CN104495181B - Automatic storing and extracting system capable of achieving high-density storage of articles - Google Patents

Abstract

The invention provides an automatic storage and extraction system for high-density storage of articles, which includes a frame, a storage drawer, a roadway cart, a transport basket, an access window and a transfer platform, and a large number of drawers for placing storage drawers are arranged on the frame location, the roadway vehicle has an extraction device and a transportation basket position, and the storage drawer is taken out from the frame or returned to the frame through the extraction device; the transportation basket is set at the location of the transportation basket, and the roadway vehicle is provided with a first clamping mechanism, which completes The storage drawer on the extraction device is exchanged with the items in the transport basket at the position of the transport basket; the transfer platform has a second clamping mechanism to complete the exchange of items between the transport basket and the access window. Compared with the prior art, it improves The storage capacity of items is reduced, the number of lanes is reduced, the power mechanism in the system is reduced, the space span of the intermediate transportation mechanism is reduced, and the efficiency of the system is improved.

Description

Automatic storage and extraction system for high-density storage of items

technical field

The present invention relates to a high-density storage device and an automatic extraction system for articles, especially suitable for unattended situations. This patent takes books as an example and focuses on describing an automatic storage and extraction system for high-density storage of books.

Background technique

In the prior art, as a storage unit for books, the bookshelves are mostly vertical structures and are arranged in layers. The books on each layer are placed vertically, with the backs of the books facing outwards, which is convenient for readers to view and read. There are also bookshelves with book boxes suitable for full-automatic unattended library systems, and each book box is vertically arranged with the opening facing outwards. The position of each book box is recorded and identified by the system, and the books are taken out or returned through the clamping mechanism on the roadway vehicle.

The authorized announcement number is the Chinese patent of CN 102642689 B, which discloses an unattended fully automatic book management system, which includes bookshelves, and roadways are arranged between the bookshelves. Take the clamping mechanism of the book. There is a main conveying line on the outside of the roadway, and a roadway car interface is set between the roadway exit and the main conveying line to complete the exchange of transport baskets between the roadway car and the main conveying line. The system also includes a temporary storage conveyor line partially parallel to the main conveyor line, and a sorting mechanism is set between the main conveyor line and the temporary storage conveyor line to complete the storage of books or transport baskets between the main conveyor line and the temporary storage conveyor line. exchange. The outside of the temporary storage conveyor line is provided with a book-out window and a book-return window to complete the outbound and inbound actions of books.

This solution can well complete the functions of automatic storage and self-service borrowing of books in the case of unattended, but there is still a lot of room for improvement in terms of book-intensive storage, internal space utilization, and the convenience of entering and exiting the window. space.

Contents of the invention

The object of the present invention is to provide a high-density storage device for items, a system that can automatically complete storage and extraction, and a storage and extraction system with high space utilization, simplified structure, and higher efficiency.

The present invention firstly provides an automatic storage and extraction system for high-density storage of articles, which includes: a frame, a storage drawer, a roadway cart, a transport basket, an access window and a transfer platform; At the drawer position where the storage drawer is placed; the roadway vehicle has an extraction device and a transportation basket position, and the above storage drawer is taken out from the frame or returned to the frame through the extraction device; the above transportation basket is movable set on the transportation basket position; The roadway vehicle is provided with a first clamping mechanism, and the first clamping mechanism completes the exchange of items between the storage drawer on the extraction device and the transport basket at the position of the transport basket; the transfer platform has a second clamping mechanism, The second clamping mechanism completes the exchange of items between the transport basket and the access window.

In this scheme, the scheme of storage drawers is adopted, so that the bookshelf is not limited by the thickness, and the height of the bookshelf can also be extended, which increases the inventory and reduces the number of lanes and laneways. Such a high-density storage method allows the transfer platform to be directly installed on the outside of the roadway. Compared with the existing technology, it not only greatly increases the storage capacity, but also effectively reduces the space span of the intermediate transportation mechanism and improves the efficiency of the system. .

On the basis of the above scheme, it further includes a temporary storage device, a large number of storage compartments are arranged on the temporary storage device, and the second clamping mechanism can complete the exchange of items between the transport basket, the temporary storage device and the access window .

This scheme takes into account the temporary storage function of books. Books out of the library can not only be directly transported to the access window through the intermediate transportation mechanism, but also temporarily stored in the library.

On the basis of the above-mentioned scheme, it further includes a transportation basket receiving device and a transportation basket temporary storage device; the transportation basket temporary storage device is a horizontal circulation conveying line comprising a large number of pallets, and the pallets are used to store the transportation basket, which has a At least one first exchange end of the roadway, and at least one second exchange end close to the transfer platform; at the first exchange end, a transport basket receiving device is arranged, and the transport basket receiving device can be opposite to the position of the transport basket; At the second exchange end, another transport basket receiving device is set, which can be opposite to the second clamping mechanism; the transport basket receiving device includes a lifting arm, and the lifting arm is provided with a supporting transport basket. Supporting device; the second clamping mechanism completes the exchange of items between the transport basket at the second exchange end, the temporary storage device and the access window.

In this scheme, on the basis of the temporary storage device, the system also provides a temporary storage device for the transport basket, which further improves the temporary storage capacity of the system. Due to the setting of the transport basket receiving device, the books in the transport basket and the temporary storage The exchange process of the books on the device does not require the temporary storage conveyor line to stop running, which greatly increases the efficiency of the system.

In addition, in order to improve the accuracy of the clamping mechanism, a tilting technical solution is further provided. For example, the roadway vehicle includes a working platform that is slidably connected to the longitudinal rail, and the position of the transport basket, the extraction device, and the first clamping mechanism are all It is arranged on the working platform; the position of the transportation basket is set on the outside perpendicular to the direction of the roadway, and the extraction device is arranged on the inside side perpendicular to the direction of the roadway; the extraction device is connected with a first rotating device, and the first rotating device Tilting toward the direction of the longitudinal track; the position of the transport basket is connected with a second rotating device and tilted towards the direction of the longitudinal track through the second rotating device; the receiving device of the transport basket at the second exchange end has a tilting mechanism; The storage compartment is arranged obliquely, and its inclination direction is adapted to the inclination direction of the above-mentioned inclination mechanism. That is, when the clamping mechanism is required to clamp articles or books, the tilting mechanism or tilting device is used to make the articles or books be located in a certain direction in the storage compartment, which facilitates the positioning of the clamping mechanism and improves the accuracy of the system.

