WO2023097844A1 - Warehousing management method and system for railway vehicle - Google Patents

Warehousing management method and system for railway vehicle Download PDF

Info

Publication number
WO2023097844A1
WO2023097844A1 PCT/CN2021/141862 CN2021141862W WO2023097844A1 WO 2023097844 A1 WO2023097844 A1 WO 2023097844A1 CN 2021141862 W CN2021141862 W CN 2021141862W WO 2023097844 A1 WO2023097844 A1 WO 2023097844A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
container
storage
stacking position
stacking
Prior art date
Application number
PCT/CN2021/141862
Other languages
French (fr)
Chinese (zh)
Inventor
林琳
付志亮
刘鸿宇
孙建
王大朋
刘佳玲
周强
高云鹏
马东宝
吴益国
Original Assignee
中车唐山机车车辆有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中车唐山机车车辆有限公司 filed Critical 中车唐山机车车辆有限公司
Publication of WO2023097844A1 publication Critical patent/WO2023097844A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D47/00—Loading or unloading devices combined with vehicles, e.g. loading platforms, doors convertible into loading and unloading ramps
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry

Definitions

  • the application relates to rail vehicle technology, in particular to a safety loop system and a rail car.
  • the manual loading and unloading methods and storage methods adopted by the traditional logistics industry can neither guarantee the quality requirements during the transportation of goods, nor can they match the multi-variety, large-volume, and short-cycle e-commerce business.
  • the existing loading, unloading and storage systems on rail vehicles cannot meet the needs of modern warehousing and multimodal transportation; the systems cannot be effectively connected, and a fully functional logistics park system cannot be established.
  • the embodiments of the present application provide a storage management method and system for rail vehicles to solve the problem that the existing loading, unloading and storage systems on rail vehicles cannot meet the needs of modern storage and multimodal transportation.
  • a warehouse management method for rail vehicles comprising:
  • An instruction is issued to move the ULDs to be stored to the assigned stacking location for storage.
  • the allocating a stacking position for the ULD to be put into storage according to the ULD information specifically includes:
  • the determining the journey type of the loaded cargo according to the cargo station information specifically includes:
  • the obtained current platform information and the arrival information of the goods when the number of stops between the arrival of the goods and the current platform is greater than or equal to the number of preset stops, it is considered that the goods loaded
  • the journey type is a long-distance type; when the number of stops between the arrival of the goods and the current platform is less than the preset number of stops, it is considered that the journey type of the loaded goods is a short-distance type.
  • the determination of the storage area corresponding to the ULD to be put into storage and the stacking position corresponding to the ULD to be put into storage in the storage area through the category of the journey specifically include:
  • the judging whether there are idle stacking positions in the storage area further includes:
  • the method further includes:
  • the stacking position list information includes the set The binding relationship between the loader and its corresponding stacking position.
  • the method also includes:
  • the corresponding pre-delivery container is taken out.
  • the method further includes:
  • the method further includes:
  • the method further includes:
  • the acquiring the ULD information of the ULD to be put into storage specifically includes:
  • the acquisition of the ULD information of the ULD to be put into storage specifically includes:
  • the application provides a warehouse management system for rail vehicles, including:
  • the ULD information acquisition module is used to obtain the ULD information of the ULD to be put into storage
  • a stacking location allocation module configured to allocate a stacking location for the container to be put into storage according to the container information
  • a storage module configured to bind and store the ULD with its allocated stacking position
  • the instruction control module is used to issue an instruction to move the container to be stored to the assigned stacking location for storage.
  • the stacking location allocation module specifically includes:
  • the cargo station information reading unit is used to read the cargo station information of the cargo loaded in the container according to the container information;
  • a cargo journey type determining unit configured to determine the journey type of the loaded cargo according to the cargo station information, determine the storage area corresponding to the container to be put into the warehouse through the journey type, and the storage area In, the stacking location corresponding to the ULDs to be put into storage.
  • the cargo journey type determination unit specifically includes:
  • the cargo arrival information determination subunit is used to determine the cargo arrival information of the loaded cargo according to the cargo station information
  • the cargo journey type judging subunit is used to judge according to the preset train timetable, the obtained current platform information and the cargo arrival information, when the number of stops between the cargo arrival and the current platform is greater than or equal to the preset stop When the number of stops is less than the preset number of stops, the journey type of the loaded goods is considered to be the short-distance type.
  • the cargo journey type determination unit specifically includes:
  • a storage area determination subunit configured to determine the storage area corresponding to the container to be put into storage through the category of the trip
  • the idle stacking position judging subunit is used to determine whether there is an idle stacking position in the storage area, and if so, randomly assign a stacking position to the ULDs to be put into storage.
  • the idle stacking position judging subunit is also used for:
  • ULD in-position judging module used to judge whether the ULD in-position instruction for the stacking position has been received, if so, consider that the ULD to be put into storage has completed the warehousing, and send a signal to the stacking position list information update module;
  • the stacking position list information updating module is used to update the stacking position list information, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position.
  • the pre-outbound ULD determination module is used to determine the pre-outbound ULD according to the arrival information of the pre-arrival station when the outbound instruction is received;
  • a stacking location position determining module configured to determine the location of the stacking location according to the pre-out-of-warehouse container and the stacking location list information
  • the container conveying module is used to take out the corresponding pre-out container according to the position of the stacking position.
  • Departure judging module for judging according to the current time and the arrival time of the pre-arrival station in the preset train timetable, when the current time and the arrival time of the pre-arrival station have a preset time interval, send The pre-outbound container determination module sends an outbound instruction.
  • the storage module is also used for:
  • the idle stacking position calculation module is used to calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
  • the module for obtaining the quantity of ULDs to be put into storage is used to obtain the quantity of pre-arrived ULDs to be put into storage;
  • the stacking position capacity judging module is configured to give an alarm when the quantity of the pre-arrived ULDs to be put into storage is greater than the stacking position warning number.
  • the container information acquisition module is specifically used for:
  • the container information acquisition module is specifically used for:
  • the present application provides a device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor.
  • the processor executes the computer program, any one of the above-mentioned embodiments can be realized.
  • the present application provides a computer-readable storage medium, on which a computer program is stored.
  • the computer program is executed by a processor, the steps of the storage management method for rail vehicles described in any one of the above-mentioned embodiments are realized.
  • a storage management method and system for rail vehicles including obtaining the container information of the container to be put into storage; assigning a stacking position to the container to be stored according to the container information, Bind and store the ULDs with their assigned stacking positions; issue instructions to move the ULDs to be put into storage to the assigned stacking positions for storage.
  • the ULD information of the ULD to be put into the warehouse After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and For storage, control the corresponding conveying equipment to move the ULDs to be stored to the assigned stacking position for storage, and according to the operation of the vehicle and the arrival information, according to the length of the arrival time and the use of the shelf stacking position
  • the automatic allocation and capture of the situation and arrival situation greatly improves the efficiency of vehicle storage and transfer; the above method and system enable the binding of the container and the stacking position one by one, and the timely acquisition of the stacking position allocation information of the storage , so as to facilitate the subsequent management and operation of the stacking positions of the warehouse, and to be able to connect with other systems in the logistics park system to meet the needs of modern warehousing, multimodal transportation, etc.;
  • the construction of the transportation network provides the foundation to meet the logistics needs
  • FIG. 1 is a schematic structural diagram of a first state structure of a conveying system at a vehicle door provided by an embodiment of the present application;
  • Fig. 2 is a schematic structural diagram of the second state of a conveying system at the door provided by the embodiment of the present application;
  • Fig. 3 is a schematic diagram of the axonometric structure of the platform conveying system provided by the embodiment of the present application;
  • Fig. 4 is a schematic structural diagram of the third direction movement regulator provided by the embodiment of the present application.
  • Fig. 5 is a schematic diagram of the axonometric structure of a rail vehicle stacking system provided by the embodiment of the present application;
  • Fig. 6 is a schematic diagram of the front view of Fig. 5;
  • Fig. 7 is a schematic diagram of the lateral structure of Fig. 5;
  • Figure 8 is an enlarged schematic view of the local structure in Figure 7;
  • Fig. 9 is a top view structural schematic diagram of Fig. 8.
  • Fig. 10 is a first cross-sectional structural schematic diagram of the fork provided by the embodiment of the present application.
