CN114426161A - Stereoscopic storage system and control method thereof - Google Patents
Stereoscopic storage system and control method thereof Download PDFInfo
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- CN114426161A CN114426161A CN202111503713.6A CN202111503713A CN114426161A CN 114426161 A CN114426161 A CN 114426161A CN 202111503713 A CN202111503713 A CN 202111503713A CN 114426161 A CN114426161 A CN 114426161A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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Abstract
The application relates to a three-dimensional storage system and a control method thereof. The three-dimensional storage system comprises an unstacking robot and a material conveying line; the unstacking robot is used for unstacking stacked materials and then placing the unstacked materials at the inlet end of the material conveying line; the material conveying line comprises a swing branch line and an N-layer storage branch line; the N layers of storage branch lines are parallel to each other and are arranged along the vertical direction; the swinging and rotating line comprises a vertical swinging and rotating plate, the vertical swinging and rotating plate can swing and rotate in the vertical direction, and after swinging and rotating, the vertical swinging and rotating plate is in butt joint with any layer of the N layers of storage lines. The scheme that this application provided under the condition that large-scale whole buttress material can't carry out three-dimensional storage in the factory building that the headroom is low, can carry out the three-dimensional storage of layering after unstacking the material of stack, not only be convenient for save and the material of taking, can also maximize utilization factory building space, save the area, satisfy present automatic demand.
Description
Technical Field
The present application relates to the field of stereoscopic storage technologies, and in particular, to a stereoscopic storage system and a control method thereof.
Background
In recent years, the use of storage shelves has led to higher and higher warehouse space utilization rate of enterprises, but gradually ordinary storage shelves have not been able to meet diversified demands of customers, and as the labor cost is higher and higher, the warehouse logistics cost accounts for about 50% of the total cost of the manufacturing industry, so that many enterprises want to realize automatic storage management to reduce the labor cost.
In the related art, along with the rapid development of the automation of the e-commerce and the factory, the storage scale of box-type products is larger and larger, the requirements on the storage space and the layout of the box-type products are higher and higher, especially when a large whole stack of materials needs to be stored under the condition that the headroom of a factory building is low, the storage of the whole stack cannot be carried out due to insufficient height of the factory building, the materials in the storage state of the whole stack are not convenient to take, the space utilization of the factory building is limited, and the automation development is not facilitated, so that a three-dimensional storage system is urgently needed to be designed to meet the three-dimensional storage requirements of the large materials.
Disclosure of Invention
In order to solve the problems in the related art, the three-dimensional storage system and the control method thereof can be used for carrying out layered three-dimensional storage on unstacked materials, are convenient for storing and taking the materials, can also maximally utilize the space of a factory building, save the area and meet the requirement of modern automation.
The application provides a three-dimensional storage system in a first aspect, which comprises an unstacking robot and a material conveying line; the unstacking robot is used for unstacking stacked materials and then placing the unstacked materials at the inlet end of the material conveying line; the material transfer chain includes: swinging a diversion line and an N-layer storage line; the N layers of storage branch lines are parallel to each other and are arranged along the vertical direction; the swinging and rotating line comprises a vertical swinging and rotating plate, the vertical swinging and rotating plate can swing and rotate in the vertical direction, and is in butt joint with any one layer of the N layers of storage lines after swinging and rotating, and N is an integer greater than one.
In one embodiment, M storage branches are arranged in one layer, the M storage branches are horizontally arranged, and M is an integer greater than one; the material conveying line further comprises: n cache branches; m-1 transmission nodes are arranged on one cache branch line, and the M-1 transmission nodes are respectively butted with the 2 nd to M storage branch lines in one layer of the storage branch lines; the N cache branch lines are parallel to each other and are arranged in the vertical direction, and the transmission direction of the cache branch lines is perpendicular to that of the storage branch lines.
In one embodiment, the swinging branch line further comprises a rotating base, and the rotating base can drive the swinging branch line to rotate to the interface of the cache branch line in the horizontal direction.