The beneficial effects of the present invention are as follows.

1. Use storage drawers to store books, and the thickness (horizontal width) of the bookshelf can be extended. Under the condition of a certain space width, it can effectively reduce the number of roadways, reduce the number of roadway vehicles, and reduce the power mechanism in the system.

2. The overall frame is adopted, the structure is firm, and the height of the bookshelf can be adjusted at will, especially suitable for large-scale warehouse storage. The height of the bookshelf can reach the height of multiple floors, even more than 20M, and the thickness of the single-row storage area can reach more than 1.5 meters. The horizontal width of two rows of storage areas set back to back can reach more than 3 meters.

3. The roadway vehicle is provided with a workbench, and the storage drawer and the transport basket are all placed on the workbench, and the transfer of items between the two is completed on the workbench through the first clamping mechanism. The driving gear and the rotating toothed plate are used so that the first clamping mechanism can complete the rotation of 0-360 degrees. There can be multiple positions for the transport basket on the workbench, usually two, which can effectively improve the working efficiency of the system.

4. The storage position on the frame is directly set between two adjacent vertical support bars, even if a long and heavy drawer is stored, it can maintain a strong supporting force without causing deformation of the storage position. The storage locations are arranged densely from top to bottom, which can effectively increase the overall storage capacity of the framework.

5. The storage drawer and the position of the drawer are coordinated in the simplest way, and the drawer can be taken out and returned through the handle, and the structure is simple and efficient.

6. The transport basket and the first clamping mechanism are installed on the roadway vehicle, which can realize the acquisition and temporary storage of single or multiple books in the storage drawer.

7. The above-mentioned extraction device, the position of the transport basket and the first clamping mechanism are all set on the same working platform, with a compact and efficient structure.

8. The setting of the above-mentioned extraction device and the inclined structure of the position of the transport basket can effectively solve the problem of the positioning of the first clamping mechanism and simplify the system setting.

9. The use of a circular conveying line-type transport basket temporary storage device and multiple transport basket receiving devices can not only further expand the carrying capacity of the transport basket, but also greatly improve the effectiveness of the system. All transport baskets that need to be exchanged are lifted and lowered With the arm jacked up, multiple transport crate receiving devices can work simultaneously, and the system does not have to wait for an exchange action at a certain place.

10. The system realizes high-density storage, so that the length of the working line is effectively reduced compared with the prior art. And the items obtained from the frame are no longer transported over long distances, but are directly stored in a temporary storage device located at a short distance outside the roadway, waiting to be picked up. Therefore, the temporary storage device only needs a static structure, which greatly reduces the power components in the system.

11. The structure of the access window is simple and efficient. Compared with the prior art, the access window can complete the entry and exit of items and the adjustment of the direction with only three components.

To sum up, on the basis of high-density storage of items, this system reduces the number of roadway vehicles and other power components, and effectively improves the efficiency of the system.

Description of drawings

1A to 1C are the top view, side view and front view of the automatic storage and retrieval system for high-density storage of articles of the present invention.

2A to 2C are a front view, a sectional view along the D-D direction, and a side view of the high-density storage bookshelf.

FIG. 2D is a schematic top view of the drawer position.

FIG. 2E is a schematic top view of the storage drawer stored in the drawer position.

FIG. 2F is a front enlarged structural schematic diagram of the drawer position.

2G, 2H and 2I are top, front and side views of the storage drawer.

3A and 3B are schematic diagrams of roadway vehicles running between the upper and lower tracks.

Figure 3C, 3D, 3E and Figure 3F are the top view, right view, front view and left view of the roadway vehicle.

FIG. 3G is a schematic diagram of an enlarged structure at the extraction position in the roadway vehicle.

3H, 3I and 3J are schematic diagrams of the extraction process of the retrieval device in the drawer position to retrieve the storage drawer.

3K, 3L, 3M and 3N are schematic diagrams of the process of returning the storage drawer by the drawer extraction device.

4A and 4B are top and bottom views of the transport crate.

Fig. 5A is a structural schematic diagram of the first lifting device of the transport basket receiving device.

Fig. 5B is a structural schematic diagram of the second lifting device of the transport basket receiving device.

Fig. 5C is a structural schematic diagram of a transport basket receiving device without a tilting mechanism arranged under the circular conveying line in the present invention.

Fig. 5D is a structural schematic diagram of a transport basket receiving device with a tilting mechanism arranged under the circular conveying line in the present invention.

Fig. 6A is a schematic diagram of the overall structure of the transport basket temporary storage device.

FIG. 6B is an enlarged schematic view of a tray in FIG. 6A .

7A, 7B, 7C and 7D are structural schematic diagrams of the cooperation between the transfer platform and the temporary storage device.

8A, 8B and 8C are schematic diagrams of the structure of the access window.

The accompanying drawings of the present invention are all schematic diagrams. In the specific implementation process, it is better to coordinate and cooperate with each component, and the accompanying drawings of the present invention are not limited to the dimensions.

detailed description

As shown in Fig. 1A to Fig. 1C, it has shown the overall structure schematic diagram of the automatic storage and extraction system of the high-density storage of articles of the present invention, and the system at least includes: frame 10, storage drawer 20, roadway cart 30, transport basket 40, basket receiving The device 50, the temporary storage device 60, the temporary storage device 70, the access window 80 and the transfer platform 90. Wherein, the frame 10 is an integral frame, and the frame 10 includes multiple columns of storage areas, and two columns of storage areas can be set back to back, and the storage drawer 20 and the roadway cart 30 are all set in the same frame 10 . A large number of drawer positions 100 are arranged in each column storage area, and storage drawers 20 are placed in the drawer positions 100, and the size is adapted to the storage drawers.

