This conveniently compensates for the installation error of the ground rail 100 or the wear gap after long-term operation, ensuring the guiding accuracy.

[0045] like Figure 8 As shown, a locking step 1224 is provided between the upper end 1221 and the lower end 1222. During the process of locking the first guide wheel assembly 12, the depth of the adjusting bolt 124 being screwed into the threaded adjusting hole 1223 is increased. The locking step 1224 gradually approaches and abuts against the first guide base 11 as the first eccentric shaft 122 moves upward. During the process of unlocking the first guide wheel assembly 12, the locking step 1224 disengages from the first guide base 11 as the first eccentric shaft 122 moves downward.

[0046] In some embodiments, the first guide wheel assembly 12 may also adopt an adjustment structure that combines a wedge slider and a lead screw. By rotating the lead screw, the wedge slider is driven to move the guide wheel horizontally, which can also achieve fine adjustment of the installation position.

[0047] For example, such as Figure 6 As shown, both first main beams 220 extend along the first direction, and the first guide base 11 is fixedly connected to the front end of the two first main beams 220 in the first direction. The first main beams 220 are made of aluminum profiles, which have both good structural strength and lightweight characteristics.

[0048] To further enhance the guiding effect, such as Figure 7As shown, the first guiding mechanism 10 also includes an intermediate guiding assembly, which includes a guide mounting frame 151 and a second guide wheel 152. The guide mounting frame 151 connects two first main beams 220 simultaneously. The second guide wheel 152 is rotatably mounted on the guide mounting frame 151 and passes through the space between the two first main beams 220, thus abutting downwards against the upper surface of the ground rail 100. Through the rolling contact between the second guide wheel 152 and the upper surface of the ground rail 100, the weight load of the ground vehicle device 200 and the superstructure can be effectively borne. At the same time, it forms a stable three-point positioning guiding structure with the first guide wheel groups 12 on both sides, preventing the ground vehicle device 200 from swaying or bouncing during travel. In addition, by separating the first guide wheel 121 and the second guide wheel 152, space between the first main beams 220 can be saved. This means that, given a certain space, the size of the first main beam 220 does not need to be reduced to accommodate both the first guide wheel 121 and the second guide wheel 152, thus ensuring the strength of the first main beam 220.

[0049] For example, such as Figure 7 As shown, the top plate of the guide mounting bracket 151 is provided with a clearance hole 1511 to allow the second guide wheel 152 to pass. The clearance hole 1511 is provided so that the second guide wheel 152 with a larger outer diameter can be accommodated under the guide mounting bracket 151 within the same height space.

[0050] For example, such as Figure 7 As shown, the first obstacle avoidance radar 13 is fixedly installed on the first guide base 11 via the radar mounting base 131. The first obstacle avoidance radar 13 is located above the two first guide wheel sets 12. The back of the radar mounting base 131 and the first guide base 11 are provided with interconnected wire holes for the connection harness of the first obstacle avoidance radar 13 to pass through.

[0051] For example, such as Figure 7 As shown, the first guiding mechanism 10 also includes a cleaning brush 14, which is mounted on the first guiding base 11 via a brush holder 141. The brush bristles face the surface of the ground rail 100, and are used to clean dust, debris, and other contaminants from the ground rail 100 during operation. This prevents foreign objects from affecting the smooth rolling of the guide wheel and the guiding accuracy, thus extending the equipment's service life. Furthermore, the mounting surface connecting the brush holder 141 and the cleaning brush 14 is a vertical surface, and it is angled to the second direction. The cleaning brush 14 is also angled to the second direction, so that during cleaning, debris is directed away from the ground rail 100 rather than pushed forward and accumulated, improving the cleaning effect.

