Conveyor line limit stop device and handling method for goods pallet storage and retrieval

Abstract

A conveyor line limit stop device and a handling method for goods pallet storage and retrieval. The conveyor line limit stop device comprises a three-dimensional rack (1), a conveying mechanism (2), a shuttle (3), and crisscross traveling rails (4), wherein the three-dimensional rack (1) and the conveying mechanism (2) are located above the traveling rails (4); the shuttle (3) movably travels on the traveling rails (4) and shuttles below the three-dimensional rack (1) and the conveying mechanism (2); limit stop devices (5) are provided at the end of the conveying mechanism (2) that is close to the three-dimensional rack (1); when pallets (9) are placed on conveying surfaces (17), if the conveying mechanism (2) performs forward conveying for storage, the limit stop devices (5) come into limiting contact with the pallets (9) carrying goods; and if conveyor belts (8) perform reverse conveying for retrieval, the pallets (9) press down the limit stop devices (5) to a position below the conveying surfaces (17). The conveyor line limit stop device enables the pallets (9) carrying goods of different weights or the pallets (9) of different materials to accurately stop at the same position each time, thereby greatly reducing the risk of goods falling during the handling process by the shuttle (3), and the conveyor line limit stop device can be applied to most scenarios where goods in the pallets (9) are docked by means of a conveyor line.

Description

A conveying line limiting stop device and a conveying method for goods pallets in and out of a warehouse TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent three-dimensional warehousing, and more particularly to a conveying line limiting stop device and a conveying method for goods pallets in and out of a warehouse. BACKGROUND

[0002] In an intelligent three-dimensional warehousing system formed by a conveying line and a three-dimensional warehouse, the existing conveying line is generally controlled to stop by signals of photoelectric sensors during the in-and-out process of goods on the conveying line. However, when the weight or material of the pallets is inconsistent, the stopping position of the pallets on the conveying line deviates, so that when the shuttle vehicle enters the conveying line to pick up goods, the lifting plate of the shuttle vehicle cannot be directly below the pallet goods, increasing the risk of goods falling during the conveying process. TECHNICAL PROBLEM

[0003] In order to overcome the deficiencies in the prior art, the present application provides a conveying line limiting stop device and a conveying method for goods pallets in and out of a warehouse, which can accurately stop the pallets carrying different weights of goods or different materials at the same position each time, greatly reducing the risk of goods falling during the conveying process of the shuttle vehicle, and can be applied to most scenarios of pallet goods docking through the conveying line, having a wide range of applications. TECHNICAL SOLUTION

[0004] To achieve the above-mentioned purpose, the conveying line limiting stop device and the conveying method for goods pallets in and out of a warehouse according to the present application include a three-dimensional shelf, a conveying mechanism, a shuttle vehicle and a longitudinal and transverse intersecting running track. The three-dimensional shelf and the conveying mechanism are above the running track, the shuttle vehicle moves on the running track, and the shuttle vehicle shuttles below the three-dimensional shelf and the conveying mechanism. A limiting stop device is arranged on one end of the conveying mechanism close to the three-dimensional warehouse. When the pallet is placed on the conveying surface, if the conveying mechanism is conveying forward for warehousing, the limiting stop device is in limiting contact with the pallet carrying goods. If the conveying belt is conveying reversely for warehousing, the pallet will press the limiting stop device down below the conveying surface.

[0005] Further, the conveying mechanism includes two groups of conveying racks erected side by side on both sides of the running track, and the conveying belts on the two groups of conveying racks are reversibly driven along the length direction. Limiting stop devices are arranged on one side of each group of conveying racks close to each other, and the upper surfaces of the limiting stop devices protrude above the conveying surface of the conveying belt.

[0006] Further, the limiting stop device includes a limiting plate and a rotating pin. A rotating hole is formed in the middle of the limiting plate, and the rotating pin is fixed to the side surface of the conveying rack through the rotating hole. The limiting plate can rotate relative to the conveying rack around the rotating pin.

[0007] Further, the lower part of the limiting plate is provided with a swing adjusting groove, and a swing limiting pin is arranged in the swing adjusting groove and fixed on the side of the conveying frame, when the limiting plate rotates relative to the conveying frame around the rotating pin, the swing limiting pin slides in the swing adjusting groove and limits the rotation angle of the limiting plate.

[0008] Further, the side of the limiting part near the center of the conveying frame extends upward, the side of the limiting part near the center of the conveying frame is a vertical limiting surface, and the side of the limiting part away from the center of the conveying frame is an excessive inclined surface, and in the initial state, the vertical limiting surface of the limiting part is higher than the conveying surface of the conveying belt.