  • Fig. 11 is a second cross-sectional structural schematic diagram of the fork provided by the embodiment of the present application.
  • Fig. 12 is a schematic diagram of the third cross-sectional structure of the fork provided by the embodiment of the present application.
  • FIG. 13 is an enlarged schematic view of the partial structure of FIG. 5;
  • FIG. 14 is an enlarged schematic view of the partial structure of FIG. 13;
  • Fig. 15 is a schematic front view structural diagram of a shelf system provided by the embodiment of the present application.
  • Fig. 16 is a schematic diagram of the front view of Fig. 15;
  • Fig. 17 is a schematic diagram of the lateral structure of Fig. 15;
  • Fig. 18 is a schematic diagram of a partial enlarged structure of the shelf system provided by the embodiment of the present application.
  • Fig. 19 is a schematic diagram of the installation structure of the vertical support frame provided by the embodiment of the present application.
  • Fig. 20 is a schematic structural diagram of the tensioning device provided by the embodiment of the present application.
  • Fig. 21 is a schematic flowchart of a storage management method for rail vehicles provided by an embodiment of the present application.
  • Platform control device 9311 Platform control device 9311, platform conveying assembly 9312, first direction movement adjustment member 9313, third direction movement adjustment member 9314, second direction movement adjustment member 9315, first chassis 9316;
  • Vehicle door control device 9321 Vehicle door control device 9321, vehicle door conveying device 9322, second underframe 9323, overturning drive assembly 9324, container in-position detection assembly 9325, second conveying assembly mounting frame 9326, second accumulating roller 9327;
  • the embodiment of the present invention discloses a storage management method and system for rail vehicles, so as to solve the problem that the existing loading, unloading and storage systems on rail vehicles cannot meet the requirements of modern storage, multimodal transportation and the like.
  • the rail vehicle storage management method and system provided in the embodiments of the present application are applied to rail transit intelligent loading and unloading systems.
  • the design principle and working method of the warehouse management system the following is introduced from the rail transit intelligent loading and unloading system.
  • Figure 1 is a schematic structural diagram of a first state of a vehicle door delivery system 932 provided by an embodiment of the present application
  • Figure 2 is a second state of a vehicle door delivery system 932 provided by an embodiment of this application
  • FIG. 3 is a schematic diagram of the axonometric structure of the platform conveying system 931 provided by the embodiment of the present application
  • FIG. 4 is a schematic diagram of the structure of the third direction movement regulator 9314 provided by the embodiment of the present application.
  • the present application provides an intelligent rail transit loading and unloading system, which includes a platform conveying system and rail vehicles.
  • the rail vehicle includes a conveying system 932 at the door, a stacking system, a shelf system, and a master control system.
  • the platform conveying system 931 and the door conveying system 932 jointly form a rail transit joint control conveying system
  • the door conveying system 932 is fixed at the door of the rail vehicle
  • the rail vehicle can be a freight rail vehicle, a freight car or a passenger-cargo mixed track Vehicles and the like can be set up as required, all within the protection scope of the present application.
  • the above-mentioned rail transit joint control conveying system also includes a master control device, which is generally set in the master control room in the ground management platform.
  • the master control device is respectively connected with the platform conveying system 931 and the conveying system 932 at the door to control the docking of the conveying system 931 at the station and the conveying system 932 at the door.
  • the master control device may specifically be a controller. It can be set according to the development level of the existing technology.
  • the master control system controls the docking of the conveying system at the door and the platform conveying system according to the received door start signal.
  • the general control system includes the general control device, system interface, warehouse management system (WMS), and scheduling control (WCS) modules, which respectively realize the corresponding functions of the interface with the peripheral information system, warehousing logistics management layer and warehousing logistics scheduling layer. All power equipment in the compartment supplies power to the master control device, stacker and door conveyor through the power supply in the compartment and the stabilized power supply; the stacker obtains power through the main power supply to the trolley line.
  • WMS warehouse management system
  • WCS scheduling control
  • the master control device directly controls the door conveyor, the master control device communicates wirelessly with the stacking system, and performs I/O communication with the platform conveying system, the master control device communicates with the car body through Ethernet, and the master control device communicates with the warehouse management system through Ethernet for communication.
  • the master control device is equipped with a man-machine interface; the stacker is equipped with a man-machine interface; the platform conveyor is equipped with a button box; the four doorways of the vehicle are equipped with a button box and a fast communication plug; the platform conveyor can be controlled independently.
  • the HMI system is configured on the touch screen, which has the functions of action execution, status display, action statistics, and fault alarm;
  • the warehouse management system has the functions of communicating with the scanning system, and has the functions of stomping status information, warehouse entry and exit statistics, etc.;
  • the automatic scheduling system is based on Cargo status information, automatic allocation of stomp positions; before arrival at the station, the scheduling stacker automatically picks up the goods at the station;
  • the master control device communicates with the HMI system, warehouse management system, and automatic dispatching system; the hardware installation of the master control device and the warehouse management system In the cargo compartment;
  • the master control device has automatic and manual control modes;
  • the control system meets the requirements of standardization and specification, and all products must be selected to ensure safe use, versatility and interchangeability, easy to repair and replace, and easy to maintain.
  • the specific loading process of ULDs is as follows: After the rail vehicle enters the platform, the door is opened; after the master control system receives the door activation signal, the conveying system at the door is controlled to turn over, the platform conveying system is aligned with the door, and the platform conveying system After aligning with the vehicle door, the platform conveying system stretches out and docks with the vehicle door; the platform conveying system starts, and transports the container on it to the vehicle door conveying system, and the vehicle door conveying system conveys the container delivered by the platform conveying system The container is transported to the door to the preset position, and the master control system controls the stacking system to grab and scan the container in the conveying system at the door, allocates the stacking position according to the container information obtained by scanning the container, and controls The stacking system moves the ULDs to be stored to the corresponding stacking positions of the shelf system according to the assigned stacking positions; completes the storage process of the ULDs.
  • the specific outbound process of ULDs is as follows: according to the current pre-arrival time and arrival time, the outbound order is issued at a preset period before the arrival time, and the ULDs to be outbound are determined according to the arrival information of the pre-arrival station, and Determine the position of the stacking position according to the pre-delivered ULD and the stacking position list information, and the master control system controls the stacking system to take out the corresponding pre-delivered ULD according to the position of the stacking position, and transfer it to the shelf
  • the stacking system will transfer the ULD to the conveyor system at the door, and then transport it to the platform conveyor system through the door conveyor system, and the platform conveyor system will The container is transported from the rail vehicle to the platform to complete the outbound process of the container.
  • FIG. 21 is a schematic flowchart of a warehouse management method for rail vehicles provided by an embodiment of the present application.
  • the storage management method for rail vehicles provided by the application includes:
  • ULD information generally includes ULD information including cargo on-station information, cargo arrival information, cargo attribution information and cargo characteristic information.
  • Cargo attribution information such as the identity information of the belonging passenger, seat number and other information; cargo characteristic information such as storage conditions (such as storage temperature, humidity, etc.), cargo attributes, and other cargo identification information, etc.
  • the acquisition method can be obtained by scanning the electronic label on the container through the code scanning device.
  • S942 Allocate a stacking position for the ULD to be put into storage according to the ULD information, and bind and store the ULD with the assigned stacking position;
  • S943 Issue an instruction to move the ULDs to be put into storage to the assigned stacking positions for storage.
  • the conveying equipment can be a mechanical arm, a stacker or other equipment, which can be set as required.
  • the above method and system enable the ULDs and stacking positions to be bound one by one, and can obtain the storage stacking position allocation information in time, so as to facilitate the subsequent management and operation of the warehouse stacking positions, and can be integrated with the logistics park system It can be connected with other systems in the system to meet the needs of modern warehousing and multimodal transportation.
  • assign stacking positions for the ULDs to be put into storage according to the ULD information including:
  • the cargo station information of the cargo loaded in the ULD includes the on-station information of the cargo and the arrival information of the cargo.
  • Determine the journey type of the loaded goods according to the cargo station information for example, determine the journey type of the goods according to the number of stations and the duration of the journey, determine the storage area corresponding to the ULD to be put into the warehouse through the journey category, and store The stacking position corresponding to the ULD to be put into storage in the area.