[0052] For example, such as Figure 6As shown, the ground vehicle device 200 is also equipped with a positioning module 20, which is located on one side of the ground vehicle device 200 body. The positioning module 20 includes a positioning bracket 21 and a first positioning detection element 22, a second positioning detection element 23, and an optical communication module 24 mounted on the positioning bracket 21. The positioning bracket 21 is connected to a first main beam 220. The detection end of the first positioning detection element 22 is set facing a first direction and is used to detect the position of the ground vehicle device 200 moving along the ground rail 100. The detection end of the second positioning detection element 23 is set facing upward and is used to detect the height position of the cargo basket 400 rising and falling along the column device 300. The optical communication module 24 is electrically connected to the first positioning detection element 22 and the second positioning detection element 23, and wirelessly exchanges data with an external control module through infrared light or laser light, uploading real-time position information to the host computer. By integrating horizontal positioning, vertical positioning, and communication functions into the same positioning bracket 21, the wiring difficulty and installation space occupation are reduced, and the synchronization and reliability of signal acquisition are improved.

[0053] In this embodiment, both the first positioning detection element 22 and the second positioning detection element 23 are laser rangefinders. The laser beam emitted by the first positioning detection element 22 illuminates a reflector on one side of the ground rail 100, and the laser beam of the second positioning detection element 23 illuminates a reflective surface at the bottom of the cargo basket 400. Both calculate their current position by measuring the time of flight. In some embodiments, the first positioning detection element 22 and the second positioning detection element 23 may also be other ranging components such as ultrasonic ranging sensors or magnetostrictive displacement sensors.

[0054] For example, such as Figure 6 and Figure 9 As shown, the ground vehicle device 200 is also equipped with a buffer module. The buffer module is located on the side of the ground vehicle device 200 body away from the positioning module 20. The buffer module includes a buffer mounting frame 251 and a buffer component 250. The buffer mounting frame 251 is connected to another first main beam 220. There are two buffer components 250, which are respectively installed on the buffer mounting frame 251 and arranged in opposite directions along the first direction. Buffer baffles 110 are respectively provided on the sides of both ends of the ground rail 100. When the ground vehicle device 200 moves along the ground rail 100 to the limit position at either end, the corresponding buffer component 250 abuts against the buffer baffle 110 in the corresponding direction to physically limit the limit movement position of the ground vehicle device 200. Compared with the traditional design of directly setting the buffer module at the front and rear ends of the ground vehicle device 200, the offset setting of the buffer module has a higher degree of integration, which is convenient for assembly and maintenance. On the other hand, it saves space in the first direction and increases the reach of the ground vehicle device 200.

[0055] For example, such as Figure 9As shown, a sliding guide 120 extending in the same direction as the ground rail 100 is provided on the side of the ground rail 100. The sliding guide 120 can be a rigid or flexible conductive rail, used to provide a power and signal transmission channel for the moving stacker crane 2000. A current collector shoe 252 is also installed on the buffer mounting frame 251. The current collector shoe 252 can be a carbon brush or a copper-based shoe plate. The current collector shoe 252 maintains reliable sliding contact with the conductive surface of the sliding guide 120, thereby realizing continuous collection of electrical energy. The current collector shoe 252 is electrically connected to the control module of the stacker crane 2000 through a cable, forming a mobile power supply circuit. Integrating the current collector shoe 252 into the buffer module further improves the degree of integration and modularity.

[0056] For example, such as Figure 10 As shown, to further improve the smoothness and accuracy of the horizontal movement of the stacker crane 2000, a second guide mechanism 30 is provided on the overhead crane device 500. The overhead crane device 500 includes an overhead crane base plate 510, and the second guide mechanism 30 includes a second guide base 31 and a first overhead crane guide assembly 32 and a second overhead crane guide assembly 33 mounted on the second guide base 31. The second guide base 31 is mounted on the overhead crane base plate 510. The first overhead crane guide assembly 32 includes two third guide wheels 321 spaced apart along a second direction. The two third guide wheels 321 are used to abut against the left and right sides of the overhead rail respectively to limit the swing of the overhead crane device 500 in the second direction. The second overhead crane guide assembly 33 includes two fourth guide wheels 331 spaced apart along a first direction. The two fourth guide wheels 331 are used to abut against the bottom side of the overhead rail respectively to provide vertical support to suppress the pitch of the stacker crane 2000 during startup and braking, reduce the tilt amplitude, alleviate the nodding phenomenon of the stacker crane 2000, and the startup acceleration of the stacker crane 2000 can be increased accordingly, shortening the startup time.