Please refer to Fig. 2A to Fig. 2C at the same time. The frame 10 is a three-dimensional structure. Taking a row of storage areas as an example, it includes an outer frame, and multiple rows of longitudinal support bars 102 are densely arranged in the outer frame. The outer side (front side, beside the roadway) ) and all longitudinal support bars 103 on the inner side (rear side, inside the frame) are set opposite to each other, two columns of longitudinal support bars 102 adjacent to the outer side, and two columns of longitudinal support bars 103 on the inner side corresponding to it form In the area, a large number of drawer positions 100 are arranged from top to bottom. As shown in Figure 2D to Figure 2F, the drawer position 100 includes a first guide rail 104 and a second guide rail 105 arranged between the outer and inner longitudinal support bars, the first guide rail 104 includes a left baffle 1041 and a first The straight rail 1042, the second guide rail 105 includes a right baffle plate 1051 and the second straight rail 1052, the inner end of the drawer position 100 is provided with a limiting part 106, and the limiting part 106 can be formed from the first guide rail 104 and the second The guide rails 105 extend toward the center side, or extend toward the center from the inner two rows of longitudinal support bars 103 . It can be an upright extending upright or a baffle. In addition, a guide portion 107 is formed on the outer ends of the first guide rail 104 and the second guide rail 105 , so as to facilitate the storage drawer 20 to enter the drawer position from the guide portion 107 . There is no other structure between the storage drawer 20 and the drawer position 100, and the two are connected in the simplest way. It should be noted that the material of the storage drawer 20 needs to be wear-resistant and smooth.

As shown in Fig. 2G to Fig. 2I, it is the top view, the front view and the side view of the storage drawer 20, the interior of the storage drawer 20 is provided with a plurality of partition plates 22 one by one from the outside to the inside, forming a plurality of partitions from the outside to the inside. There are 23 storage compartments, each storage compartment is a vertical accommodation space for storing a single book vertically. Generally speaking, the storage drawer 20 and the storage compartment 23 in it can be set to several common specifications, but in a certain area in the library, especially need uniform specifications, to facilitate the clamping mechanism of the roadway car and adapt to it. One or more gaps 221 are set between the partition plates 22, so that the clamping mechanism on the roadway vehicle can extend from the gaps to both sides of the books to clamp the books.

The present invention proposes the design of the storage drawer, so that the thickness of the bookshelf can be greatly extended. The thickness of the single-row storage area can be designed to be more than 1.5 meters, and the distance between the two lanes can reach more than 3 meters. Due to the increase in the thickness of the bookshelf, the bookshelf itself The stability is improved, and its height can be extended accordingly, which maximizes the storage capacity of books, and the overall frame can also be used as a strong support for roadway vehicles.

Compared with the existing book storage structure, horizontal support plates or horizontal support rods are arranged on each layer from top to bottom between adjacent vertical support rods, and a large number of books are placed extending from left to right, and the weight of long-term storage is relatively low. When using large books, it is easy to cause deformation of the crossbar. The positions of the above-mentioned drawers are directly arranged on the adjacent longitudinal support rods, and each drawer is supported by the corresponding rails, even if the storage drawers are long and heavy, the problem of lateral deformation will not occur. With the favorable support on both sides, the position of the drawers can be densely arranged from top to bottom to maximize the storage capacity. With this design, there is no need to install lateral support rods on each floor. As shown in FIG. 2A, three layers of lateral support rods 101 are arranged at the upper end, the lower end and the middle to meet the stability of the frame. Of course, according to the load-bearing and height of the frame, the horizontal support rods arranged in the middle can be appropriately increased to ensure the overall stability.

In the present invention, the length of the bookshelf is the distance extending along the direction of the roadway, the thickness or width of the bookshelf is the distance extending in the horizontal direction perpendicular to the roadway, and the height of the bookshelf is the distance extending vertically to the longitudinal direction of the roadway. The outer side of the frame is the position close to the roadway, and the inner side of the frame is the position away from the roadway.

In this solution, the increase in the thickness of the bookshelves will lead to a reduction in the number of roadways and roadway vehicles, and improving the working efficiency of a single roadway vehicle is also a technical problem that needs to be solved in this case.

As shown in FIGS. 3A and 3B , it shows a structural schematic view of the roadway vehicle running between the upper and lower rails in the present invention, and the roadway vehicle 30 is arranged between the upper rail 31 and the lower rail 32 . A roadway is formed between the outer frame bookshelves of the multi-column storage area, and the outer frames are all integrally connected to each other. The above-mentioned upper rail 31 is integrally arranged on the overall frame above the roadway. The roadway cart is more stable, which is an advantage when the bookshelf has a higher height.

As shown in Figures 3C to 3F, there are longitudinal rails 33 on the roadway vehicle, and the longitudinal rails 33 may include at least two, all of which are arranged on support columns with considerable strength to ensure that the roadway vehicle can maintain its operation after the height is raised. stability. The roadway vehicle 30 has a pick-up device 342 and at least one transport basket position 341 , and the pick-up device 342 is used for dragging the storage drawer 20 onto the roadway vehicle 30 . The roadway vehicle 30 is provided with a first clamping mechanism 35 for exchanging the items in the storage drawer 20 on the extraction device 342 with the transport basket 40 on the transport basket position 341 .

A working platform 34 is connected to the longitudinal track 33, and the working platform 34 can slide up and down on the longitudinal track 33. The above-mentioned transportation basket position 341, extraction device 342, first clamping mechanism 35, etc. are all arranged on the working platform 34. In particular, it can be set that the transportation basket position 341 is arranged on the outside of the roadway vehicle perpendicular to the roadway (toward the roadway entrance), and the extraction device 342 is arranged on the inside of the roadway vehicle perpendicular to the roadway (back to the roadway entrance). ), the storage drawer 20 located on the extraction device 342 is parallel to the transport basket 40 located on the transport basket position 341, the extension direction of the storage compartments in it is the same, the first clamping mechanism 35 can rotate, and between the two passing items between. Of course, the working platform 34 can also be a rotatable working platform, which interacts with the first clamping mechanism 35 to realize the exchange of items without limiting the position of the storage drawer or the transport basket. The platform has more power units, and the cost is relatively high.