[0009] Further, a hollow hole is arranged on the limiting part, when the limiting stop device limits the tray, the hollow hole arranged on the limiting part of the limiting plate can buffer the impact force acting on the limiting part by the tray.

[0010] Further, a carrying method for the shuttle vehicle in the warehouse process of the conveying line limiting stop device,

[0011] Step S1: the elevator lifts and transports the tray carrying the goods to the conveying surface of the conveying belt of the conveying mechanism away from the three-dimensional warehouse;

[0012] Step S2: start the conveying mechanism to drive the conveying belt in the positive direction, so that the tray carrying the goods on the conveying surface of the conveying belt moves towards the three-dimensional warehouse;

[0013] Step S3: when the tray carrying the goods is driven by the conveying belt, the side surface of the foot near the three-dimensional warehouse side of the tray contacts the vertical limiting surface, the limiting plate rotates around the rotating pin away from the center of the conveying frame along the limiting part, until the swing limiting pin and the end of the swing adjusting groove away from the center of the conveying frame abut and contact, at this time, the vertical limiting surface contacts the tray;

[0014] Step S4: in the state of step S3, the two photoelectric detection devices arranged on the two ends of the conveying frame control the driving mechanism arranged below the conveying frame to stop, so that the conveying belt is not driven;

[0015] Step S5: in the state of step S4, the shuttle vehicle drives to a section of driving track below the two conveying belts and contacts the limiting plate, at this time, the lifting plate of the shuttle vehicle is opposite to the lower surface of the tray carrying the goods;

[0016] Step S6: In the state of step S5, the lifting plate of the shuttle vehicle is raised to lift the pallet carrying the goods, and then the pallet carrying the goods is transported along the driving track and placed in the stereoscopic warehouse, completing the warehousing process.

[0017] Further, a conveying line limiting stop device, a shuttle vehicle out-of-warehouse process handling method,

[0018] Step S7: The shuttle vehicle transports the pallet carrying the goods to the conveying surface of the conveying belt near the end of the stereoscopic warehouse;

[0019] Step S8: Start the conveying mechanism to drive the conveying belt in reverse, so that the pallet carrying the goods on the conveying surface of the conveying belt moves away from the stereoscopic warehouse;

[0020] Step S9: When the pallet carrying the goods is driven by the conveying belt, the lower end contour of the lower end of the pallet carrying the goods contacts the excessive slope on the limiting plate, and the lower end contour of the lower end of the pallet carrying the goods is pressed along the excessive slope. In this process, the limiting plate rotates around the rotating pin towards the center of the conveying frame, until the limiting plate is lowered below the conveying surface under the action of the leg of the pallet carrying the goods, and in this process, the upper end contour of the limiting part is always in contact with the lower end contour of the pallet carrying the goods, and the limiting plate does not hinder the movement of the pallet carrying the goods with the two conveying belts;

[0021] Step S10: At this time, the goods carried on the pallet block the laser emitted by the two photoelectric detection devices arranged on both sides of the conveying frame in the length direction of the conveying frame, and the receiving device of the two photoelectric detection devices cannot receive the laser emitted by the laser emitting device. At this time, the photoelectric detection device controls the driving mechanism arranged below the conveying frame to stop, so that the conveying belt is not driven, and at this time the bottom of the pallet carrying the goods is located directly above the lifting plate of the elevator;

[0022] Step S11: Then the lifting plate of the elevator is raised to lift the pallet carrying the goods, and the pallet carrying the goods is lifted to the warehouse outlet, thereby completing the out-of-warehouse process. Beneficial effects

[0023] The application discloses a conveying line limiting stop device and a goods pallet in-out warehouse carrying method, which is characterized in that a pallet limiting device is arranged on a conveying mechanism, so that the pallets carrying goods with different weights or the pallets with different materials can be accurately stopped at the same position each time, and the goods in-out warehouse process is not affected, so that when the shuttle vehicle enters the conveying line to take goods, the pallet goods are located at the central position of the lifting plate of the shuttle vehicle, the risk of goods deviation caused by the fact that the pallet goods are not located at the central position of the lifting plate of the shuttle vehicle, the risk of goods falling caused by scratches of goods shelves in the carrying process of the shuttle vehicle and the like can be greatly reduced, and the application can be applied to most scenes of pallet goods docking through the conveying line, and has a wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0024] Fig. 1 is a schematic view of an application scene of the conveying line limiting stop device and the goods pallet in-out warehouse carrying method according to the application;