[0057] For example, such as Figure 10 As shown, at least one third guide wheel 321 is adjustable in distance from the overhead rail 600 in the second direction. The third guide wheel 321 is rotatably mounted on the mounting pin 322. Specifically, the position can be adjusted by the mounting pin 322 engaging with the lateral adjustment hole 311 on the second guide base 31. The lateral adjustment hole 311 is an elongated oval hole extending along the second direction. By locking the mounting pin 322 to any position in the lateral adjustment hole 311 with a locking screw, the lateral position of the third guide wheel 321 can be adjusted. In this way, when there is an installation deviation in the overhead rail 600, the gap can be eliminated by adjusting the position of the third guide wheel 321, ensuring the smooth movement of the overhead crane 500. Through the coordinated operation of the second guide mechanism 30 and the first guide mechanism 10, the stacker crane 2000 forms a stable double-rail guiding system, effectively resisting the torsional torque of the column device 300 during acceleration and deceleration, and ensuring the positioning accuracy of the cargo basket 400 at a high position.

[0058] In this embodiment, as Figure 10 As shown, the mounting position of one of the third guide wheels 321 in the first trolley guide assembly 32 in the second direction can be adjusted by the aforementioned mounting structure, while the other third guide wheel 321 is directly fixed to the second guide base 31 by a mounting pin 322. In some embodiments, the mounting positions of both third guide wheels 321 in the first trolley guide assembly 32 in the second direction can be adjusted by the aforementioned mounting structure.

[0059] For example, such as Figure 10 As shown, along the first direction, at least two first trolley guide components 32 are spaced apart on the second guide base 31 to achieve multi-point rolling coordination guidance, further improving the stability of the stacker crane 2000's horizontal movement.

[0060] For example, the first guide wheel 121, the second guide wheel 152, the third guide wheel 321 and the fourth guide wheel 331 can all be rubber-coated wheels to increase friction and reduce noise.

[0061] For example, such as Figure 11 and Figure 12As shown, the column assembly 300 includes a column body 310 and a lifting mechanism 320. The column body 310 extends vertically, with its bottom fixed to the first carrier 230 of the ground vehicle assembly 200 and its top fixed to the overhead crane base plate 510 of the overhead crane assembly 500. The cargo basket 400 includes a cargo platform 410 and multiple lifting guide wheel sets 420. The cargo platform 410 slides vertically on the guide rail of the column body 310 via the lifting guide wheel sets 420. The cargo platform 410 is provided with a carrier plate that extends and retracts in a second direction driven by a horizontal slide table, and can selectively extend to the inbound platform 3000 and the outbound platform 4000 to pick up and place material boxes. The lifting mechanism 320 includes a lifting drive 320, a reel 3202, and at least two lifting ropes 3203. The lifting drive 3201 can be equipped with a servo motor and a reducer to achieve controllable power output. The reel 3202 is connected to the output end of the lifting drive 3201 and has at least two independent winding positions. Each winding position winds one lifting rope 3203, and the outer ends of all lifting ropes 3203 are connected to the cargo basket 400. When the lifting drive 3201 drives the reel 3202 to rotate forward and backward, it drives multiple lifting ropes 3203 to unwind or rewind synchronously, thereby achieving smooth lifting and lowering of the cargo basket 400. By adopting a multi-point winding and multi-rope parallel structure, even if a single lifting rope 3203 breaks accidentally, the remaining lifting ropes 3203 can still temporarily support the weight of the cargo basket 400, improving safety. In some embodiments, the lifting rope 3203 can be made of high-strength steel wire rope or aramid fiber rope, and a partition is provided between the winding positions of the reel 3202 to prevent mutual interference between adjacent lifting ropes 3203. In this embodiment, the reel 3202 has two independent winding positions, and the number of lifting ropes 3203 is two.