As shown in FIG. 3G , the extraction device 342 includes a third guide rail 3421 and a fourth guide rail 3422 , the distance and length between them are equivalent to the above-mentioned drawer position 100 , that is, the inner space is for the storage drawer 20 to be placed. It includes a side plate and a straight rail perpendicular thereto. Two ends of the straight rail, especially the side opposite to the drawer, are provided with a second guiding portion 3428 inclined downward. Between the third guide rail 3421 and the fourth guide rail 3422, a lead screw 3423 driven by the first driving mechanism 3426 is arranged, and the lead screw 3423 is connected with a gripper, which may include an outer gripper 3424 extending toward one side and The opposite inner gripper 3425 is set at 180 degrees between the two, and the whole gripper is rotated by the second driving mechanism 3427 . Wherein, the first driving mechanism 3426 may include a motor, a driving wheel, a driven wheel, and a belt connecting the driving wheel and the driven wheel. The structure is clear and will not be repeated here. The second driving mechanism 3427 may include a motor, a driving gear and a driven gear. The gripper is arranged in a bearing component and integrally connected with the gripper. The bearing component is connected to the screw rod through a connecting plate. Driven by the drive gear, the entire gripper can rotate.

The outer end 24 (outside of the drawer position) and the inner end 25 (inside of the drawer position) of the above-mentioned storage drawer 20 are respectively provided with handles 21 , and the handles are disposed close to the bottom of the storage drawer 20 . As shown in FIG. 9 , a slot 211 is provided under the handle 21 .

As shown in Figure 3H to Figure 3J, it is a schematic diagram of the operation of the storage drawer being taken out from the drawer position and dragged by the gripper between the third guide rail 3421 and the fourth guide rail 3422, where A and B are reference lines, A indicates the overall length of the extraction unit and B indicates the overall length of the drawer position. The working procedure for the roadway vehicle to extract the storage drawer is: the roadway vehicle 30 is in place, the height of the working platform 34 is adjusted, the inner gripper 3425 of the extraction device 342 runs to the end, and through the control of the second driving mechanism 3427, the inner gripper 3425 is rotated to the handle 21 inside the slot 211. Then the first driving mechanism 3426 drives the lead screw 3423 to drive the handle to lift the storage drawer 20 away from the drawer position 100 step by step. The second guide part 3428 can make the storage drawer enter the third guide rail 3421 and the fourth guide rail 3422 more easily. . As shown in FIG. 3I , when the gripper reaches the end and cannot continue to move forward, the second driving mechanism 3427 rotates, so that the outer gripper 3424 and the inner gripper 3425 rotate 90 degrees, and are in a state parallel to the bottom wall of the storage drawer 20. And run toward the inside of the storage drawer, when the outer gripper 3424 moves to the slot 211 of the handle 21, the second driving mechanism 3427 rotates 90 degrees to form a connection relationship with the slot 211, and then the first driving mechanism 3426 drives the wire Bar 3425 draws the entire storage drawer 20 into place.

As shown in Figure 3K to Figure 3N, it is a schematic diagram of the operation of the roadway vehicle returning the storage drawer to the storage position. The roadway vehicle 30 is in place, and the height of the working platform 34 is adjusted. The third and fourth guide rails are connected with the first guide rail and the second guide rail. Correspondingly, the outer handle 3424 of the extraction device 342 runs to the outer end of the extraction device, and through the control of the second driving mechanism 3427 , the outer handle 3424 is screwed into the slot 211 of the handle 21 . Then the first driving mechanism 3426 drives the lead screw 3423 to gradually send the storage drawer 20 into the drawer position 100, and the setting of the guide part 107 facilitates the storage drawer to enter the drawer position. As shown in FIG. 3L , when the gripper reaches the end and cannot move forward, the second driving mechanism 3427 rotates, so that the outer gripper 3424 and the inner gripper 3425 rotate 90 degrees, and are in a state parallel to the bottom wall of the storage drawer 20. And run toward the outside of the storage drawer, when the inner gripper 3425 moves to the place where the slot 211 is provided under the handle 21, the second driving mechanism 3427 rotates 90 degrees to form a connection relationship with the slot 211, and then the first driving mechanism 3426 The leading screw 3425 is driven to send the entire storage drawer 20 into the drawer position. Due to the differences in book specifications, the storage drawer 20 and the transport basket 40 can be designed into various models as the storage units for books. In order to adapt to different thicknesses, the storage compartments in the drawer can be designed in various thicknesses. It can be reasonably designed according to the actual book storage specifications, and different specifications can be designed in the same storage area. However, for the sake of cost control and design simplification, the storage drawer 20 and the transport basket 40 particularly need to have a fixed size, and the storage compartments have fewer specifications or have uniform specifications, which will result in the number of books in the storage compartments for each book. There may be differences in positions, such as: a certain book is front, back, left or right. After the book is taken by the first clamping mechanism, the clamping mechanism may grasp the center of the book, or it may be the center of the book. If you live in other positions that are off-center, when placing the storage compartment in the transport basket, you need to consider how to position it so that it can be placed accurately. Conversely, when it is necessary to place the books in the transport basket in the storage drawer, the same problem needs to be considered, which will put forward higher requirements for the clamping mechanism and the function of the whole system, such as adding a positioning system and increasing the design costs and production costs, increasing the complexity of the system. If a clamping mechanism without a positioning system is used, the book cannot be placed correctly due to position deviation, resulting in an abnormality of the system.