[0025] Fig. 2 is a schematic view of a conveying line structure according to the application;

[0026] Fig. 3 is a schematic view of a limiting stop device structure according to the application;

[0027] Fig. 4 is a schematic view of installation of the limiting stop device and a conveying rack of the conveying line according to the application;

[0028] Fig. 5 is a partial enlarged view A;

[0029] Fig. 6 is a schematic view of a conveying line limiting stop device and a shuttle vehicle in-out warehouse process according to the application;

[0030] Fig. 7 is a partial enlarged view B;

[0031] Fig. 8 is a schematic view of a conveying line limiting stop device and a shuttle vehicle in-out warehouse process according to the application;

[0032] Fig. 9 is a partial enlarged view C. Embodiment of the application

[0033] The application will be further described below with reference to the drawings.

[0034] As shown in FIG. 1, a conveying line limiting stop device and a goods pallet in / out warehouse handling method, comprising a vertical and horizontal intersecting running track 4, a stereoscopic warehouse 1 and a conveying mechanism 2 are arranged above the running track 4, the stereoscopic warehouse 1 and the conveying mechanism 2 can exchange goods through a shuttle vehicle 3 which is movable on the running track 4, and the shuttle vehicle 3 shuttles below the stereoscopic warehouse 1 and the conveying mechanism 2; a limiting stop device 5 is arranged on the conveying mechanism 2 near one end of the stereoscopic warehouse 1; when a pallet 9 is placed on a conveying surface 17, if the conveying mechanism 2 is conveying in a forward direction for in warehouse, that is, the pallet 9 is moved from one end of the conveying mechanism 2 far away from the stereoscopic warehouse 1 to the other end of the conveying mechanism 2 near the stereoscopic warehouse 1 under the driving of the conveying mechanism 2, then the limiting stop device 5 is in limiting contact with the pallet 9 which carries goods; if the conveying belt 8 is conveying in a reverse direction for out warehouse, then the pallet 9 will press the limiting stop device 5 down to below the conveying surface 17.

[0035] The conveying mechanism 2 comprises two sets of conveying racks 7 which are arranged side by side on both sides of the running track 4, the distance between the two conveying racks 7 is greater than the width of the running track 4 and the width of the shuttle vehicle 3, so as to ensure that the shuttle vehicle 3 can smoothly shuttle between the two conveying racks 7, one end of the two sets of conveying racks 7 is near the stereoscopic warehouse 1, and the other end is in butt joint with the elevator; the two sets of conveying racks 7 are both provided with conveying belts 8 which can drive in forward and reverse directions along the length direction, a driving mechanism is arranged below the center of the conveying rack 7, the driving mechanism can drive the conveying belts 8 to drive in forward and reverse directions, so that the conveying belts 8 drive in forward and reverse directions along the length direction of the conveying rack 7, the side of the two sets of conveying racks 7 far away from each other is respectively provided with a signal emitting device and a signal receiving device of the photoelectric detection device 16, the side of any one set of driving conveying rack 7 near to each other is provided with a limiting stop device 5, the upper surface of the limiting stop device 5 protrudes from the conveying surface of the conveying belt 17, and the pallet limiting device 5 is between the two conveying belts 8, the conveying surface 17 is provided with the pallet 9 which carries goods, the lower end of the pallet 9 is arranged on the conveying surface 17 of the two conveying belts 8, a section of the running track 4 is below the two conveying belts 8 and is higher than the driving mechanism, so as to ensure that the shuttle vehicle 3 can smoothly shuttle below the two conveying belts, the running surface of the section of the running track 4 below the two conveying belts 8 is opposite to the center area of the lower surface of the pallet 9, so as to ensure that when the shuttle vehicle 3 is on the section of the running track 4 below the two conveying belts 8, the lifting plate of the shuttle vehicle 3 is below the pallet 9, a limiting plate 10 can be arranged on the section of the running track 4 below the two conveying belts 8, so that when the shuttle vehicle 3 is in contact with the limiting plate 10, the lifting plate of the shuttle vehicle 3 is opposite to the lower surface of the pallet 9.