  • Journey types can be divided into long-distance or short-distance, and determine the storage area of the container according to the type of journey, so as to place the container according to the long-distance type or short-distance type, so as to optimize the overall storage space of the warehouse and optimize the conveying equipment the transfer route.
  • the journey type of the loaded cargo is determined according to the cargo station information, specifically including:
  • the type of journey of the loaded goods is considered It is a long-distance type; when the number of stops between the arrival of the goods and the current platform is less than the preset number of stops, it is considered that the journey type of the loaded goods is a short-distance type.
  • the preset train timetable includes the current train number, the name of the station and the time of arrival, which is a mature prior art.
  • the preset number of stops can be set to three stations, and corresponding settings are made according to different operating routes and different preset train timetables.
  • the storage area corresponding to the ULD to be put into storage and the stacking position corresponding to the ULD to be put into storage in the storage area are determined through the category of the journey, specifically including:
  • the preset rule may be random distribution, or the distribution may be made according to the arrangement rule from far to near.
  • the method further includes:
  • S944 Judging whether the ULD arrival instruction for the stacking position has been received, if so, consider that the ULD to be put into the warehouse has been put into the warehouse, and update the stacking position list information, the stacking position list information includes the ULD and its corresponding The binding relationship of the stacking position.
  • Devices such as position switches or pressure sensors are installed at the stacking position, and when the ULD moves to the stacking position, the ULD in-position command is sent, so that the next operation can be performed according to the command. After the ULD is put into storage, update the stacking position list information.
  • the method also includes:
  • S945 When receiving the outbound instruction, determine the pre-outbound ULD according to the arrival information of the pre-arrival station; generally, the outbound instruction is issued by the vehicle master control system, usually some time before the actual arrival time , if the delivery order is issued 15 minutes in advance, there is enough time for the delivery of the ULD to prepare for delivery. Determine the pre-delivery ULDs based on the pre-arrival information and the stacking position list information.
  • S946 and determine the position of the stacking position according to the pre-delivered ULD and the list information of the stacking position;
  • the ULD On the buffer area of the vehicle, it is transported out when the vehicle arrives at the station to improve the efficiency of the ULD when getting off; on the contrary, when getting on the vehicle, the ULD can be transported to the buffer area at the door first, and the vehicle can be transported according to the arrival time after the vehicle is running.
  • the station information is redistributed to maximize the conveying efficiency when the platform stops.
  • the storage area is partitioned to set up a general storage area, a large storage area, and a buffer area for partition management.
  • the buffer area is set near the door of the car, and the pre-delivered ULDs are transported to the buffer area and wait for the warehouse; Similarly, after the ULDs are loaded, the stacker can temporarily place all or part of the ULDs in the buffer area, waiting for the allocation of stacking positions.
  • step S947 the method also includes:
  • step S945 the method also includes:
  • the method further includes:
  • the warning number of stacking positions can be 4, and when the number of pre-arrived ULDs to be put into storage is greater than 4, a warning alarm can be issued .
  • the warning number of stacking positions can be set as required.
  • step S941 specifically includes:
  • the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; the container information includes the information of the cargo on the station, the arrival of the cargo, the ownership of the cargo and the characteristics of the cargo information.
  • the query statistics function is mainly based on the cargo management system on the ground, supplemented by the query statistics on the train.
  • the query statistics function on the train is that when the subway or storage system breaks down, the warehouse can be manually released or special queries can be performed through the query statistics function. If there is a failure in the subway or storage system, the next station is station A, and it can be counted which ULDs (such as fresh food or vaccines) in station A need to be manually alighted. If the police learn that there are illegal items in the ULDs boarded from station B, they can use the query function to find out which ULDs boarded from station B.
  • the present application also provides a warehouse management system for rail vehicles, including:
  • the ULD information acquisition module is used to obtain the ULD information of the ULD to be put into storage
  • the stacking position allocation module is used to allocate stacking positions for the ULDs to be put into storage according to the ULD information
  • a storage module for binding and storing the ULD with its assigned stacking position
  • the instruction control module is used to issue an instruction to move the ULDs to be stored to the assigned stacking position for storage.
  • the ULD information of the ULD to be put into the warehouse After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and storage, and control the corresponding conveying equipment to move the ULDs to be stored to the allocated stacking positions for storage.
  • the above method and system enable the ULDs and stacking positions to be bound one by one, and can be obtained in time
  • the allocation information of the stacking position of the warehouse is convenient for subsequent management and operation of the stacking position of the warehouse, and it can be connected with other systems in the logistics park system to meet the needs of modern storage and multimodal transportation.
  • the stacking location allocation module specifically includes:
  • the cargo station information reading unit is used to read the cargo station information of the cargo loaded in the container according to the container information;
  • the cargo journey type determination unit is used to determine the journey type of the loaded cargo according to the cargo station information, and determine the storage area corresponding to the container to be put into the warehouse through the journey type, and the container to be put into the warehouse in the storage area.
  • the cargo journey type determination unit specifically includes:
  • the cargo arrival information determination subunit is used to determine the cargo arrival information of the loaded cargo according to the cargo station information
  • Cargo journey type judging sub-unit used to judge according to preset train timetable, current platform information obtained and cargo arrival information, when the number of stops between the arrival of goods and the current platform is greater than or equal to the preset number of stops , the journey type of the loaded cargo is considered to be the long-distance type; when the number of stops between the arrival of the cargo and the current platform is less than the preset number of stops, the journey type of the loaded cargo is considered to be the short-distance type.
  • the cargo journey type determination unit specifically includes:
  • the storage area determination subunit is used to determine the storage area corresponding to the container to be put into storage through the journey category;
  • the idle stacking location judging subunit is used to judge whether there is an idle stacking location in the storage area, and if so, randomly assign a stacking location to the ULDs to be put into storage.
  • the idle stacking position judging subunit is also used for:
  • the system also includes:
  • the ULD in-position judging module is used to judge whether the ULD in-position instruction for the stacking position has been received, and if so, it will consider that the ULD to be put into storage has completed the warehousing, and send a signal to the stacking position list information update module;
  • the stacking position list information update module is used to update the stacking position list information, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position.
  • the pre-outbound ULD determination module is used to determine the pre-outbound ULD according to the arrival information of the pre-arrival station when the outbound instruction is received;
  • the stacking position determination module is used to determine the position of the stacking position according to the pre-delivery container and the stacking position list information
  • the ULD conveying module is used to take out the corresponding pre-delivery ULD according to the position of the stacking position.
  • it also includes:
  • Departure judging module used for judging according to the current time and the arrival time of the pre-arrival station in the preset train timetable, when the current time and the pre-arrival time have a preset time interval, the pre-departure set
  • the loader determines that the module sends an outbound command.
  • the storage module is also used for:
  • the system also includes:
  • the idle stacking position calculation module is used to calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
  • the module for obtaining the quantity of ULDs to be put into storage is used to obtain the quantity of pre-arrived ULDs to be put into storage;
  • the capacity judging module of the stacking position is used to give an alarm when the number of pre-arrived ULDs is greater than the warning number of the stacking position.
  • the ULD information acquisition module is specifically used for:
  • the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; the container information includes the information of the cargo on the station, the arrival of the cargo, the ownership of the cargo and the characteristics of the cargo information.
  • the ULD information of the ULDs to be put into storage can also be obtained by reading the control signal sent by the vehicle master control system, and the control signal sent by the vehicle master control system can be Issued at the pre-set time period.
  • the present application also provides a device, including a memory and a processor, and a computer program stored on the memory and capable of running on the processor.
  • the processor executes the computer program, the rail vehicle of any one of the above method embodiments can be realized. Steps of warehouse management method.
  • the present application also provides a computer-readable storage medium, on which a computer program is stored.
  • a computer program is stored.
  • the steps of the storage management method for rail vehicles in any one of the above method embodiments are realized.
  • the platform conveying system 931 includes a platform conveying device connected to the general control device, and the device includes a platform conveying component 9312 and a position adjustment component.
  • the platform conveying assembly 9312 is used for conveying goods, and one end of the platform conveying assembly 9312 is located on the platform, and the other end is used for docking with the conveying system 932 at the door; for example, it is set as a conveying belt, conveying chain or other conveying equipment.
  • the position adjusting component is connected with the platform conveying component 9312, and the position adjusting component is used to drive the platform conveying component 9312 to adjust the spatial position;
  • the master control device is respectively connected with the platform conveying component 9312 and the position adjusting component, which can be connected by wired or wireless communication.