In one embodiment, the material conveying line has L groups, where L is an integer greater than or equal to one, and a group of the material conveying lines includes one swing branch line and a row of N storage branch lines.
In one embodiment, the N connection points of the N storage branches and the swing branch are distributed along the swing track of the vertical swing plate.
In one embodiment, the material transfer line further comprises N outbound branches; the N warehouse-out branch lines are parallel to each other and are arranged along the vertical direction, and the transmission direction of the warehouse-out branch lines is perpendicular to the transmission direction of the storage branch lines; and one warehouse-out branch line is in butt joint with one layer of the storage branch line and is used for conveying the materials stored on the N layers of the storage branch lines out of the warehouse.
In one embodiment, the buffer thread further comprises a balance sorter; the balance wheel sorting machine is arranged on a transmission node of the cache branch line and is used for distributing different types of materials to a corresponding storage branch line.
Another aspect of the present application provides a method for controlling a stereoscopic storage system, including: through the scanner and the control center and the stereo storage system, the implementation comprises the following steps:
s1, the unstacking robot unstacks the stacked materials and places the unstacked materials at an inlet of the material conveying line;
s2, the material passes through the scanner, and the scanner acquires the relevant information of the material and sends the information to the control center;
s3, the control center distributes storage branch lines according to the information of the materials, controls the swing transfer conveying line to swing according to the levels of the storage branch lines, and distributes the materials to the corresponding storage branch lines;
and S4, the control center receives the material delivery instruction, controls the plurality of storage branch lines and the delivery branch line to move, and delivers the material out of the warehouse.
In one embodiment, the distributing the storage tap by the control center according to the information of the material comprises:
the control center acquires the quantity information and the category information of the materials, judges whether the quantity of the materials of the category is larger than the maximum storage value set by the system or not according to the quantity information and the category information of the acquired materials, and distributes the storage branch lines according to the category information of the materials if the quantity of the materials of the category is not larger than the maximum storage value set by the system.
In one embodiment, after the control center receives the material warehouse-out command, the method includes:
and judging whether the level of the storage branching line where the material is located is in one layer, if so, controlling the storage branching line and the ex-warehouse branching line of the one layer to move, and if not, controlling the storage branching line and the ex-warehouse branching line of the two layers to move.
The technical scheme provided by the application can comprise the following beneficial effects: when large whole stack materials are conveyed to a door of a factory building, the unstacking robot unstacks the stacked materials and places the unstacked materials at an inlet end of a material conveying line, the material conveying line comprises a swing and rotation distributing line and N layers of storage distributing lines, and the N layers of storage distributing lines are parallel to each other and are distributed in the vertical direction; the pendulum changes the separated time and changes the board including vertical pendulum, vertical pendulum changes the board and can change in vertical direction pendulum, and after the pendulum changes the back with arbitrary layer storage separated time butt joint in the N layer storage separated time, when the material transportation after breaking a jam changes the board to the vertical pendulum of pendulum commentaries on classics separated time, can change the storage separated time of the transmission to the one deck of pendulum of the vertical pendulum of board of the separated time through the pendulum of pendulum, make under the condition that large-scale whole buttress material can't carry out three-dimensional storage at the factory building that highly the headroom is low, carry out the three-dimensional storage of layering with the material after breaking a jam, not only be convenient for the storage and the material of taking, can also the maximize utilizes the factory building space, save the area, satisfy modern automatic demand.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic structural diagram of a stereoscopic storage system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a swing zero degree of a swing branch line shown in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a swinging branch line shown in an embodiment of the present application after swinging;
fig. 4 is a flowchart illustrating a control method of a stereoscopic storage system according to an embodiment of the present application;
fig. 5 is a schematic flowchart illustrating a process of allocating a storage branch by a control center according to an embodiment of the present application.