In order to solve the corresponding problems, this patent provides a simple and effective solution. The extraction device 342 is connected to the first rotating device or vibrating device 344 , and the transport basket position 341 is connected to the second rotating device or vibrating device 345 . By rotating or vibrating, the storage drawer 20 on the extraction device 342 and the transport basket 40 on the transport basket position 341 are tilted towards the side of the longitudinal track, and the books inside are all located on the side of the storage compartment towards the longitudinal track. The device can return to its original position again, so that the storage drawer 20 and the transportation basket 40 return to a horizontal state, and the books obtained by the first clamping mechanism in the storage drawer 20 will be placed in the transportation basket at the same position, without the need for an additional positioning system. Under certain circumstances, the accuracy of grasping and placement is guaranteed. The transport basket position 341 and the extraction device 342 are arranged on the working platform 34 by hinges or rotating shafts or similar devices towards the side of the longitudinal rail, and the first and second rotating devices 344 and 345 can be arranged on the transport basket Position 341 and extraction means 342 are away from the lower cam structure on the other side of the longitudinal track.

In this scheme, the transport basket position 341 is used to carry the transport basket 40, and the transport basket 40 is movably arranged at the transport basket position 341, and a limit mechanism is set between the two, and a limit pin can be set on the transport basket position 341, and the transport basket 40 The bottom wall can be provided with limiting holes. The transport basket 40 is smaller than the storage drawer 20 and is used to receive the books out of the storage drawer 20. It is provided with a plurality of storage compartments, and each storage compartment is suitable for a single book. The first clamping mechanism 35 can rotate , lift and move horizontally, complete the first exchange of books on the working platform. It first obtains the books in the storage drawer one by one by lifting and moving horizontally, and then rotates to the transport basket, and also uses lifting and moving horizontally to put the books in one by one. The rotation action of the first clamping mechanism 35 is realized by the following mechanism, that is: a driving gear 36 is fixedly arranged on the working platform 34, and a rotating toothed disc 37 is additionally arranged, and the center of the rotating toothed disc 37 is hollowed out. The hollow structure runs through the longitudinal rail 33 . The outer periphery of the rotating toothed disc 37 is provided with teeth, which can rotate around the longitudinal track from 0 to 360 degrees under the drive of the driving gear 36. The rotating toothed disc 37 is connected to a horizontal track 38, and the horizontal track 38 is connected to the lifting track 39, and the first clamping mechanism 35 is slidably connected to the lifting track 39. The rotating toothed plate 37 can be higher than the position of the above-mentioned transport basket and the extraction device, so that the first clamping mechanism can pick up books from above. The invention uses the roadway vehicle with the book exchange function, and can temporarily store books on the roadway vehicle during one entry and exit process, realizes one entry and exit of the roadway vehicle, and can obtain a certain number of books, thereby improving the use efficiency of the roadway vehicle.

As shown in Figures 4A and 4B, the transport basket 40 is also provided with a partition plate and storage compartments separated by the partition plate, and the bottom surface can be provided with a third limiting hole 41 and a fourth limiting hole 42, wherein the third limiting hole 41 and the fourth limiting hole 42 The four limit holes 42 are matched with the limit pins (not marked) provided on the position 341 of the transport basket to form a stable bearing. The third limiting hole 41 is located at the outer end of the bottom wall of the transport basket 40, and the position 341 of the transport basket is narrower than the transport basket 40, so that the third limiting hole 41 is exposed, which is convenient for the following transport basket receiving device 50 to receive the transport basket.

As shown in Figures 7A to 7D, it discloses a schematic structural view of an adapter platform 90, the adapter platform 90 is provided with a lifting and clamping mechanism, and the lifting and clamping mechanism is arranged on a horizontal linear guide device 91, including The longitudinal rails connected to the horizontal linear guide device 91, and the second clamping mechanism arranged on the longitudinal rails. The simplest working method of this transfer platform is that one end of the horizontal linear guide 91 extends to the top of the roadway, and the other end extends to the top of the access window 80, so as to directly obtain the articles or books in the transport basket 40 on the roadway vehicle, so that Access window 80 is out of the warehouse. For a library with a certain storage capacity, the temporary storage of items or books before leaving the warehouse must be considered. The transportation basket can be set on the above-mentioned roadway vehicle through the location of the transportation basket, which already has a temporary storage of books. The warehouse-out plan can be implemented.

In order to further improve the temporary storage of books, a temporary storage device 70 is provided below the transfer platform 90, and a large number of storage compartments are arranged in it, and the storage compartments are arranged one by one along the direction perpendicular to the horizontal linear guide device 91. Rows of storage boxes, each row of boxes perpendicular to the horizontal linear guide 91. In order to facilitate the positioning of the clamping mechanism, the temporary storage device 70 can be tilted, or the storage compartment inside it can be directly designed to be tilted, so that the book can always be kept in a certain direction, which is convenient for the positioning of the second clamping mechanism. The inclination direction of the storage compartment should be adapted to the inclination direction of the docked book storage unit (transportation basket at the second exchange below). The temporary storage device 70 may also include upper and lower layers, and the lower layer is connected to the telescopic mechanism and the tilting mechanism.

Since the storage compartment is a static structure, in order to facilitate the positioning of the clamping mechanism, the second clamping mechanism 94 is connected to the second horizontal linear guide device 93, and the second horizontal linear guide device 93 is connected to the longitudinal rail 92, The longitudinal rail 92 is connected to the horizontal linear guide 91 and the second horizontal linear guide 93 is perpendicular to the horizontal linear guide 91 . This allows the second clamping mechanism 94 to move in two horizontal directions of the temporary storage device. The second clamping mechanism 94 can also be further obliquely arranged on the second horizontal linear guide device 93, and the inclination angle is the same as the inclination direction of the storage compartment in the temporary storage device.