  • the device controls the action of the position adjustment component to dock the platform conveying component 9312 with the conveying system 932 at the door; when the rail vehicle does not stop at the preset platform position, the platform conveying device performs position difference compensation in time to optimize docking efficiency.
  • the goods or ULDs described here and below can be exchanged, or use pallets or other cargo carrying equipment, or directly grab the goods for transmission, and the electronic tags can be set on the goods or cargo carrying equipment, and can be customized according to the needs of the system. to set.
  • Position adjustment components such as one or more of vertical adjustment components, vertical adjustment components perpendicular to the track direction, and horizontal adjustment components parallel to the track direction; specifically, the platform conveying device also includes a first chassis 9316 and a position adjustment Components; the first chassis 9316 is used to install the platform conveying component 9312 , and the position adjustment component includes a first direction movement adjustment member 9313 , a second direction movement adjustment member 9315 and a third direction movement adjustment member 9314 .
  • the first direction movement adjusting member 9313 is located on the first chassis 9316, and is used to drive the platform conveying assembly 9312 to move forward and backward along the length direction of the platform conveying assembly 9312;
  • the second direction moving adjusting member 9315 is located on the first chassis 9316, It is used to drive the platform conveying assembly 9312 to move along the width direction of the platform conveying assembly 9312;
  • the third direction movement adjustment member 9314 is located on the first chassis 9316, and is used to drive the platform conveying assembly 9312 to move along the vertical direction of the platform conveying assembly 9312.
  • the structure of the first direction movement adjustment member 9313, the second direction movement adjustment member 9315 and the third direction movement adjustment member 9314 are the same, for example, a motor drives a rack and pinion structure for power drive, more preferably, it also includes
  • the guide mechanism is used to guide the movement of the moving adjustment member in all directions, so that the movement is more stable.
  • the first base frame 9316 includes two sets of guide structures, the second driving motor and the nut screw mechanism, the screw rod is connected with the second driving motor, and the nut is set on the screw rod and the nut is fixed on the bottom of the platform conveying assembly 9312, the screw rod and the guide structure are arranged along the width direction of the platform conveying assembly 9312, driven by the second drive motor, the screw mandrel rotates to drive the nut on the platform conveying assembly 9312 Move in the width direction; meanwhile, the bottom of the platform conveying assembly 9312 is also provided with a guide, and the guide cooperates with the guide rail arranged on the first chassis 9316 to guide.
  • the adjustment parts for moving in various directions can be set as required, all within the protection scope of the present application.
  • a platform conveying system 931 is set on the platform, and a vehicle door conveying system 932 is arranged on the rail vehicle.
  • Carry out cargo transportation on rail vehicles realize automatic transmission of goods on rail vehicles and platforms, and at the same time, be able to carry out reasonable division of labor and effective connection, improve the efficiency of cargo transfer, and lay a good foundation for the construction of an integrated transportation system;
  • the platform conveying system 931 includes a platform conveying device connected to the master control device, and the cargo is conveyed through the platform conveying component 9312, so that the cargo can be mutually transmitted between the conveying system 932 at the door and the platform;
  • the platform conveying assembly 9312 is driven to adjust the spatial position by setting the position adjustment assembly, so that the platform conveying assembly 9312 can be docked with the door conveying system 932, further improving the docking efficiency and transmission efficiency, reducing manual operations, and realizing rail transit.
  • the intelligent development of the control conveying system meets the development requirements of modern logistics.
  • the first base frame 9316 is a rectangular frame
  • the third direction movement adjustment member 9314 is located at the top corner of the first base frame 9316
  • the third direction movement adjustment member 9314 includes a third mounting seat 93143, a third Support base 93144, third driving motor 93141 and third lifting mechanism 93142.
  • the third mounting base 93143 is fixedly connected with the first chassis 9316, the third driving motor 93141 and the third elevating mechanism 93142 are respectively fixed on the third mounting base 93143, the third driving motor 93141 is connected with the third elevating mechanism 93142;
  • the lifting mechanism 93142 is set as a lead screw lift and a trapezoidal lift screw, and a coupling is provided between the lead screw lift and the third driving motor 93141, and the lead screw lift, the third driving motor 93141 and the coupling are all arranged on the third mounting seat
  • one end of the trapezoidal lifting screw passes through the third mounting base 93143 and is rotationally connected to the third supporting base 93144, one end of the third supporting base 93144 is in contact with the ground, and the other end is connected to the third lifting mechanism passing through the third mounting base 93143 93142 is connected, and the third drive motor 93141 drives the third elevating mechanism 93142 to move vertically to drive the third mounting base 93143 and the first chassis 9316, thereby real
  • the third direction movement adjustment member 9314 has a simple structure and is convenient for setting. In other embodiments, the third direction movement adjusting member 9314 can be set as required, all of which are within the protection scope of the present application. In one embodiment, in order to facilitate the setting of the movement adjustment parts in various directions, in the vertical direction of the platform conveying assembly 9312, the first direction movement adjustment part 9313, the second direction movement adjustment part 9315 and the third direction movement adjustment part 9314 are set sequentially from top to bottom.
  • the platform conveying assembly 9312 includes a first conveying assembly mounting frame 93121 , several first accumulation rollers 93122 and a driving unit for the first accumulation rollers 93122 .
  • both ends of the length direction of each first accumulation roller 93122 are respectively rotatably connected with the first conveying assembly mounting frame 93121; each first accumulation roller 93122 is arranged along the length direction of the first conveying assembly mounting frame 93121.
  • the driving unit of the first accumulation roller 93122 is arranged on the mounting frame 93121 of the first conveying assembly, and the driving unit of the first accumulation roller 93122 is connected with each first accumulation roller 93122 to drive the first accumulation roller 93122 along its own The axis rotates to drive the goods on the first accumulation roller 93122 to move along the conveying direction.
  • the driving unit of the first accumulation drum 93122 can be composed of a driving motor and a driving mechanism.
  • the driving mechanism is such as a gear chain structure, etc., the gear is connected to the driving motor, and the chain is connected to each first accumulation drum 93122; in other embodiments , the structure of the driving unit of the first accumulation drum 93122 can be set as required, all of which are within the protection scope of the present application.
  • the upper surface of the first conveying assembly mounting frame 93121 and both ends along the width direction are provided with first guide strips, and the first guiding strips are along the sides of the first conveying assembly mounting frame 93121. Extending in the length direction, it can be understood that the side wall of the first guide bar and the upper surface of the first conveying assembly mounting frame 93121 form a U-shaped groove to guide and limit the goods and prevent the goods from moving from the width of the first conveying assembly. Orientation tipped and slipped.
  • the car door position detection component which is used to detect the position of the car door of the rail vehicle that has arrived at the station, and the car door position detection component is connected with the master control device; The position of the car door is controlled, and the action of the position adjustment component is controlled to connect the output end of the platform conveying component 9312 with the conveying system 932 at the car door.
  • the vehicle door position detection component can be set as an infrared sensor, an image collector or other detection components, as long as the same technical effect can be achieved.
  • the vehicle door position detection component is a laser ranging sensor.
  • a traveling drive assembly is installed at the bottom of the first underframe 9316, and the traveling driving assembly is connected to the master control device, which controls according to the instructions of the host computer.
  • the travel drive assembly travels along a preset route.
  • the walking drive assembly can be set as a combined structure of a motor and a walking wheel.
  • the general control device controls the walking drive assembly to walk along a preset route, so that the platform conveying assembly 9312 can automatically move to the initial position for storage after completing the operation.
  • the present application further includes a vehicle door conveying device 9322 , which includes a second chassis 9323 , a turning drive assembly 9324 , a first vehicle door conveying assembly 93221 and a second vehicle door conveying assembly 93222 .
  • the second base frame 9323 is used for detachably connecting on the vehicle floor; the second base frame 9323 is used for installing the first car door conveying assembly 93221, the second car door conveying assembly 93222 and the turning drive assembly 9324, the first car door conveying assembly 93221 and the second door conveying assembly 93222 are arranged in sequence, and the second door conveying assembly 93222 can extend to the door; if arranged in sequence along the width direction of the rail vehicle, the goods in the compartment pass through the first door conveying assembly 93221 and the second door conveying assembly 93221 in sequence The second car door conveying assembly 93222 is transported to the car door.