Description of reference numerals:
1, an unstacking robot; 2, a material conveying line; 21, swinging a diversion line; 211, a vertical swing plate; 22, storing the branch lines; 23, caching branching; 231, balance sorter; 24, conveying and branching empty trays; 25, warehouse-out branching; 3, a scanner.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
At present, along with the rapid development of the automation of the e-commerce and the factory, the storage scale of box-type products is larger and larger, the requirements on the storage space and the layout of the box-type products are higher and higher, particularly, when a large whole stack of materials needs to be stored under the condition that the headroom of a factory building is low, the whole stack storage cannot be carried out due to insufficient height of the factory building, the materials in the stacking storage state are not convenient to take, the space utilization of the factory building is limited, and the automatic development is not facilitated.
To above-mentioned problem, this application embodiment provides a three-dimensional storage system, can carry out the three-dimensional storage of layering after unstacking with the material of stack, not only be convenient for store and the material of taking, can also the maximize utilizes factory building space, saves the area, satisfies modern automatic demand.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
In a first embodiment, please refer to fig. 1 to fig. 3, and fig. 1 is a schematic structural diagram of a stereoscopic storage system according to an embodiment of the present application.
Referring to fig. 1, the three-dimensional storage system of the present application includes an unstacking robot 1 and a material conveying line 2; the unstacking robot 1 is arranged on two sides of an inlet of the material conveying line 2 and used for unstacking stacked materials and placing the unstacked materials at the inlet end of the material conveying line 2, and after the unstacking robot 1 completes the unstacking, empty trays or residual products return to a warehouse inlet along an empty tray conveying branch line 24; the material conveying line 2 comprises a swinging diversion line 21 and an N-layer storage branching line 22; the N layers of storage branch lines 22 are parallel to each other and arranged in the vertical direction; the starting end of the swinging and turning line 21 is connected with the inlet end of the material conveying line 2, as shown in fig. 2-3, the swinging and turning line 21 comprises a vertical swinging and turning plate 211, the vertical swinging and turning plate 211 can swing and turn in the vertical direction, and the N connecting points of the N layers of storage lines 22 and the swinging and turning line 21 are distributed along the swinging and turning track of the vertical swinging and turning plate, so that the vertical swinging and turning plate 211 can be butted with any layer of storage lines 22 in the N layers of storage lines 22 after swinging and turning; when the N-layer cache branching line 21 is 2 layers, the swing angle of the vertical swing plate 211 is 0 degree and 27.8 degrees, and the material conveying line 2 is specifically a power roller conveying line.
In the first embodiment, when a large whole stack of materials is conveyed to a doorway of a factory building, the unstacking robot unstacks the stacked materials and places the unstacked materials at an inlet end of a material conveying line, the material conveying line comprises a swing branch line and N layers of storage branch lines, and the N layers of storage branch lines are parallel to each other and are arranged in the vertical direction; the pendulum changes the separated time and changes the board including vertical pendulum, vertical pendulum changes the board and can change in vertical direction pendulum, and after the pendulum changes the back with arbitrary layer storage separated time butt joint in the N layer storage separated time, N is for being greater than an integer, when the material transportation after breaking a jam to the vertical pendulum of pendulum changes the board of separated time, can change the storage separated time of the transmission of arbitrary one deck through the pendulum of the vertical pendulum of pendulum changes the board of separated time and go up to save for under the condition that large-scale whole buttress material can't carry out three-dimensional storage headroom at the factory building of highly low, the material after will breaking a jam carries out the three-dimensional storage of layering, not only is convenient for save and take the material, can also the maximize utilizes factory building space, saves the area, satisfies modern automatic demand.