As shown in FIG. 1A to FIG. 1C , a transportation basket pick-up device 50 and a transportation basket temporary storage device 60 are provided between the roadway and the transfer platform 90 . As shown in FIG. 6A and FIG. 6B , the transport crate temporary storage device may be a circular conveying line 60 including several pallets 61 for temporary storage of the transport crate. Limiting plates 62 are provided on the pallet 61 to limit the position of the transport basket in the pallet, especially at the four corners of the pallet. The outer side of the tray 61 parallel to the conveying line has a notch 63 to facilitate the exposure of the third limiting hole 41 of the transport basket 40 . The function of the transportation basket temporary storage device 60 is to temporarily store the transportation basket, and cooperate with the transportation basket pick-up device 50 to complete the exchange of the transportation basket between the circular conveying line 60 and the transportation basket position 341 . The cooperation between the transportation basket pick-up device 50, the transportation basket temporary storage device 60 and the transfer platform 90 completes the exchange of books between the transportation basket, the temporary storage location and the access window. To this end, it has at least one first switching end close to the aisle, and at least one second switching end close to the switching platform. At the first exchange end, a transport basket receiving device 50 is set, and the transport basket receiving device 50 can be opposite to the above-mentioned transport basket position 341. Two transport basket receiving devices are also arranged at the end to cooperate with it. When it is necessary to complete the exchange of the transportation basket position and the transportation basket on the pallet, a certain pallet on the circulating conveying line, the transportation basket receiving device 50 and the transportation basket position 341 on the roadway vehicle are relatively up and down to complete the exchange of the transportation basket. At the second exchange end, another transport basket receiving device 50 is set, opposite to the second clamping mechanism 94. When it is necessary to complete the exchange of books in the transport basket on the pallet and in the storage compartment in the temporary storage device, the transport basket The receiving device 50 lifts up the transport basket on the tray 61, and completes the exchange of books between the two through the edge of the working surface and the second clamping mechanism 94 so far. The first exchanging end is generally located at the exit of the roadway, corresponding to the roadway vehicle. The second exchanging end is generally located within the working area of the lifting and clamping mechanism of the transfer platform 90, and the transport basket pick-up device 50 is arranged on both sides or below the circulating conveying line.

The transportation basket pick-up device 50 includes a lifting arm, and the lifting arm is generally located on both sides of the circulating conveying line. At the first exchange end, the lifting arm can extend from the circulating conveying line pallet to the transporting basket on the roadway. At the position, an area for the circulating conveying line to pass is formed between the lifting arms, and the lifting arm has a supporting device for supporting the transport basket. As shown in Fig. 5A and Fig. 5B, it is a kind of scheme that is arranged on both sides of the circular conveying line, and the transport basket pick-up device 50 includes a first lifting device 51 and a second lifting device 52 positioned on both sides of the circulating conveying line, so as to The first lifting device 51 is an example, which includes a lifting arm 511, and the lifting arm 511 extends a supporting device 512 towards the direction of the circular conveying line, and the supporting device 512 can further include a horizontal telescopic device 513, and the horizontal telescopic device 513 is provided with a third limiting pin 514 . The transportation basket pick-up device 50 arranged at the second exchange end needs to be tilted, so the first lifting device 51 and the second lifting device 52 arranged at the second exchange end can both be provided with a tilting mechanism 53 that tilts the lifting arm. The cooperation structure between the transportation basket pick-up device 50 and the transportation basket 40 may be in the form of the above-mentioned limiting holes and limiting pins, or other limiting methods may be used. The specific exchange method is: when the transport basket 40 in the transport basket position needs to be transferred to the pallet 61 of the transport basket temporary storage device 60, the lifting arm 511 rises, and the height of the transport basket position 341 of the roadway vehicle is adjusted to suit it. , so that the third limit pin of the supporting device 512 on the lifting arm 511 is inserted into the third limit hole 41 of the transport basket, and then the position of the transport basket of the roadway vehicle is lowered, and the transport basket 40 is separated from the fourth limit position on the position of the transport basket. Position pin, roadway car drives away, and transport basket 40 breaks away from roadway car completely. Subsequently, when the pallet 61 runs to the bottom of the lifting arm 511 , the lifting arm 511 descends so that the transport basket is placed on the pallet 61 . Subsequently, the lifting arm 511 is raised or lowered to a lower level, and the circulating conveying line 60 continues to run. Conversely, when the transportation basket 40 is empty and needs to be transferred to the roadway vehicle, after the pallet 61 corresponds to the lifting arm 511, the lifting arm 511 will lift the transportation basket on the pallet 61, and then the roadway vehicle adjusts the height to adapt to it, and the transportation basket The limit pin provided on the position corresponds to the fourth limit hole 42 provided on the transport basket, and then the lifting arm 511 descends, and the roadway vehicle drives away.

As shown in Fig. 5C and Fig. 5D, the transport basket pick-up device 50 may be a transport basket pick-up device 501 without an inclined structure arranged at the first exchange and a transport basket with an inclined structure arranged at the second exchange pick-up device 502. The transportation basket pick-up device 502 with tilting function further includes a tilting mechanism 53, the purpose of which is to tilt the items in the transportation basket transported on the circulating conveying line to one direction, so as to facilitate the gripping mechanism to grab, so that the tilting direction is the same as the temporary one. Compatible with the tilt direction of the storage device.

As shown in FIGS. 8A to 8C , the access window 80 includes a first pushing mechanism 81 , a second pushing mechanism 82 and a reversing mechanism 83 between the first pushing mechanism 81 and the second pushing mechanism 82 . The first push mechanism 81 is positioned at the inside of the storehouse, and it is provided with a moving plate 88 near the inside of the storehouse. It is arranged on the outside of the first push mechanism 81 by means of a rotating shaft or a hinge, and its lower end is provided with a supporting device 881 formed by an electromagnet, which can Realize the transition between the horizontal placement and downward tilting of the mobile plate. A collecting device 84 is arranged below the moving plate 88 , and a book access opening 85 is arranged adjacent to the outer side of the second pushing mechanism 82 . Both the first pushing mechanism 81 and the second pushing mechanism 82 are provided with a detection device 86 beside them, and a photoelectric sensing device 87 is arranged below them. The detection device 86 can generally be a radio frequency tag detection antenna for reading RFID tags of books. Taking the first push mechanism 81 as an example, it includes a first synchronous belt (toothed belt) 811 and a second synchronous belt (toothed belt) 812 that are opposite and vertically arranged, and the first synchronous belt 811 and the second synchronous belt 812 are A distance adjusting device 813 is provided, which can be a forward and reverse thread mechanism driven by a motor, to adjust the distance between the two timing belts to realize the clamping and loosening actions of the two. The first push mechanism 81 and the second push mechanism 82 form a longitudinal accommodating space, the distance adjusting device 813 can adjust the accommodating space to clamp or loosen, and the reversing mechanism 83 completes the reversing of books when the accommodating space is relaxed , when the accommodating space is clamped, the first pushing mechanism 81 and the second pushing mechanism 82 are activated to complete the storage or output of books. In this solution, the book can be clamped vertically, so that the book clamping mechanism can easily send the book into the pushing mechanism or take it out from the pushing mechanism.