  • the first door conveying assembly 93221 and the second door conveying assembly 93222 are configured as reversible structures; or, in one embodiment, one end of the reversing drive assembly 9324 is hinged to the second chassis 9323, The other end is hinged with the second door delivery assembly 93222, so that the second door delivery assembly 93222 can turn over between the first state and the second state, wherein, in the first state, the second door delivery assembly 93222 delivers to the first door
  • the direction of the component 93221 is reversed for shrinking into the compartment of the rail vehicle; in the second state, the second door conveying component 93222 is reversed away from the first door conveying component 93221 to extend to the door and dock with the platform conveying system 931.
  • the first door conveying assembly 93221 is in a horizontal state
  • the second door conveying assembly 93222 is in a vertical state
  • both the first door conveying assembly 93221 and the second door conveying assembly 93222 are in a horizontal state state. Therefore, when no work is required, the second door delivery assembly 93222 can be turned over to optimize the interior space of the door and improve space utilization.
  • the turning drive assembly 9324 includes a rotating shaft and a turning driving cylinder.
  • the rotating shaft is arranged along the width direction of the first car door conveying assembly 93221, and the second car door conveying assembly 93222 is set on the rotating shaft and can rotate around the rotating shaft;
  • the side wall of the car door conveying assembly 93222 is hinged, the turning drive cylinder is located below the rotating shaft, and in the length direction of the first car door conveying assembly 93221, there is an interval between the turning driving cylinder and the rotating shaft, so as to realize the second car door conveying assembly 93222's flip.
  • the overturn driving cylinder can be set as a hydraulic cylinder or an air cylinder, etc., and can be set according to the development level of the prior art, all of which are within the protection scope of the present application.
  • both the first vehicle door conveying assembly 93221 and the second vehicle door conveying assembly 93222 include a second conveying assembly mounting frame 9326, a plurality of second accumulation rollers 9327 and a driving unit for the second accumulation rollers 9327.
  • the two ends of the length direction of each second accumulating roller 9327 are rotatably connected with the second conveying assembly mounting frame 9326 respectively; the rotating shaft is located on the second conveying assembly mounting frame 9326;
  • the second conveying assembly is installed on the frame 9326, so that the structure at the junction of the first car door conveying assembly 93221 and the second car door conveying assembly 93222 is more compact.
  • the driving unit of the second accumulation roller 9327 is connected with each second accumulation roller 9327 to drive the second accumulation roller 9327 to rotate along its own axis.
  • the structure of the second conveying assembly mounting frame 9326 can be set with reference to the above-mentioned structure of the first conveying assembly mounting frame 93121.
  • the driving unit of the second accumulation drum 9327 can also refer to the driving unit of the first accumulation drum 93122. structure is set.
  • the upper surface of the second conveying assembly mounting frame 9326 and the two ends along the width direction are provided with second guide strips, and the second guiding strips extend along the length direction of the second conveying assembly mounting frame 9326.
  • the guide bar guides the movement of the ULD on the second conveyor assembly.
  • the structure of the second guide bar can be set with reference to the structure of the above-mentioned first guide bar, and will not be repeated here.
  • the container in-position detection assembly 9325 which is located on the second chassis 9323 of the first door conveying assembly 93221, and the container in-position detection assembly 9325 is used to check the movement to the first car door
  • the ULD at the preset position on the conveying component 93221 performs in-position detection; the ULD in-position detection component 9325 can be set as a position switch, an infrared sensor, etc., and the master control device is connected with the ULD in-position detection component 9325, and the master control device Pick up the goods from the first door conveying assembly 93221 according to the arrival signal of the container, and put them on the shelf; or put the goods from the shelf on the first door conveying assembly 93221, and the master control device according to the arrival signal of the container
  • the second vehicle door conveying assembly 93222 can be controlled to turn over to a horizontal state.
  • the present application also provides a platform conveying system 931, including a platform control device 9311 and a platform conveying device connected thereto.
  • the platform conveying device includes: a platform conveying assembly 9312 for conveying goods, and a platform conveying assembly One end of 9312 is located on the platform, and the other end is used for docking with the conveying system 932 at the door; the position adjustment component is connected with the platform conveying component 9312, and the position adjusting component is used to drive the platform conveying component 9312 to adjust the spatial position; the platform control device 9311 is respectively Connected with the platform conveying component 9312 and the position adjusting component, the platform control device 9311 controls the action of the position regulating component to dock the platform conveying component 9312 with the conveying system 932 at the door.
  • the master control device includes a platform control device 9311 and a vehicle door control device 9321, and the master control device is respectively connected with the platform control device 9311 and the vehicle door control device 9321 through wireless communication for remote control.
  • the platform control device 9311 can be manually controlled, such as being set as control devices such as control buttons or switches, all of which are within the protection scope of the present application.
  • the present application also provides a delivery system 932 at the door, including a door control device 9321 and a door delivery device 9322, the door delivery device 9322 is used to be fixed at the door of a rail vehicle, and the door delivery device 9322 and The car door control device 9321 is connected, and the car door conveying device 9322 includes: a second chassis 9323, which is used to detachably connect to the vehicle floor; a first car door conveying assembly 93221 and a second car door conveying assembly 93222, respectively located On the second chassis 9323, the first car door conveying assembly 93221 and the second car door conveying assembly 93222 are arranged in sequence, and the second car door conveying assembly 93222 can extend to the door;
  • the bottom frame 9323 is hinged, and the other end is hinged with the second door conveying assembly 93222; the door control device 9321 controls the turning drive assembly 9324 to move, so that the second door conveying assembly 93222 can turn over between the first state
  • the door control device 9321 communicates with the vehicle control system to receive the door signal.
  • the door opening signal is sent to the door control device 9321, so that the second door conveying assembly 93222 turns away from the first door conveying assembly 93221.
  • the specific operation process is as follows: when the rail vehicle stops at the station, the master control device controls the action of the turning drive assembly, so that the second door conveying assembly is turned over to the second state, and the first door conveying assembly and the second door conveying assembly are in a horizontal state; The master control device controls the position adjustment component to adjust the spatial position of the platform conveying component according to the received operation instructions, and gives feedback through the door position detection component, so that the platform conveying component is docked with the second door conveying component; after docking, the master control device , to control the stacking system to perform corresponding actions.
  • a platform conveying system 931 is set on the platform, and a vehicle door conveying system 932 is arranged on the rail vehicle.
  • Carry out cargo transportation on rail vehicles realize automatic transmission of goods on rail vehicles and platforms, and at the same time, be able to carry out reasonable division of labor and effective connection, improve the efficiency of cargo transfer, and lay a good foundation for the construction of an integrated transportation system;
  • the platform conveying system 931 includes a platform conveying device connected to the master control device, and the cargo is conveyed through the platform conveying component 9312, so that the cargo can be mutually transmitted between the conveying system 932 at the door and the platform;
  • the platform conveying assembly 9312 is driven to adjust the spatial position by setting the position adjustment assembly, so that the platform conveying assembly 9312 can be docked with the door conveying system 932, further improving the docking efficiency and transmission efficiency, reducing manual operations, and realizing rail transit.
  • the intelligent development of the control conveying system meets the development requirements of modern logistics.
  • Figure 5 is a schematic diagram of the axonometric structure of a rail vehicle stacking system provided by the embodiment of the present application
  • Figure 6 is a schematic diagram of the front view of Figure 5
  • Figure 7 is a schematic diagram of the lateral structure of Figure 5 schematic diagram.
  • the present application also provides a stacking system 91 , which includes a stacker frame 911 , a pallet fork 912 , a stacker driving device and a control device 913 .
  • the stacker frame 911 is preferably a rectangular frame, and each edge of the rectangular frame can be detachably connected to facilitate production and processing.
  • the pallet forks 912 are located on the stacker frame 911 and are used to pick and place the container.
  • the stacker travel driving device is also located on the stacker frame 911, and is used to drive the stacker to walk in the rail vehicle.
  • the stacker travel drive can be a composition structure of a motor and a traveling wheel.
  • the structure of the travel driving device of the stacker can be set as required, as long as the same technical effect can be achieved.