In the second embodiment, with the development of e-commerce, box-type products are more and more in variety, and in order to fully utilize the lateral space of the factory building when classified storage is performed according to the types of the products, on the basis of the first embodiment, the present application provides a corresponding scheme, please refer to fig. 1, which specifically includes:
arranging a scanner 3 at an inlet end of a material conveying line 2 for acquiring related information of materials, wherein the related information comprises the weight, size, order, distribution area and quantity of the materials; in the N layers of storage branch lines 22, each layer of the storage branch lines 22 is provided with M storage branch lines, the M storage branch lines are horizontally arranged, and M is an integer greater than one, so that the materials can be transversely stored on the M storage branch lines 22 according to different types; the material conveying line 2 further includes: n cache lines 23; the vertical swinging plate 211 is in butt joint with any one of the N cache branch lines 23 after swinging, one cache branch line 23 is provided with M-1 transmission nodes, and the M-1 transmission nodes are in butt joint with the 2 nd to M storage branch lines 22 in the storage branch line 22; the N cache branch lines 23 are parallel to each other and are arranged in the vertical direction, and the transmission direction of the cache branch lines 23 is perpendicular to the transmission direction of the storage branch lines 22; a balance wheel sorting machine 231 is further arranged on the cache branching line 23, specifically, the balance wheel sorting machine 231 is arranged on a transmission node of the cache branching line 23 and is used for distributing different types of materials to a corresponding storage branching line 22; the swinging and rotating branch line 21 further comprises a rotating base, and the rotating base can drive the swinging and rotating branch line to rotate to the interface of the cache branch line in the horizontal direction.
In the embodiment of the application, each layer of the storage branch line is provided with M storage branch lines, one cache branch line is provided with M-1 transmission nodes, the M-1 transmission nodes are respectively butted with the 2 nd to M storage branch lines in the storage branch line, and a balance wheel sorting machine is arranged at the position of the transmission point, so that the vertical swinging plate can be butted with any cache branch line in the N cache branch lines after swinging, or a rotating base is arranged at the swinging branch line, so that the vertical swinging plate can be directly butted with the interface of the cache branch lines after swinging, that is, the material can be transmitted to the corresponding storage branch line, the transverse space of a factory building is fully utilized, and the classified storage of the material is realized.
Third embodiment, at present, most mills want to realize automatic storage management, but some factory buildings' shapes are not regular quadrangles, if only use a whole set of storage separated time, can lead to the horizontal space of factory building can not obtain make full use of, in order to solve above-mentioned problem, this application has proposed corresponding scheme, specifically is:
on the basis of the first embodiment, the material conveying line 2 is provided with the L groups, wherein L is an integer greater than or equal to one, the material conveying line 2 comprises a swing branch line 21 and a column of N-layer storage branch lines 22, namely, a user can select and arrange 1 group or more than 1 group of three-dimensional storage systems according to the transverse space structure of a factory building, and each group of three-dimensional storage systems is not interfered with each other, so that the transverse space of the factory building is more favorably fully utilized for layout, and more material storage is realized.
In this application embodiment, through setting up L group noninterference's three-dimensional storage system, can make full use of the horizontal space of factory building carry out the overall arrangement, realize more material storage.
Fourth embodiment, in order to cooperate automated production, realize the intelligent storage and the ex-warehouse of material, on the basis of first embodiment, this application has proposed corresponding scheme, specifically is:
referring to fig. 1, the material conveying line further includes N delivery branches 25; the N delivery branch lines 25 are parallel to each other and arranged in the vertical direction, and the transmission direction of the delivery branch lines 25 is perpendicular to the transmission direction of the storage branch line 22; one of the outbound branches 25 is in butt joint with one of the storage branches 22, when a user sends a material outbound instruction, the storage branch 22 where the material is located moves, the material is transmitted to the outbound branch 25, and the outbound branch 25 conveys the material out of the warehouse.
In the embodiment of the application, the N ex-warehouse branch lines are matched according to the N layers of storage branch lines, so that the materials stored on the storage branch lines can be transmitted to the ex-warehouse branch lines along with the movement of the storage branch lines, the materials are conveyed out of the warehouse by the ex-warehouse branch lines, manual participation is not needed in the whole process, and the intelligent storage and ex-warehouse of the materials are realized.