[0036] The photoelectric detection devices 16 are installed on both ends of the conveying frame 7 in the length direction, and the two photoelectric detection devices 16 are electrically connected with the conveying belt 8, and the two photoelectric detection devices 16 jointly control the driving and stopping of the conveying belt 8. The two photoelectric detection devices 16 each include a laser emitting device and a laser receiving device. The two laser emitting devices are installed on one conveying frame 7, and the two laser receiving devices are installed on the other conveying frame 7. The two laser emitting devices and the two laser receiving devices are installed on the side away from each other of the two conveying frames 7. When the pallet 9 carrying the goods is placed on the conveying surface 17, if the conveying belt 8 is conveying forward to enter the warehouse, when the limiting stop device 5 is in contact with the foot of the pallet 9 carrying the goods on the side of the stereoscopic warehouse 1, the laser emitted by the laser emitting device of the photoelectric detection device 16 installed on both ends of the conveying frame 7 in the length direction of the conveying frame 7 is blocked by the pallet 9, so that the laser receiving device of the photoelectric detection device 16 cannot receive the laser emitted by the laser emitting device. At this time, the photoelectric detection device controls the driving mechanism arranged below the conveying frame 7 to stop, so that the conveying belt 8 is not driven. If the conveying belt 8 is conveying reversely to enter the warehouse, the foot of the pallet 9 carrying the goods away from the side of the stereoscopic warehouse 1 will press the limiting stop device 5 to the below of the conveying surface 17. When the laser emitted by the laser emitting device of the photoelectric detection device 16 installed on both ends of the conveying frame 7 in the length direction of the conveying frame 7 is blocked by the pallet 9, the laser receiving device of the photoelectric detection device 16 cannot receive the laser emitted by the laser emitting device. At this time, the photoelectric detection device controls the driving mechanism arranged below the conveying frame 7 to stop, so that the conveying belt 8 is not driven. At this time, the bottom of the pallet 9 carrying the goods is located directly above the lifting plate of the elevator.

[0037] The limiting stop device 5 includes a limiting plate 10 and a rotating pin 11. The middle part of the limiting plate 10 is provided with a rotating hole, and the rotating pin 11 is fixed on the side surface of the conveying frame 7 through the rotating hole. The radius of the pin head of the rotating pin 11 is greater than the radius of the rotating hole, that is, when the rotating pin 11 is fixed on the side surface of the conveying frame 7 through the rotating hole, the limiting plate 10 is clamped between the pin head of the rotating pin 11 and the side surface of the conveying frame 7 close to each other. The side surface of the limiting plate 10 is in contact with the side surface of the conveying frame 7 through the rotating pin 11, and the limiting plate 10 can rotate relative to the conveying frame 7 around the rotating pin 11.

[0038] The lower part of the limiting plate 10 is provided with a swing adjusting groove 14, which is an arc-shaped groove coaxially arranged with the rotating hole. A swing limiting pin 12 is arranged in the swing adjusting groove 14, and the swing limiting pin 12 is fixed on the side surface of the conveying frame 7 through the swing adjusting groove 14. When the limiting plate 10 rotates relative to the conveying frame 7 around the rotating pin 11, the swing limiting pin 12 slides in the swing adjusting groove 14 and limits the rotation angle of the limiting plate 10.

[0039] The limiting plate 10 has a limiting portion 15 extending obliquely upward from the upper portion of the limiting plate 10 away from the stereoscopic warehouse 1. The limiting portion 15 has a vertical limiting surface 18 on the side away from the stereoscopic warehouse 1 and an excessively inclined surface 19 on the side close to the stereoscopic warehouse 1. In the initial state, the vertical limiting surface 18 of the limiting portion 15 is higher than the conveying surface 17 of the conveying belt 8, and the side of the excessively inclined surface 19 close to the stereoscopic warehouse 1 is lower than the side of the excessively inclined surface 19 away from the stereoscopic warehouse 1. When the conveying belt 8 is conveying in the forward direction for storage, when the foot of the pallet 9 close to the stereoscopic warehouse 1 contacts the vertical limiting surface 18, the pallet 9 has an impact force on the limiting plate 10 due to the friction between the conveying belt 8 and the pallet 9. Under the impact force, the limiting plate 10 rotates around the rotating pin 11 in the direction close to the stereoscopic warehouse 1 until the swing limiting pin 12 contacts the end of the swing adjusting groove 14 close to the stereoscopic warehouse 1. At this time, the limiting plate 10 cannot continue to rotate around the rotating pin 11 relative to the conveying frame 7. The distance between the vertical limiting surface 18 and the conveying surface 17 of the conveying belt 8 is slightly higher than the distance between the vertical limiting surface 18 and the conveying surface 17 of the conveying belt 8 in the initial state. At this time, the vertical limiting surface 18 is in limiting contact with the pallet 9, so the pallet 9 cannot continue to move with the conveying belt 8. When the conveying belt 8 is conveying in the reverse direction for storage, the lower end profile of the foot of the pallet 9 away from the stereoscopic warehouse 1 presses the limiting portion 15 of the pallet limiting device 5 along the excessively inclined surface 19. In this process, the limiting plate 10 rotates around the rotating pin 11 in the direction away from the stereoscopic warehouse 1 until the limiting plate 10 is lowered below the conveying surface 17 under the action of the foot of the pallet 9. In this process, the upper end profile of the limiting portion 15 is always in contact with the lower end profile of the pallet 9.