  • the control device 913 is connected with the vehicle master control system, and the control device 913 is respectively connected with the fork 912 and the stacker travel drive device, and the control device 913 is used to control the stacker travel drive device to travel to the position corresponding to the rail vehicle shelf, And control the movement of the pallet fork 912 to pick and place the ULD, so as to take away the ULD on the car door conveying system, or send the ULD on the rail vehicle shelf to the car door conveying system.
  • the control device 913 of the stacking system can receive the signal sent by the vehicle master control system to make a corresponding working state. For example, when the vehicle master control system sends a signal to the control device 913 that it is about to arrive at the station, the control device 913 will carry out the process according to the arrival signal. corresponding action.
  • the stacking system 91 of a rail vehicle provided in the embodiment of the present application has the following technical effects:
  • control device 913 is respectively connected with the pallet fork 912 and the travel driving device of the stacker, so that the travel drive device of the stacker can be controlled to travel to the position corresponding to the rail vehicle shelf, and the movement of the pallet fork 912 is controlled to remove the container. put. It is set up to realize the automatic pick-up and release of goods, improve the automation of rail vehicles, improve the speed and efficiency of logistics turnover, and provide a foundation for the construction of an integrated transportation network.
  • a code scanning device 9110 is also included, which is fixed on the stacker frame 911.
  • the code scanning device 9110 is used to scan the code of the ULD,
  • the container information is sent to the control device 913; the control device 913 determines the position information of the goods on the shelf according to the container information, and controls the stacker driving device to travel to the position corresponding to the rail vehicle shelf according to the position information.
  • the carrier of the information on the container can be set as an electronic label fixed on the container, such as a two-dimensional code or a bar code.
  • the code scanning device 9110 scans the codes of the ULDs grabbed by the stacker, and the master control device records the information of the ULDs to be put into the warehouse according to the information of the ULDs, or According to the ULD information, it is judged whether the ULD currently taken out is a pre-delivery ULD, so as to check, prevent wrong goods from being picked up, and improve the accuracy of the system.
  • it also includes a power drive device for a pallet fork 912, one end of which is fixed on the stacker frame 911, and the other end is connected with the pallet fork 912; Move; the power drive device of the pallet fork 912 is connected with the control device 913, and the control device 913 is used to control the power drive device of the pallet fork 912 to drive the pallet fork 912 to move along the width direction running through the stacker frame 911, so as to move the goods from the stacker One end in the width direction of the frame 911 passes through the stacker frame 911 and moves to the other end.
  • the width direction of the stacker frame 911 is perpendicular to the direction of travel of the stacker frame 911, and the two ends of the width direction of the stacker frame 911 correspond to the door conveying system and the rail vehicle shelf respectively. This is so that when the fork 912 moves along the width direction through the stacker frame 911, the goods can be reciprocated from the door conveying system and the rail vehicle shelf, so as to optimize the movement direction of the fork 912 according to the internal space of the rail vehicle. Improve space utilization and simplify transportation routes.
  • Figure 8 is an enlarged schematic view of the local structure in Figure 7;
  • Figure 9 is a schematic top view of Figure 8;
  • 11 is a schematic diagram of the second sectional structure of the fork provided in the embodiment of the present application;
  • FIG. 12 is a schematic diagram of the third sectional structure of the fork provided in the embodiment of the present application;
  • FIG. Figure 14 is an enlarged schematic view of the partial structure of Figure 13 .
  • the power driving device of the fork 912 includes a power driving part of the fork 912
  • the power driving part of the fork 912 includes a power part 91251 and a driving part of the fork 912
  • the power part 91251 of the fork is a motor
  • the driving part of the fork 912 includes The driving gear 91252 and the driving rack 91253 matched therewith, the driving rack 91253 is fixed on the pallet fork 912 and arranged along the length direction of the pallet fork 912;
  • the power part 91251 of the pallet fork is connected with the driving gear 91252 to drive the driving gear 91252 to rotate and drive the driving rack 91253 and the pallet fork 912 to move.
  • the power driving part of the pallet fork 912 can be set as a slider slide rail mechanism, which can be set as required.
  • the pallet fork 912 includes a fixed pallet 9128, a first-stage pallet fork 9121 and The secondary fork 9122 and the fixed fork 9128 are fixed on the stacker frame 911, the primary fork 9121 can move relative to the fixed fork 9128, and the secondary fork 9122 can move relative to the primary fork 9121.
  • a sliding drive mechanism is respectively set, so as to Respectively performing multi-stage extension or retraction can meet the position requirements of the ULD and at the same time optimize the space setting when retracting, so that the fork 912 will not hinder the normal travel of other equipment.
  • the power drive device of the forks 912 is connected with the secondary forks 9122 to drive the secondary forks 9122 to move relative to the fixed forks 9128 .
  • the power driving device for the fork further includes: an extending chain 9127 and a retracting chain 9123 .
  • the first end of the protruding chain 9127 is fixedly connected to the rear end of the fixed fork 9128; It extends to the front end of the upper wall of the first-level fork 9121, extends to the rear end of the upper wall of the first-level fork 9121, and is fixed to the rear end of the lower wall of the second-level fork 9122; extends the chain 9127 and the front end of the first-level fork 9121 Sliding connection; the first end of the retracting chain 9123 is fixedly connected to the front end of the fixed fork 9128, and the second end is wound from the front end of the fixed fork 9128 and the rear end of the lower wall of the first-level fork 9121 to the first-level fork
  • the front end of the upper wall of 9121 extends forward from the front end of the upper wall of the first-level cargo fork 9121, and is fixed with the front end of the lower wall of the second-level cargo fork 9122;
  • the fork power drive device also includes an extension sprocket 91272 and a retraction sprocket 91232 .
  • the sprocket wheel 91272 is fixed on the front end of the first-level cargo fork 9121 and can rotate along its own axis. The sprocket wheel 91272 is engaged with the chain 9127 to prevent the chain 9127 from directly contacting the first-level cargo fork 9121.
  • the retracting sprocket 91232 is fixed on the rear end of the first-stage fork 9121 and can rotate along its own axis, and the retracting sprocket 91232 cooperates with the retracting chain 9123 .
  • the front end of the first-level cargo fork 9121 is provided with a vertically extending pulley mounting hole for installing the extending sprocket 91272; Retract Pulley Mounting Hole for Retract Sprocket 91232.
  • the power driving device of the cargo fork also includes an extending chain supporting plate 91271 and a retracting chain supporting plate 91231 .
  • the protruding chain supporting plate 91271 is respectively fixed on the upper wall of the fixed fork 9128 and the first-level fork 9121, and is extended along the length direction to support the protruding chain 9127;
  • the retracting chain supporting plate 91231 is respectively fixed on the fixed
  • the upper walls of the pallet fork 9128 and the primary pallet fork 9121 extend along the length direction, and are used to support the retraction chain 9123 .
  • problems such as overlapping, misalignment or winding of idle chains are prevented, ensuring a uniform position and reducing the number of failures.
  • the power driving device of the pallet fork also includes a guide assembly, which includes a guide block 91241 and a guide groove 91242 .
  • the guide block 91241 is fixed on the upper wall of the fixed fork 9128, and is arranged along the length direction of the fixed fork 9128; Setting; the guide block 91241 is preferably located on the width centerline of the fixed fork 9128, and the guide groove 91242 is set accordingly. Therefore, it is set to prevent the fixed fork 9128 from shaking in the width direction and improve the stability of the fork 912 during the sliding process.
  • the side wall of the guide block 91241 is provided with a limit guide groove 91243 extending along the length direction of the fixed fork 9128; Bit guide block 91244. Vibration of the fixed fork 9128 in the vertical direction is limited by the limit guide groove 91243 and the limit guide block 91244, so as to further improve the stability in the vertical direction during the sliding process.
  • the guide block 91241 is respectively fixed on the upper wall of the fixed fork 9128 and the upper wall of the first-stage fork 9121, and is arranged along the length direction of the fork 912;
  • the limit guide groove 91243 is extended in the length direction of the fork 912;
  • the guide groove 91242 is respectively fixed on the lower wall of the first-level fork 9121 and the lower wall of the second-level fork 9122, and is arranged along the length direction of the fork 912;
  • a limit guide block 91244 that cooperates with the limit guide groove 91243 is provided on the side wall of the guide groove 91242 .
  • the number of guiding blocks 91241 is several, and the guiding blocks 91241 are respectively arranged at intervals along the length direction of the pallet fork 912 .