In a fifth embodiment, referring to fig. 4, the present application further provides a method for controlling a stereoscopic storage system, including: through the scanner and the control center and the stereo storage system, the implementation comprises the following steps:
s1, when the whole stack of large materials is conveyed to a warehouse entry of a factory building, the unstacking robot unstacks the stacked materials and then places the materials at an entrance of the material conveying line;
s2, the material moves forwards along with the movement of the material conveying line, when the material passes through a scanner arranged at the inlet end of the material conveying line, the scanner scans the material to obtain relevant information of the material, wherein the relevant information comprises the weight, size, order form, distribution area and quantity of the material, and the scanner sends the obtained relevant information to a control center;
s3, the control center allocates storage branch lines according to the information of the material, as shown in fig. 5, specifically, after the construction of each conveyor line is completed, the control center sets a maximum storage value of each conveyor line, when the control center obtains the related information of the material sent by the scanner (for example, the material is a product a), the control center first checks the number Amax of the vacant storage locations of the product a according to the type information of the material, and then judges whether the number a of the product a that needs to be stored at this time is greater than or equal to the Amax according to the number information of the material, if not, the control center indicates a storage location with a margin, the control center controls the swinging conveyor line to swing according to the level of the storage branch lines, and transports the material to the storage branch lines; if yes, the control center judges whether the quantity A of the products a is larger than or equal to a preset value B, if yes, the control center checks whether other unlocked storage branch lines exist, if yes, the control center sends the storage branch lines to the storage branch lines, and the storage branch lines are locked into the storage branch lines of the products a; if the materials are not separated from the balance wheel sorting machine, the control center controls the material conveying line to stop running, and the products a stay on the balance wheel sorting machine at the foremost end of the inlet of the material conveying line and wait in situ until a spare storage position is available; it should be noted that when no material is stored on one of the storage lines, the empty storage bit Amax is equal to the maximum storage value at this time;
s4, after receiving an a product ex-warehouse instruction sent by a user, the control center judges which layer of N layers of storage branch lines the a product is located on, if N is 2, the control center judges whether the level of the storage branch line the a product is located on is one layer, if yes, the control center controls the storage branch line and the ex-warehouse branch line to move on one layer, if not, the control center controls the storage branch line and the ex-warehouse branch line to move on two layers, optionally, the control center can simultaneously control one or more storage branch lines in the N layers of storage branch lines to move, the a product is transmitted to the ex-warehouse branch line and then is transported out of the warehouse by the ex-warehouse branch line to move, when the a product passes through a scanner provided with an ex-warehouse branch line outlet end, the scanner scans the a product to obtain the information of the a product to be sent to the control center, the control center updates the storage quantity value of the a product, namely, when the ex-warehouse instruction is an a C product, and when the number of the spare storage bits of the product a is equal to the maximum storage value of a storage branch line, the product a on the storage branch line is completely discharged, the control center unlocks the storage branch line, and the product a is allowed to enter another type of product again.
In the embodiment of the application, when the materials need to be stored, the unstacking robot unstacks the materials in the whole stack and then places the materials at the inlet of the material conveying line, the information of the materials is acquired through the scanner, the control center distributes the storage branch lines according to the acquired information of the materials, controls the swinging conveying line to swing according to the levels of the storage branch lines, conveys the materials to the corresponding storage branch lines, and when a user sends out a material warehouse-out instruction, the control center automatically judges the levels of the storage branch lines where the materials are located, controls the storage branch lines and the warehouse-out branch lines of the corresponding levels to move, conveys the materials out of the warehouse, the whole process does not need to be artificially involved too much, the intelligent storage and warehouse-out of the materials can be realized, the efficiency is improved, and the requirement of automatic production is met.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. The three-dimensional storage system is characterized by comprising an unstacking robot (1) and a material conveying line (2);
the unstacking robot (1) is used for unstacking stacked materials and then placing the unstacked materials at the inlet end of the material conveying line (2);
the material conveying line (2) comprises: a swing branch line (21) and an N-layer storage branch line (22);
the N layers of storage branch lines (22) are parallel to each other and are arranged along the vertical direction;
the swinging and rotating line (21) comprises a vertical swinging and rotating plate (211), the vertical swinging and rotating plate (211) can swing and rotate in the vertical direction, and is in butt joint with any layer of storage line (22) in the N layers of storage lines after swinging and rotating, and N is an integer greater than one.