[0040] The limiting portion 15 has a hollow hole 13. The hollow hole 13 is arranged on the side of the limiting portion 15 away from the stereoscopic warehouse 1 relative to the rotating pin 11. This arrangement makes the weight of the side of the limiting plate 10 away from the stereoscopic warehouse 1 less than the weight of the side of the limiting plate 10 close to the stereoscopic warehouse 1. Therefore, in the initial state, i.e., when the limiting plate 10 is only subject to its own gravity, the side of the limiting plate 10 away from the stereoscopic warehouse 1 protrudes upward above the conveying surface 17 of the conveying belt 8, and the side of the limiting plate 10 away from the stereoscopic warehouse 1 is lower than the conveying surface 17 of the conveying belt 8.

[0041] A conveying line limiting and stopping device for the storage process of a pallet:

[0042] Step S1: The elevator lifts and transports the pallet 9 carrying the goods to the conveying surface 17 of the conveying belt 8 away from the stereoscopic warehouse 1 of the conveying mechanism 7.

[0043] Step S2: start the conveying mechanism 7 to drive the conveying belt 8 in the forward direction, so that the tray 9 is moved along the conveying belt 8 from the end of the conveying belt 8 close to the stereoscopic warehouse 1 to the end of the conveying belt 8 away from the stereoscopic warehouse 1;

[0044] Step S3: when the side of the tray 9 is in contact with the vertical limiting surface 18, the tray 9 has an impact force on the limiting plate 10 under the action of the friction between the conveying belt 8 and the tray 9, and the limiting plate 10 rotates around the rotating pin 11 in the direction close to the stereoscopic warehouse 1 under the action of the impact force, until the swing limiting pin 12 is in contact with the end of the swing adjusting groove 14 close to the stereoscopic warehouse 1, at this time, the limiting plate 10 cannot continue to rotate around the rotating pin 11 relative to the conveying frame 7, the distance between the vertical limiting surface 18 and the conveying surface 17 of the conveying belt 8 is slightly higher than the distance between the vertical limiting surface 18 and the conveying surface 17 of the conveying belt 8 in the initial state, at this time, the vertical limiting surface 18 is in limiting contact with the tray 9, so that the tray 9 cannot continue to move along with the conveying belt 8;

[0045] Step S4: at this time, the tray 9 blocks the laser emitted by the laser emitting device of the two photoelectric detection devices 16 arranged at the two ends of the conveying frame 7 in the length direction of the conveying frame 7, and the receiving device of the two photoelectric detection devices 16 cannot receive the laser emitted by the laser emitting device, at this time, the photoelectric detection device controls the driving mechanism arranged below the conveying frame 7 to stop, so that the conveying belt 8 is not driven;

[0046] Step S5: then the shuttle vehicle 3 drives onto a section of the driving track 4 below the two conveying belts 8 and is in limiting contact with the limiting column, at this time, the lifting plate of the shuttle vehicle 3 is opposite to the lower surface of the tray 9 carrying the goods,

[0047] Step S6: then the lifting plate of the shuttle vehicle 3 lifts the tray 9 carrying the goods, and transports the tray 9 carrying the goods into the stereoscopic warehouse 1 to complete the warehousing process.

[0048] A conveying line limiting and stopping device for the carrying step of the goods tray in the warehousing process:

[0049] Step S7: the shuttle vehicle 3 transports the tray 9 carrying the goods to the conveying surface 17 of the conveying belt 8 close to the stereoscopic warehouse 1 of the conveying mechanism 7;

[0050] Step S8: start the conveying mechanism 7 to drive the conveying belt 8 in the reverse direction, so that the tray 9 is moved along the conveying mechanism 2 from the end of the conveying mechanism 2 away from the stereoscopic warehouse 1 to the end of the conveying mechanism 2 close to the stereoscopic warehouse 1;