Take books out of the library as an example: the storage space is relaxed, and books can be easily sent into the first push mechanism 81, and then the spacing adjustment device 813 adjusts the spacing so that the books are clamped. Referring to the direction of Figure 8B, the first timing belt 811 rotates clockwise, and the second synchronous belt 812 rotates counterclockwise, so that the books clamped between the two run toward the second push mechanism 82. After the second push mechanism 82 gets the books, it clamps the books out of the library with the same action sports.

When books entered the first push mechanism 81, the detection device 86 on its side detected its state, and when the state was normal, it continued to enter the second push mechanism 82, and the detection device on its side could also continue to detect, and it went out of the library when the state was normal. If the state of the book is abnormal, the first pushing mechanism 81 is reversed, the moving plate 88 is tilted, and the book is conveyed by the first pushing mechanism 81 and enters the collecting device 84 at the moving plate 88 .

Take the book storage as an example: the reader puts the book vertically into the book access port 85, the second push mechanism 82 is clamped in the accommodation space, the first synchronous belt 821 rotates counterclockwise, and the second synchronous belt 822 rotates clockwise , so that the books clamped between the two run towards the first push mechanism 81, and after the first push mechanism 81 gets the books, it clamps the books with the same action and moves into the library, and makes the book part extend out of the first push mechanism 81 , so that books can be taken very easily.

Another key improvement of the present invention lies in the reversing mechanism 83 between the first pushing mechanism 81 and the second pushing mechanism 82, and the cooperation of the three can simply and effectively realize the rotation of books. The reversing mechanism 83 has a book clamping mechanism 831, the book clamping mechanism 831 is arranged on the rotating mechanism 832, and the rotating mechanism 832 is arranged on the lifting mechanism 833, that is: the book clamping mechanism 831 can complete the rotation and lifting Actions. Since the first pushing mechanism 81 and the second pushing mechanism 82 have formed a longitudinal accommodating space, books must be placed in a vertical manner. Even if the reader places it at will, the book adjustment can be completed by rotating it. Compared with the prior art, through simple cooperation, the transformation of the direction of the book can be completed without the need of a centering mechanism.

The parameters of the book and the direction in which it is placed in the second pushing mechanism can be learned through the above-mentioned detection device 86 and the photoelectric sensing device 87, wherein a plurality of photoelectric sensing devices can be arranged below the second pushing mechanism 82, and can be arranged below the first pushing mechanism 81. There is 1 set.

Take the book storage as an example: when the reader puts the book randomly into the book access opening 85, the short side may face downward, and the size and placement direction of the book can be identified by the detection device 86 and the photoelectric sensor device 87, especially It is the three sensors below the second push mechanism 82, which can obtain the placement directions of books of various sizes. When the book needs to be rotated, the book is already in the middle of the two push mechanisms, and the first push mechanism 81 and the second push mechanism 82 are relaxed. , the book clamping mechanism 831 clamps the book, and lifts it upwards. After rising to a set height, it rotates, and the book is directly reversed and placed in the first pushing mechanism 81, and then the first pushing mechanism 81 clamps, Run the books towards the library in the direction that is convenient for receiving. The bottom of the first push mechanism 81 is close to the inner side of the library, and only one photoelectric induction device needs to be provided. Since the size and placement direction of the book have been known at the second push mechanism, and the direction is adjusted to the required direction by the reversing mechanism 83, then At the first push mechanism, according to the time when the photoelectric sensing device is blocked and the operating speed of the first push mechanism, the length of the book stretching out from the moving plate 88 can be controlled. The plate 88 is in a horizontal state, and when it reaches the set distance on the moving plate, the second clamping mechanism 94 is in place to clamp the books that need to be stored.

Claims (18)