[0062] For example, the lifting rope 3203 is connected to the cargo basket 400 via a floating assembly 40. Figure 12 and Figure 13 As shown, the floating assembly 40 includes a pull rod assembly 41, a first mounting member 42, and an elastic component. The first mounting member 42 is fixed to the loading platform 410 of the cargo basket 400. The elastic component is located below the first mounting member 42. The upper end of the pull rod assembly 41 is connected to the outer end of the lifting rope 3203, and the lower end of the pull rod assembly 41 is connected to the elastic component. The pull rod assembly 41 can apply an upward force to the first mounting member 42 through the elastic component, thereby lifting the cargo basket 400 upward. The elastic component provides a floating and elastic lifting force for the cargo basket 400, absorbing impact. On the other hand, it can adaptively compensate for the length differences between the lifting ropes 3203, making the tension of each lifting rope 3203 tend to be consistent and avoiding overload of a single lifting rope 3203.

[0063] In this embodiment, the elastic component includes a second mounting member 43 and an elastic member 44. The upper end of the pull rod assembly 41 is connected to the outer end of the lifting rope 3203; the first mounting member 42 is fixed to the loading platform 410 of the cargo basket 400; the second mounting member 43 is located below the first mounting member 42, and the elastic member 44 is embedded in the second mounting member 43, with the upper end of the elastic member 44 abutting against the lower surface of the first mounting member 42. The pull rod assembly 41 passes through the first mounting member 42 and the second mounting member 43 sequentially from top to bottom, and the lower end of the pull rod assembly 41 is locked to the second mounting member 43 by a locking nut 45. When the lifting rope 3203 is pulled, the pull rod assembly 41 pulls the second mounting member 43 upward, causing the second mounting member 43 to press the elastic member 44 upward until it abuts against the first mounting member 42, at which time the elastic member 44 is in a compressed state. If a certain lifting rope 3203 is slightly shorter due to manufacturing error, the compression of the elastic element 44 corresponding to that lifting rope 3203 will be slightly greater than that of the other lifting ropes 3203, thereby automatically balancing the tension of each lifting rope 3203 and preventing individual lifting ropes 3203 from being overloaded. In some embodiments, when the lifting rope 3203 is tightened, the second mounting member 43 moves upward to a position where there is still a gap between it and the first mounting member 42. That is to say, there is no direct force transmission between the second mounting member 43 and the first mounting member 42; the lifting force is transmitted between them entirely through the elastic element 44.

[0064] In other embodiments, the elastic component may also employ other integrated structures with elastic elements, such as wire rope isolators, spring frames, etc.

[0065] In this embodiment, the first mounting member 42 is provided, and the number of the pull rod assembly 41, the second mounting member 43 and the elastic member 44 are the same as the number of the lifting rope 3203 and are arranged in a one-to-one correspondence. The first mounting member 42 is provided with through holes that correspond one-to-one with the pull rod assembly 41 so that the pull rod assembly 41 can pass through.

[0066] For example, such as Figure 12 and Figure 13 As shown, the pull rod assembly 41 includes a first pull rod 411, a second pull rod 412, and a middle pull rod 413. The upper end of the first pull rod 411 is connected to the lifting rope 3203 via a connector; the lower end of the second pull rod 412 is connected to the second mounting component 43 via a locking nut 45; one end of the middle pull rod 413 is threaded to the lower end of the first pull rod 411, and the other end is threaded to the upper end of the second pull rod 412, with the threaded engagement direction between the middle pull rod 413 and the first pull rod 411 being opposite to that between the middle pull rod 413 and the second pull rod 412. By rotating the middle pull rod 413, the overall length of the pull rod assembly 41 can be easily adjusted, thereby fine-tuning the initial preload of each lifting rope 3203 and making the force on the lifting rope 3203 more even. This reverse thread adjustment structure is simple to operate, and the length adjustment can be completed without disassembling any parts, facilitating on-site installation and maintenance.

[0067] In this embodiment, the elastic element 44 is a helical compression spring, and the second pull rod 412 passes through the elastic element 44. In some embodiments, the elastic element 44 may also be replaced by a rubber pad or a hydraulic damper.