[0051] Step S9: When the lower end contour of the lower end feet of the pallet 9 carrying the goods contacts the excessive slope 19 on the limiting plate 10, the lower end contour of the lower end feet of the pallet 9 carrying the goods is pressed down along the excessive slope 19 to the limiting part 15 of the limiting stop device 5, in the process, the limiting plate 10 rotates along the rotating pin 11 in the direction of approaching the center of the conveyor frame 7, until the limiting plate 10 is lowered below the conveying surface 17 under the action of the feet of the pallet 9 carrying the goods, in the process, the upper end contour of the limiting part 15 is always in contact with the lower end contour of the pallet 9 carrying the goods, and the limiting plate 10 does not hinder the movement of the pallet 9 carrying the goods with the two conveying belts 8

[0052] Step S10: At this time, the goods carried on the pallet 9 block the laser emitted by the laser emitting device of the two photoelectric detection devices 16 arranged at the two ends of the conveying frame 7 in the length direction of the conveying frame 7, and the receiving device of the two photoelectric detection devices 16 cannot receive the laser emitted by the laser emitting device, at this time, the photoelectric detection device controls the driving mechanism arranged below the conveying frame 7 to stop, so that the conveying belt 8 is not driven, at this time, the bottom of the pallet 9 carrying the goods is located directly above the lifting plate of the elevator;

[0053] Step S11: Then the lifting plate of the elevator lifts the pallet 9 carrying the goods, and lifts the pallet 9 carrying the goods to the delivery port, thereby completing the delivery process.

[0054] The above is the first embodiment of the conveying line limiting stop device and the goods pallet in-out warehouse handling method of the present application, and the present application also has a second embodiment and a third embodiment under certain circumstances:

[0055] In the second embodiment of the present application, when the goods carried on the tray 9 placed on the conveying mechanism 2 are fragile goods, the tray 9 should avoid collision with the limiting stop device 5, thus a vertical electromagnetic controller can be hung on the leg of the tray 9 near the limiting stop device 5, and a magnet is installed on the lower part of the limiting plate 10 near the side of the A end of the conveying belt 8; when the electromagnetic controller is hung on the leg of the tray 9 near the limiting stop device 5, the electromagnet on the electromagnetic controller is below the conveying surface 17 of the conveying belt 8 and is opposite to the magnet on the lower part of the limiting plate 10, and the electromagnet on the electromagnetic controller and the magnet on the lower part of the limiting plate 10 have repulsion force; when the tray 9 carrying the fragile goods is placed on the conveying surfaces 17 of the two sets of conveying belts 8, the electromagnet on the electromagnetic controller is turned on by remote control, and then the tray 9 carrying the fragile goods moves towards the limiting stop device 5 under the drive of the two sets of conveying belts 8, and in this process, the electromagnet on the electromagnetic controller and the magnet on the limiting plate 10 repel each other, so that the limiting plate 10 rotates around the rotating pin 11 in the direction of approaching the center of the conveying frame 7, until the limiting plate 10 is lowered below the conveying surface 17 under the action of the leg of the tray 9 carrying the goods, so that the tray 9 carrying the fragile goods does not collide with the limiting stop device 5 during the conveying process on the conveying line; then steps S4, S5 and S6 are performed, thereby completing the warehousing process.