1. An automatic storage and extraction system for high-density storage of items, characterized in that it includes: a frame (10), a storage drawer (20), a roadway cart (30), a transport basket (40), an access window (80) and transfer platform (90); The frame (10) is provided with a large number of drawer positions for placing storage drawers (20); The roadway vehicle (30) has an extracting device (342) and a transport basket position (341), and the storage drawer (20) is taken out from the frame (10) or returned to the frame (10) through the extracting device (342) ; Above-mentioned transportation basket (40) activity is arranged on the transportation basket position (341); The roadway vehicle (30) is provided with a first clamping mechanism (35), and the first clamping mechanism (35) completes the transportation of the storage drawer (20) on the extraction device (342) and the transport basket position (341) Item exchange between baskets (40); The transfer platform (90) has a second clamping mechanism (94), and the second clamping mechanism (94) completes the exchange of items between the transport basket (40) and the access window (80). 2. The automatic storage and retrieval system for high-density storage of articles according to claim 1, characterized in that: it further includes a temporary storage device (70), which has a large number of storage cells, and is arranged on the opposite side of the access window (80). On the adjacent side, the second clamping mechanism (94) completes the exchange of items between the transport basket (40), the temporary storage device (70) and the access window (80). 3. The automatic storage and extraction system for high-density storage of articles according to claim 2, characterized in that: it further comprises a transport basket receiving device (50) and a transport basket temporary storage device (60); The transportation basket temporary storage device (60) is a horizontal circular conveying line containing a large number of pallets (61), and the pallets (61) are used to store the transportation basket (40), which has at least one first exchange end close to the roadway, and at least one second switching terminal adjacent to the switching platform (90); At the first exchange end, a transport basket receiving device (50) is arranged, and the transport basket receiving device (50) can be opposite to the transport basket position (341); At the second exchange end, another transport basket receiving device (50) is arranged, and the transport basket receiving device (50) can be opposite to the second clamping mechanism (94); The transportation basket pick-up device (50) includes a lifting arm (511), and the lifting arm (511) is provided with a supporting device for supporting the transportation basket; The second clamping mechanism (94) completes the exchange of items between the transport basket (40), the temporary storage device (70) and the access window (80) at the second exchange end. 4. The automatic storage and retrieval system for high-density storage of articles according to claim 3, characterized in that: The roadway vehicle (30) includes a working platform (34) that is slidably connected to the longitudinal rail (33). (34); the position of the transport basket (341) is set on the outside perpendicular to the direction of the roadway, and the extraction device (342) is set on the inside perpendicular to the direction of the roadway; The extracting device (342) is connected with a first rotating device (344), and tilts towards the direction of the longitudinal rail (33) through the first rotating device (344); The transport basket position (341) is connected with a second rotating device (345) and tilts towards the direction of the longitudinal rail (33) through the second rotating device (345); The crate receiver (50) at the second exchange end has a tilting mechanism (53); The storage compartments on the temporary storage device (70) are arranged obliquely, and the inclination direction thereof is adapted to the inclination direction of the above-mentioned inclination mechanism (53). 5. The automatic storage and extraction system for high-density storage of items according to claim 4, characterized in that: the second clamping mechanism (94) is connected to the second horizontal linear guide device (93), and the second The horizontal linear guide (93) is connected to the longitudinal rail (92), and the longitudinal rail (92) is connected to the horizontal linear guide (91), and the horizontal linear guide (91) is arranged on the transfer platform (90), which extends from the inside of the access window (80) to the second exchange end, and the above-mentioned second horizontal linear guide (93) is perpendicular to the horizontal linear guide (91). 6. The automatic storage and extraction system for high-density storage of items according to claim 5, characterized in that: the second clamping mechanism (94) is further inclined to be installed on the second horizontal linear guide device 93, and the direction of the inclination is the same as that of the temporary storage The storage compartments in the device are inclined in the same direction. 7. The automatic storage and extraction system for high-density storage of items according to claim 6, characterized in that: the temporary storage device (70) comprises two upper and lower layers, and the lower layer is connected with a telescopic mechanism and a tilting mechanism. 8. The automatic storage and extraction system for high-density storage of items according to claim 7, characterized in that: the access window (80) includes a first push mechanism (81), a second push mechanism (82) and a A reversing mechanism (83) between the first push mechanism (81) and the second push mechanism (82), and a detection device (86) is arranged on the side of the first push mechanism (81) and the second push mechanism (82) , a photoelectric sensing device (87) is arranged below; the first push mechanism (81) is located inside the library, a collection device (84) is arranged below it, and a book access port (85) is arranged outside the second push mechanism (82) . 9. The automatic storage and extraction system for high-density storage of items according to claim 8, characterized in that: the first pushing mechanism (81) and the second pushing mechanism (82) both include a first timing belt ( 811, 821) and the second synchronous belt (812, 822), the first synchronous belt (811, 821) and the second synchronous belt (812, 822) are provided with a distance adjusting device (813). 10. The automatic storage and extraction system for high-density storage of items according to claim 9, characterized in that: the reversing mechanism (83) includes a third clamping mechanism (831), and the third clamping mechanism (831) The rotating mechanism (832) is arranged on the rotating mechanism (832), and the rotating mechanism (832) is arranged on the lifting mechanism (833). 11. The automatic storage and retrieval system for high-density storage of items according to any one of claims 4 to 10, characterized in that: The working platform (34) is fixedly provided with a driving gear (36) and a rotating toothed disc (37), and the rotating toothed disc (37) runs through the longitudinal track (33) and the rotating gear of the driving gear (36) through a central hollow structure. combine; One end of the rotating toothed disc (37) is connected to a horizontal track (38), the horizontal track (38) is connected to the lifting track (39), and the first clamping mechanism (35) is slidably connected to the lifting track (39) . 12. The automatic storage and extraction system for high-density storage of items according to claim 11, characterized in that: the drawer position (100) includes a first set between the outer and inner longitudinal support bars of the frame (10) rail (104) and second rail (105). 13. The automatic storage and extraction system for high-density storage of items according to claim 12, characterized in that: the outer end (24) and inner end (25) of the storage drawer are respectively provided with a handle (21), the handle ( 21) is provided with a slot (211); the handle provided on the extraction device (342), the handle cooperates with the above slot (211), and completes the acquisition or return of the storage drawer through the drive device. 14. The automatic storage and extraction system for high-density storage of items according to claim 13, characterized in that, the extraction device (342) comprises a third guide rail (3421) and a fourth guide rail (3422), between which The distance and length are equivalent to the position of the drawer (100); a lead screw (3423) driven by the first driving mechanism (3426) is arranged between the third guide rail (3421) and the fourth guide rail (3422), so The lead screw (3423) is connected with a gripper, which includes an outer gripper (3424) extending toward one side and an inner gripper (3425) facing oppositely, the two are set at 180 degrees, and the entire gripper passes through The second drive mechanism (3427) rotates. 15. The automatic storage and extraction system for high-density storage of articles according to any one of claims 4 to 10 or 12 to 14, characterized in that: the bottom surface of the transport basket (40) has a third limiting hole ( 41) and the fourth limit hole (42), the position of the transportation basket (341) is provided with a fourth limit pin matching the fourth limit hole (42); the lifting arm (511) is provided with There is a third limiting pin (514) matched with the third limiting hole (41). 16. The automatic storage and extraction system for high-density storage of items according to any one of claims 1 to 10 or 12 to 14, characterized in that: the longitudinal rail (33) of the roadway vehicle (30) runs on Between the upper and lower rails (31, 32) integrally connected with the above-mentioned frame (10). 17. The automatic storage and extraction system for high-density storage of items according to any one of claims 3 to 10 or 12 to 14, characterized in that: the outer side of the tray (61) parallel to the conveying line It has a structure of a slot (63) exposed for the third position-limiting hole (41) of the transport basket (40). 18. The automatic storage and extraction system for high-density storage of items according to claim 15, characterized in that: the pallet (61) is provided with a limit mechanism for the transport basket (40).