[0068] For example, such as Figure 12 As shown, the stacker crane 2000 is also equipped with a limit switch 51 and a travel sensor 52. The limit switch 51 is fixed to the loading platform 410 of the cargo basket 400, and the travel sensor 52 is fixed to the second mounting member 43. When a lifting rope 3203 causes the second mounting member 43 to move downwards relative to the first mounting member 42 by a distance exceeding a preset value due to abnormal jamming, breakage, or excessive slack, the travel sensor 52 moves downwards and triggers the limit switch 51. The control system then issues an alarm signal and stops the lifting action to prevent the cargo basket 400 from tilting or falling. This protection mechanism, in conjunction with the floating component 40, achieves tension balance under normal operating conditions and provides a reliable fault detection method under abnormal operating conditions.

[0069] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An intelligent automated warehouse, characterized in that, include: The shelf (1000) has multiple storage compartments (1100) of varying sizes. Stacker crane (2000) includes a cargo basket (400) capable of horizontal movement and vertical lifting for conveying boxes; The receiving platform (3000) includes a first conveying device (3100), a height detection component (3200), and a weight detection component (3300). The first conveying device (3100) is used to convey the material box to a receiving station where the carrying basket (400) can take it out. The height detection component (3200) is used to detect the height of the material box, and the weight detection component (3300) is used to detect the weight of the material box. The outbound platform (4000) includes a second conveying device (4100) for conveying the hopper taken out by the stacker crane (2000) to the outbound station; Both the height detection component (3200) and the weight detection component (3300) are signal-connected to the stacker crane (2000). The stacker crane (2000) moves the material box to the storage position (1100) of the corresponding volume according to the detection results of the height detection component (3200) and the weight detection component (3300).

2. The intelligent automated warehouse according to claim 1, characterized in that, The material bin is equipped with an identification code. The warehousing station (3000) also includes a barcode scanning component (3400). The barcode scanning component (3400) is connected to the stacker crane (2000) via a signal. The barcode scanning component (3400) is used to scan the identification code on the material bin to obtain information about the material bin.

3. The intelligent automated warehouse according to claim 2, characterized in that, The receiving station (3000) also includes a first arrival detection component (3500), which is signal-connected to the stacker crane (2000). The first arrival detection component (3500) is used to detect whether the material box has been conveyed to the receiving station.

4. The intelligent automated warehouse according to claim 1, characterized in that, The stacker crane (2000) includes: The base module includes a ground rail (100) and a ground vehicle device (200), wherein the ground vehicle device (200) is movably disposed on the ground rail (100) along a first direction. The lifting module includes a column device (300) and a cargo basket (400). The column device (300) is disposed on the ground vehicle device (200), and the cargo basket (400) is movably disposed on the column device (300). The cargo basket (400) is used to carry the material box. The top support module includes a crane device (500), the crane device (500) is connected to the column device (300), and a top rail (600) extending along a first direction is installed on the top of the rack (1000). The crane device (500) and the top rail (600) are slidably connected along the first direction. The ground vehicle device (200) is provided with a first guide mechanism (10). The first guide mechanism (10) includes a first guide base (11), two first guide wheel sets (12) and a first obstacle avoidance radar (13) both mounted on the first guide base (11). The two first guide wheel sets (12) are spaced apart along the second direction and roll in cooperation with the left and right sides of the ground rail (100) respectively. The installation position of at least one first guide wheel set (12) in the second direction is adjustable. The first direction is perpendicular to the second direction. The two first guide wheel sets (12) roll in cooperation with the ground rail (100) to guide the ground vehicle device (200). The detection end of the first obstacle avoidance radar (13) is set along the first direction and is used to detect whether there is an obstacle on the forward side of the ground vehicle device (200).

5. The intelligent automated warehouse according to claim 4, characterized in that, The first guide wheel assembly (12) includes a first guide wheel (121) and a first eccentric shaft (122). The first eccentric shaft (122) is arranged in a vertical direction. The first eccentric shaft (122) includes an upper end (1221) and a lower end (1222) whose axes are not collinear. The upper end (1221) is connected to the first guide base (11). The first guide wheel (121) is rotatably sleeved on the lower end (1222). The two first guide wheels (121) abut against the side wall of the ground rail (100). The upper end (1221) can rotate relative to the first guide base (11) about its own axis and can be selectively locked to the first guide base (11) to adjust the distance of the first guide wheel (121) relative to the ground rail (100).