[0056] In the third embodiment of the present scheme, i.e. when the goods in the stereoscopic warehouse 1 need to be inspected before being taken out, the limiting and stopping device 5 is needed to limit the pallet 9 carrying the goods to be taken out, so that the inspection device arranged at the end of the conveying mechanism 2 close to the stereoscopic warehouse 1 scans and inspects the goods to be taken out. A limiting pin hole 20 is arranged on the limiting plate 10 of the limiting and stopping device 5, which is between the rotating pin 11 and the swing limiting pin 12 and is arranged towards the center of the conveying frame 7. The inside of a group of conveying frames 7 provided with the limiting and stopping device 5 is provided with an electric telescopic device relative to the limiting and stopping device 5. A limiting pin is arranged on the telescopic part of the electric telescopic device. When in the initial state, i.e. the limiting plate 10 is only under its own gravity, the side of the limiting plate 10 close to the center of the conveying frame 7 protrudes upwards from the conveying surface 17 of the conveying belt 8, and the side of the limiting plate 10 away from the center of the conveying frame 7 is lower than the conveying surface 17 of the conveying belt 8. At this time, the telescopic part of the electric telescopic device arranged inside the conveying frame relative to the limiting and stopping device 5 is elongated in the direction close to the limiting and stopping device 5. The limiting pin arranged on the telescopic part of the electric telescopic device can pass through the limiting pin hole 20, so that the limiting plate 10 cannot rotate around the rotating pin 11. When the lifting plate of the shuttle vehicle 3 is lifted upwards and places the pallet 9 carrying the goods to be taken out on the conveying surface 17 of the reverse conveying conveying belt 8 close to the stereoscopic warehouse 1 side of the conveying mechanism 2, the telescopic part of the electric telescopic device is controlled by remote control to be elongated in the direction close to the limiting and stopping device 5, so that the limiting pin arranged on the telescopic part of the electric telescopic device passes through the limiting pin hole 20. At this time, the pallet 9 carrying the goods to be taken out is in contact with the excessive inclined surface 19 close to the stereoscopic warehouse 1 side of the limiting part 15 on the limiting plate 10 under the drive of the reverse conveying conveying belt 8, but because the limiting pin arranged on the telescopic part of the electric telescopic device is inserted in the limiting pin hole 20 at this time, the limiting plate 10 cannot rotate around the rotating pin 11, so that the lower end of the supporting leg of the pallet 9 carrying the goods to be taken out close to the limiting and stopping device 5 cannot press down the limiting plate 10, so that the limiting and stopping device 5 limits the pallet 9 carrying the goods to be taken out and scans and inspects the goods to be taken out by the inspection device arranged at the end of the conveying mechanism 2 close to the stereoscopic warehouse 1. If the scanning and inspection result is qualified, the telescopic part of the electric telescopic device is controlled by remote control to be retracted in the direction away from the limiting and stopping device 5, so that the limiting pin arranged on the telescopic part of the electric telescopic device is separated from the limiting pin hole 20, so that the limiting plate 10 rotates around the rotating pin 11 in the direction close to the center of the conveying frame 7 under the action of the supporting leg of the pallet 9 carrying the goods to be taken out, until the limiting plate 10 is lowered below the conveying surface 17. At this time, the pallet 9 carrying the goods to be taken out can be conveyed on the conveying mechanism 2 smoothly. Then steps S10 and S11 are performed, so as to complete the taking-out process.

[0057] The above is the preferred embodiment of the present application, it should be noted that for those skilled in the art, without departing from the principles of the present application, can also make several improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A conveyor line limiting and stopping device, characterized in that: The system includes a three-dimensional rack (1), a conveyor mechanism (2), a shuttle car (3), and crisscrossing running tracks (4). The three-dimensional rack 1 and the conveyor mechanism 2 are located above the running tracks 4 and do not contact each other. The shuttle car 3 moves on the running tracks 4 and shuttles below the three-dimensional rack 1 and the conveyor mechanism 2. A limit stop device (5) is provided on the end of the conveyor mechanism (2) near the three-dimensional warehouse (1). When the pallet (9) is placed on the conveyor surface (17), if the conveyor mechanism (2) conveys the goods in the forward direction for storage, the limit stop device (5) makes contact with the pallet (9) carrying the goods. If the conveyor belt (8) conveys the goods out of the warehouse in the reverse direction, the pallet (9) presses the limit stop device (5) down to the bottom of the conveyor surface (17).

2. The conveyor line limiting and stopping device according to claim 1, characterized in that: The conveying mechanism (2) includes two sets of conveyor frames (7) arranged side by side on both sides of the travel track (4). Both sets of conveyor frames (7) are provided with conveyor belts (8) that can be driven in both directions along the length direction. A limit stop device (5) is provided on the side of any set of conveyor frames (7) that is close to each other, and the upper surface of the limit stop device (5) protrudes from the conveying surface of the conveyor belt (17).

3. The conveyor line limiting and stopping device according to claim 1, characterized in that: The limiting stop device (5) includes a limiting plate (10) and a rotating pin (11). The limiting plate (10) has a rotating hole in the middle. The rotating pin (11) passes through the rotating hole and is fixed on the side of the conveyor frame (7). The limiting plate (10) can rotate relative to the conveyor frame (7) around the rotating pin (11).

4. The conveyor line limiting and stopping device according to claim 1, characterized in that: The lower part of the limiting plate (10) is provided with a swing adjustment groove (14), and a swing limiting pin (12) is provided in the swing adjustment groove (14). The swing limiting pin (12) passes through the swing adjustment groove (14) and is fixed on the side of the conveyor frame (7). When the limiting plate (10) rotates relative to the conveyor frame (7) around the rotating pin (11), the swing limiting pin (12) slides in the swing adjustment groove (14) and limits the rotation angle of the limiting plate (10).