2. The stereoscopic storage system of claim 1,
m storage branch lines (22) are arranged on one layer, the M storage branch lines (22) are horizontally arranged, and M is an integer greater than one;
the material conveying line (2) further comprises: n cache branches (23);
m-1 transmission nodes are arranged on one cache branch line (23), and the M-1 transmission nodes are respectively butted with the 2 nd to M storage branch lines in the storage branch line (22);
the N cache branch lines (23) are parallel to each other and are arranged in the vertical direction, and the transmission direction of the cache branch lines (23) is perpendicular to the transmission direction of the storage branch lines (22).
3. The stereoscopic storage system of claim 2,
the swinging and diverting line (21) further comprises a rotating base, and the rotating base can drive the swinging and diverting line to rotate to the interface of the cache diverting line in the horizontal direction.
4. The stereoscopic storage system of claim 1,
the material conveying line (2) is provided with L groups, L is an integer larger than or equal to one, and the material conveying line (2) comprises a swing diversion line (21) and a row of N layers of storage branching lines (22).
5. The stereoscopic storage system of claim 1,
the N connecting points of the N layers of storage branch lines (22) and the swinging branch lines (21) are distributed along the swinging track of the vertical swinging plate (211).
6. The stereoscopic storage system of claim 1,
the material conveying line also comprises N warehouse-out branch lines (25); the N warehouse-out branch lines (25) are parallel to each other and are arranged along the vertical direction, and the transmission direction of the warehouse-out branch lines (25) is perpendicular to the transmission direction of the storage branch lines (22);
one of the delivery branches (25) is in butt joint with one of the storage branches (22) and is used for conveying the materials stored on the N layers of storage branches (22) out of the warehouse.
7. The stereoscopic storage system of claim 2,
the buffer branching line (23) further comprises a balance wheel sorting machine (231);
the balance wheel sorting machine (231) is arranged on a transmission node of the cache branch line (23) and is used for distributing different types of materials to a corresponding storage branch line (22).
8. A method for controlling a stereoscopic storage system, comprising: by means of a scanner (3) and a control center and a stereoscopic storage system according to claims 1-7, the execution comprising the steps of:
s1, the unstacking robot unstacks the stacked materials and places the unstacked materials at an inlet of the material conveying line;
s2, the material passes through the scanner, and the scanner acquires the relevant information of the material and sends the information to the control center;
s3, the control center distributes storage branch lines according to the information of the materials, controls the swing transfer conveying line to swing according to the levels of the storage branch lines, and distributes the materials to the corresponding storage branch lines;
and S4, the control center receives the material delivery instruction, controls the plurality of storage branch lines and the delivery branch line to move, and delivers the material out of the warehouse.
9. The method for controlling a stereoscopic storage system according to claim 8,
the control center distributes the storage branch according to the information of the material and includes:
the control center acquires the quantity information and the category information of the materials, judges whether the quantity of the materials of the category is larger than the maximum storage value set by the system or not according to the quantity information and the category information of the acquired materials, and distributes the storage branch lines according to the category information of the materials if the quantity of the materials of the category is not larger than the maximum storage value set by the system.
10. The method for controlling a stereoscopic storage system according to claim 9,
after the control center receives the material warehouse-out instruction, the method comprises the following steps:
and judging whether the level of the storage branching line where the material is located is in one layer, if so, controlling the storage branching line and the ex-warehouse branching line of the one layer to move, and if not, controlling the storage branching line and the ex-warehouse branching line of the two layers to move.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111503713.6A CN114426161A (en) | 2021-12-09 | 2021-12-09 | Stereoscopic storage system and control method thereof |
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| CN202111503713.6A CN114426161A (en) | 2021-12-09 | 2021-12-09 | Stereoscopic storage system and control method thereof |
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| CN114426161A true CN114426161A (en) | 2022-05-03 |
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