6. The intelligent automated warehouse according to claim 4, characterized in that, The first guide mechanism (10) also includes a cleaning brush (14), which is mounted on the first guide base (11) and is used to clean the ground track (100).

7. The intelligent automated warehouse according to claim 4, characterized in that, The overhead crane device (500) is provided with a second guide mechanism (30), which includes a second guide base (31) and a first crane guide assembly (32) and a second crane guide assembly (33) installed on the second guide base (31). The first crane guide assembly (32) includes two third guide wheels (321) spaced apart along a second direction, and the two third guide wheels (321) are used to abut the left and right sides of the overhead rail (600) respectively; The second vehicle guide assembly (33) includes two fourth guide wheels (331) spaced apart along a first direction, the two fourth guide wheels (331) being used to abut against the bottom side of the skyrail (600) respectively.

8. The intelligent automated warehouse according to claim 4, characterized in that, The ground vehicle device (200) is provided with a positioning module (20), which includes a positioning bracket (21) and a first positioning detection element (22), a second positioning detection element (23) and an optical communication module (24) installed on the positioning bracket (21). The optical communication module (24) is used to transmit signals with an external control module. The first positioning detection component (22) is electrically connected to the optical communication module (24), and its detection end is set in the first direction to detect the position of the ground vehicle device (200) moving along the ground rail (100); The second positioning detection component (23) is electrically connected to the optical communication module (24), with its detection end facing upward, and is used to detect the height position of the cargo basket (400) as it rises and falls along the column device (300).

9. The intelligent automated warehouse according to claim 4, characterized in that, The column assembly (300) includes a column body (310) and a lifting mechanism (320). The cargo basket (400) slides vertically on the column body (310). The lifting mechanism (320) includes: A lifting drive component (3201) is installed on the column body (310). A reel (3202) is connected to the output end of the lifting drive (3201). The reel (3202) has at least two winding positions, and each winding position is wound with a lifting rope (3203). The outer ends of at least two lifting ropes (3203) are connected to the cargo basket (400). The lifting drive (3201) can drive the reel (3202) to rotate, thereby driving at least two of the lifting ropes (3203) on it to unwind and rewind synchronously.

10. The intelligent automated warehouse according to claim 9, characterized in that, The lifting rope (3203) is connected to the cargo basket (400) via a floating assembly (40), the floating assembly (40) comprising: A lever assembly (41) has its upper end connected to the outer end of the lifting rope (3203); The first mounting component (42) is fixed to the cargo basket (400). An elastic component is located below the first mounting member (42), and the lower end of the pull rod assembly (41) is connected to the elastic component. The pull rod assembly can apply an upward force to the first mounting member (42) through the elastic component.

11. The intelligent automated warehouse according to claim 10, characterized in that, The elastic component includes a second mounting member (43) and an elastic member (44). The second mounting member (43) is located below the first mounting member (42), and the elastic member (44) is embedded in the second mounting member (43). The upper end of the elastic member (44) abuts against the first mounting member (42). The pull rod assembly (41) passes through the first mounting member (42) and the second mounting member (43) from top to bottom, and the lower end of the pull rod assembly (41) is connected to the second mounting member (43). The lifting rope (3203) can apply an upward force to the second mounting member (43) through the pull rod assembly, so that the second mounting member (43) abuts against the first mounting member (42) upward. At this time, the elastic member (44) is in a compressed state.

12. The intelligent automated warehouse according to claim 11, characterized in that, The tie rod assembly (41) includes: The first pull rod (411) has its upper end connected to the lifting rope (3203). The second pull rod (412) is connected at its lower end to the second mounting piece (43); The intermediate pull rod (413) is threaded at one end to the lower end of the first pull rod (411) and at the other end to the upper end of the second pull rod (412). The threads of the intermediate pull rod (413) are opposite to those of the threads of the first pull rod (411) and the second pull rod (412).

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