5. A conveyor line limiting and stopping device according to claim 1, characterized in that: The limiting plate (10) extends obliquely upward from the side near the center of the conveyor frame (7) to form a limiting part (15). The side of the limiting part (15) near the center of the conveyor frame (7) is a vertical limiting surface (18), and the side of the limiting part (15) away from the center of the conveyor frame (7) is a transition slope (19). In the initial state, the vertical limiting surface (18) of the limiting part (15) is higher than the conveying surface (17) of the conveyor belt (8).

6. A conveyor line limiting and stopping device according to claim 4, characterized in that: The limiting part (15) has a hollow hole (13), which is located on the side of the limiting part (15) away from the three-dimensional warehouse (1) relative to the rotating pin (11).

7. The handling steps of the pallet receiving process of the conveyor line limit stop device according to claim 1, characterized in that: Step S1: The elevator lifts and transports the pallet (9) carrying the goods to the conveyor belt (8) of the conveyor mechanism (7) away from the conveyor surface (17) of the automated warehouse (1); Step S2: Start the conveyor mechanism (7) to make the conveyor belt (8) drive in the forward direction, so that the pallet carrying the goods on the conveyor surface (17) of the conveyor belt (8) moves towards the direction of the three-dimensional rack (1); Step S3: When the pallet (9) carrying the goods is driven by the conveyor belt (8), when the side of the support leg of the pallet (9) close to the automated warehouse (1) comes into contact with the vertical limiting surface (18), the limiting plate (10) rotates around the rotating pin (11) along the direction of the limiting part (15) away from the center of the conveyor frame (7) until the swing limiting pin (12) and the end of the swing adjustment groove (14) away from the center of the conveyor frame (7) press against each other. At this time, the vertical limiting surface (18) and the pallet (9) are in limiting contact. Step S4: In the state of step S3, the two photoelectric detection devices (16) set on both ends of the conveyor frame (7) control the drive mechanism set below the conveyor frame (7) to stop, so that the conveyor belt (8) is no longer in motion; Step S5: In the state of step S4, the shuttle (3) travels to a section of the travel track (4) located below the two conveyor belts (8) and makes contact with the limiting plate. At this time, the lifting plate of the shuttle (3) is facing the lower surface of the pallet (9) carrying the goods. Step S6: In the state of step S5, the lifting plate of the shuttle (3) rises and lifts the pallet (9) carrying the goods, and then transports the pallet (9) carrying the goods along the travel track (4) and places it into the automated warehouse (1) to complete the warehousing process.

8. The handling steps of the pallet outbound process of the conveyor line limit stop device according to claim 1, characterized in that: Step S7: The shuttle (3) transports the pallet (9) carrying the goods to the conveyor belt (8) of the conveyor mechanism (7) on the conveyor surface (17) near the end of the automated warehouse (1); Step S8: Start the conveyor mechanism (7) to reverse the transmission of the conveyor belt (8), thereby moving the pallet carrying the goods on the conveyor surface (17) of the conveyor belt (8) away from the three-dimensional rack (1); Step S9: When the pallet (9) carrying goods is driven by the conveyor belt (8), the lower contour of the support leg of the pallet (9) carrying goods away from the automated warehouse (1) comes into contact with the transition slope (19) on the limiting plate (10). The lower contour of the lower support leg of the pallet (9) carrying goods presses down the limiting part 15 of the limiting stop device 5 along the transition slope 19. During this process, the limiting plate 10 rotates around the rotating pin 11 in the direction of the limiting part 15 close to the center of the conveyor frame 7 until the limiting plate 10 descends to below the conveyor surface 17 under the action of the support leg of the pallet (9) carrying goods. During this process, the upper contour of the limiting part 15 is always in contact with the lower contour of the pallet (9) carrying goods, and the limiting plate 10 does not hinder the pallet (9) carrying goods from moving with the two conveyor belts 8. Step S10: At this time, the goods carried on the pallet (9) block the laser emitted by the laser emitting devices of the two photoelectric detection devices (16) set at both ends of the conveyor frame (7) along the length direction of the conveyor frame (7). The receiving devices of the two photoelectric detection devices (16) cannot receive the laser emitted by the laser emitting devices. At this time, the photoelectric detection device controls the drive mechanism set below the conveyor frame (7) to stop, so that the conveyor belt (8) is no longer in motion. At this time, the bottom of the pallet (9) carrying the goods is directly above the lifting plate of the elevator. Step S11: Then the lifting platform of the elevator rises and lifts the pallet (9) carrying the goods, and lifts the pallet (9) carrying the goods to the exit, thereby completing the outbound process.

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