  • each group of forks 912 is respectively connected to a driving part of the fork 912; the power part 91251 of the fork drives each group of forks 912 respectively through the driving parts of each fork 912. Synchronized actions.
  • Each set of forks 912 includes a fixed fork 9128, a primary fork 9121, a secondary fork 9122, an extension chain 9127 and a retraction chain 9123, respectively.
  • the pallet fork 912 driving parts of two groups of cargo forks 912 are driven by the same rotating shaft, and the two ends of the length direction of the rotating shaft are respectively provided with driving gears 91252 to cooperate with the driving racks 91253 of each group of pallet forks 912 respectively.
  • the power part 91251 of the cargo fork drives the rotating shaft to rotate, and then drives the driving gear 91252 to rotate.
  • One fork power part 91251 drives two groups of forks 912 to move synchronously through the driving parts of each fork 912 respectively.
  • the extending chain 9127 and the retracting chain 9123 are arranged symmetrically along the centerlines of the two groups of forks 912, so as to optimize the structure of the device.
  • the specific synchronous telescopic operation process is: the control device 913 controls the power part 91251 of the fork to start according to the action command received, the power part 91251 of the fork drives the driving gear 91252 to rotate, and the driving rack 91253 on the first-level fork 9121 is driving The rotation of the gear 91252 moves down, and the first-level cargo fork 9121 stretches out.
  • the stretched out chain 9127 rotates around the stretched out sprocket 91272, and the part of the stretched out chain 9127 positioned at the lower wall end of the first-level cargo fork 9121 increases, and is located at the first-level
  • the protruding chain 9127 on the upper wall of the fork 9121 is partially shortened, and at the same time, the secondary fork 9122 is pushed forward to extend forward.
  • the retracting chain 9123 is located at the primary fork under the pulling force of the secondary fork 9122.
  • the part of the retraction chain 9123 on the upper wall of the 9121 is increased, and the part of the retraction chain 9123 located on the lower wall of the primary fork 9121 is shortened, and the retraction chain 9123 is passive; when the fork 912 needs to be retracted, the fork power part 91251 Drive the drive gear 91252 to rotate in reverse, and the drive rack 91253 retracts under the rotation of the drive gear 91252.
  • the retraction chain 9123 on the lower wall of the first-level cargo fork 9121 is in a tensioned state, and at the same time it is located on the first-level cargo
  • the retraction chain 9123 on the upper wall of the fork 9121 moves through the retraction sprocket 91232, and the length of the retraction chain 9123 on the lower wall of the first-level cargo fork 9121 increases, and the length of the retraction chain 9123 on the upper wall of the first-level cargo fork 9121 increases.
  • the secondary pallet fork 9122 is pulled back, thereby to realize the process of synchronous telescopic expansion of the primary pallet fork 9121 and the secondary pallet fork 9122.
  • the above-mentioned device has a simple structure, is easy to install, can realize synchronous expansion and contraction, simplifies synchronous control operations, and improves efficiency.
  • the walking drive device of the stacker also includes a walking power part and a walking driving part.
  • the walking driving part includes a walking driving gear 91252 and a walking driving rack 91253 matched with it.
  • the walking power part is connected with the walking driving gear 91252, and the walking driving rack 91253 is used to be fixed on the ground rail of the rail vehicle, and the traveling power part drives the traveling drive gear 91252 to rotate to drive the stacker frame 911 to advance along the ground rail.
  • the rack and pinion mechanism improves walking and positioning accuracy and reduces walking errors.
  • the walking drive device of the stacker also includes a walking guide mechanism, the walking guide mechanism includes a walking chute and a walking slider, the walking chute is arranged along the length direction of the stacker frame 911, and the walking slider is used to be fixed on the track On the ground rail of the vehicle, the travel chute and the travel slider guide the movement of the stacker frame 911 on the ground rail.
  • the walking guide mechanism includes a walking chute and a walking slider
  • the walking chute is arranged along the length direction of the stacker frame 911
  • the walking slider is used to be fixed on the track On the ground rail of the vehicle, the travel chute and the travel slider guide the movement of the stacker frame 911 on the ground rail.
  • a lifting and lowering driving device of the pallet fork 912 is also included, and the lifting and lowering driving device of the pallet fork 912 includes a lifting plate 9161 , a lifting power part of the pallet fork 9151 and a lifting and lowering driving device of the pallet fork 9171 .
  • the lifting plate 9161 is located in the rectangular frame and can move vertically in the rectangular frame, the fixed fork 9128 is fixed on the lifting plate 9161; the lifting power part 9151 of the fork is fixed on the bottom plate of the stacker frame 911,
  • the fork lift drive part 9171 is vertically arranged along the stacker frame 911, one end of the fork lift drive part 9171 is connected with the fork lift power part 9151, and the other end is connected with the lift plate 9161, and the fork lift drive part 9151 drives
  • the fork lifting driving part 9171 acts to drive the lifting plate 9161 and the fork 912 to move vertically.
  • the fork lift drive part 9171 is a nut screw mechanism
  • the lead screw is connected with the fork lift power part 9151 to drive its rotation
  • the lead screw is arranged along the vertical side wall of the rectangular frame of the stacker frame 911, preferably
  • there is also a screw mounting beam the two ends of the screw mounting beam are respectively fixedly connected with the rectangular frame, and a bearing is arranged between the screw and the screw mounting beam.
  • Nuts are fixed on a group of opposite side edges of the lifting plate 9161, and the nuts are sleeved on the leading screw.
  • the above-mentioned stacking system 91 also includes an anti-collision buffer device 914, which is used to prevent collisions when the stacker frame 911 and the rail vehicle contact Buffering, anti-collision buffering devices 914 are respectively fixed on both ends of the stacker frame 911 in the length direction.
  • the anti-collision buffer device 914 can be set as a buffer member such as rubber or a spring, which can be set according to the development level of the prior art, all of which are within the protection scope of the present application.
  • the collector device 918 includes a collector guide rail and a collector; the collector guide rail is fixed on the roof of the rail vehicle and extends along the longitudinal direction of the rail vehicle; the collector is fixed on the stacker frame 911 The top of the top, and detachable connection, the current collector cooperates with the current collector guide rail to provide power for the operation equipment of the stacking system 91 .
  • the current collecting device also includes an insulating protective cover, which is used for insulation of non-contact parts, preventing electric leakage or personal contact, etc.
  • the insulating protective cover is preferably arranged on the current collecting guide rail and the collector respectively.
  • the stacker frame 911 is a rectangular frame, and the rectangular frame includes a top frame, a side frame and a bottom frame, and any two of the top frame, the side frames and the bottom frame are detachably connected. Both the side frame and the bottom frame are lightweight aluminum strips to reduce the overall weight; the top frame is provided with a collector device 918, and the bottom frame is provided with a stacker driving device.
  • the control device 913 is located at the outer bottom of the rectangular frame to optimize the overall space of the rectangular frame.
  • the positioning pieces 919 are located at the two ends of the length direction on the top frame.
  • the positioning pieces 919 are used to cooperate with the sky rail of the rail vehicle for positioning and guiding, so as to prevent the stacker frame 911 from moving in the width direction. Rocking occurs; in the width direction of the top frame, the positioning member 919 is located at the center of the top frame.
  • It also includes an encoder and a code ruler, which are respectively fixed on the top frame for precise positioning.
  • the sliding distance of the stacker frame 911 is accurately measured by the encoder and the code ruler, so as to improve the distance detection accuracy.
  • other forms of distance measurement or position positioning may also be used, all of which are within the protection scope of the present application.
  • the specific operation process is: the control device 913 controls the action of the fork lifting power part 9151 according to the received action command, and the action of the fork lifting driving part 9171 to drive the lifting plate 9161 and the fork 912 to move vertically until the preset height, At this preset height, the height of the pallet fork 912 is equal to that of the first door conveying assembly, so that the pallet fork 912 can fork up or put down the container; and control the activation of the pallet fork power part 91251 and drive the pallet fork 912
  • the driving part acts, so that the first-level fork 9121 and the second-level fork 9122 are extended synchronously, and after the container on the first door conveying assembly is forked, the fork 912 is controlled to retract to the initial position; and the sweeper is controlled.
  • the code device 9110 scans the code on the electronic label on the container, obtains the stacking position information of the container according to the scanned code information, and controls the movement of the walking power part and the driving part to drive the stacker frame 911 along the ground.
  • the rail travels to the preset position of the shelf, and controls the action of the fork lifting drive part 9171 according to the stacking position information, adjusts the height matching of the stacking position of the pallet fork 912, and drives the drive part of the pallet fork 912 again to make the goods
  • the fork 912 is stretched out in reverse, and the container on the fork 912 is transferred to the stacking position, and the transfer of the container from the door conveyor system to the shelf system is completed. It can be understood that when the goods are taken out, the container is executed The opposite operation process of the above.
  • Figure 15 is a schematic front view of a shelf system provided by the embodiment of the present application
  • Figure 16 is a schematic front view of Figure 15
  • Figure 17 is a schematic view of the lateral structure of Figure 15
  • Figure 18 A partial enlarged structural schematic diagram of the shelf system provided by the embodiment of the present application
  • FIG. 19 is a schematic diagram of the installation structure of the vertical support frame provided by the embodiment of the present application
  • FIG. 20 is a schematic structural diagram of the tensioning device provided by the embodiment of the present application.
  • the rail vehicle racking system includes a frame body 921 , a bottom mounting plate 923 and a tensioning device 922 .
  • the frame body 921 extends along the longitudinal direction of the rail vehicle.
  • the frame body 921 includes a conveying lane 924 and a storage area for storing goods.
  • the conveying lane 924 is used for the running of the conveying device, and the conveying device, such as a stacker or a mechanical arm, is used for grabbing and conveying the goods.
  • auxiliary equipment such as tracks can be set on the conveying roadway 924, which can be set according to actual needs.
  • the conveying lane 924 is arranged along the longitudinal extension of the rail vehicle, and the storage area is located on both sides of the conveying lane 924 .
  • the bottom mounting plate 923 is detachably connected to the bottom of the frame body 921 for fixing the frame body 921 to the floor of the rail vehicle.
  • the frame body 921 and the bottom mounting plate 923 are detachably connected to facilitate disassembly.
  • the tensioning device 922 is located outside the frame body 921 and is used to fix the frame body 921 to the roof and/or side wall of the rail vehicle.
  • a rail vehicle racking system provided in the embodiment of the present application has the following technical effects:
  • the frame body 921 is used as an independent unit, and a bottom mounting plate 923 is provided at its bottom to fix the frame body 921 and the floor of the rail vehicle, and the frame body 921 is connected to the roof and/or side wall of the rail vehicle by a tensioning device 922 Fixed, thus during installation, the frame body 921 can be processed as a whole and loaded into the compartment, and then connected, simplifying the installation operation and steps, and improving installation efficiency; at the same time, the frame body 921 is provided with a conveying roadway 924 and cargo storage Area, in order to cooperate with the conveying device, provide the basis for automatic conveying and storage.
  • the tensioning device 922 includes several roof tensioning assemblies 9221 and several side wall tensioning assemblies 9222 .
  • the roof tensioning assembly 9221 is located on the top of the frame body 921, and the roof tensioning assembly 9221 is used for detachable connection with the roof of the rail vehicle;
  • the side wall tensioning assembly 9222 is located on the side of the frame body 921, and the side wall tensioning assembly 9222 is used for For detachable connection to the side wall of the rail vehicle.
  • the roof tensioning assembly 9221 and the side wall tensioning assembly 9222 have the same structure, so as to facilitate production and processing.
  • the top plate tensioning assembly 9221 and the side wall tensioning assembly 9222 respectively include a first hinge seat 92221, a first screw rod 92222, a lock nut 92223, a second screw rod 92224, a second hinge seat 92225 and a fixing piece 92226 arranged in sequence , the first hinged seat 92221 is hinged with the first screw 92222, the second screw 92224 is hinged with the second hinged seat 92225, the two ends of the lock nut 92223 are threaded with the first screw 92222 and the second screw 92224 respectively, and the first hinged seat 92221 is detachably connected with the frame body 921, and the fixing part 92226 is used for detachably connected with the roof or side wall of the rail vehicle.
  • the length of the tensioning assembly is adjusted to connect the frame body 921 with the top board or the side wall.
  • the ground rails 926 extend along the longitudinal direction of the rail vehicle, the ground rails 926 are located at the bottom of the conveying roadway 924, and are connected to the bottom mounting plate 923 is detachably connected, and ground rails 926 are preferably located at both ends of the conveying roadway 924 in the width direction.
  • the ground rail 926 is used for sliding cooperation with the conveying device, so that the conveying device can move in the conveying tunnel 924 .
  • the limit blocks of the ground rails 926 are respectively located at the ends of the length direction of each ground rail 926 , and the limit blocks of the ground rails 926 are fixedly connected with the bottom mounting plate 923 .
  • the limit block of the ground rail 926 prevents the conveying roadway 924 from slipping out of the ground rail 926, improving the sliding safety.
  • the frame body 921 includes a top support frame 9210 and several vertical support frames 9213 .
  • the top support frame 9210 is fixedly connected with the top plate of the rail vehicle; the top of the vertical support frame 9213 is fixed to the top support frame 9210, and the bottom end of the vertical support frame 9213 is fixed to the bottom mounting plate 923; preferably each vertical support frame
  • the bottoms of 9213 are provided with bottom mounting plates 923, and the vertical support frames 9213 are respectively arranged horizontally and vertically along the top support frame 9210.
  • the area and the conveying lane 924, the conveying lane 924 is located in the middle, preferably the storage area is arranged symmetrically on both sides of the conveying lane 924.
  • the vertical support frame 9213 includes a support beam 92133.
  • connecting beams 9214 are arranged between the support beams 92133 of adjacent vertical support frames 9213 arranged longitudinally.
  • the support beams 92133 and the connecting beams 9214 form a set
  • the container stacking position is used to support the container.
  • the stacking position preferably forms a rectangular frame to ensure bearing capacity and improve stability.
  • the top support frame 9210 includes several top longitudinal beams 9212 and several top cross beams 9211, the top longitudinal beams 9212 are arranged along the transverse direction of the rail vehicle, and extend along the longitudinal direction of the rail vehicle and are arranged in parallel; the top cross beams 9211 are arranged along the longitudinal direction of the rail vehicle Arranged and perpendicular to the top longitudinal beam 9212, the top cross beam 9211 is detachably connected to the top longitudinal beam 9212. It is thus set to increase the bearing capacity of the top support frame 9210 and provide installation points for the installation of the vertical support frame 9213 .
  • the vertical support frame 9213 includes a first vertical column 92131 and a second vertical column 92132, and the two ends in the length direction of the support beam 92133 are respectively connected to the first vertical column 92131 and the second vertical column. 92132 connected, the support beam 92133 is set along the horizontal direction; the structure of the first vertical column 92131 and the second vertical column 92132 is the same, so as to facilitate production and processing.
  • the vertical support frame 9213 is located at the intersection of the top longitudinal beam 9212 and the top cross beam 9211, that is, the top ends of the first vertical column 92131 and the second vertical column 92132 are respectively located at the intersection of the top longitudinal beam 9212 and the top cross beam 9211, the first The bottom ends of the vertical column 92131 and the second vertical column 92132 are respectively located on the bottom mounting plate 923 .
  • the number of supporting beams 92133 is at least two, set according to the height of the first vertical column 92131 and the second vertical column 92132, and the height of the first vertical column 92131 and the second vertical column 92132 is set according to the height of the track Set the vertical height of the vehicle compartment.
  • the connecting beam 9214 includes an end connecting beam 92142 and an intermediate connecting beam 92141.
  • the end connecting beams 92142 are located at both ends of the lengthwise direction of the supporting beam 92133, and the end connecting beams 92142 are respectively connected to the longitudinally arranged
  • the adjacent vertical support frames 9213 are fixedly connected; the intermediate connecting beam 92141 is located at the center of the supporting beam 92133 . It is thus provided to increase the connection strength of the device.
  • a positioning protrusion 929 is also included.
  • the positioning protrusion 929 is fixed on the upper surface of the connecting beam 92142 at the end, and is used to cooperate with the positioning groove of the container to align the container. device for positioning.
  • the positioning protrusion 929 is preferably a positioning pin, and the diameter of the positioning pin decreases sequentially from bottom to top. It can be understood that a positioning groove is provided on the bottom wall of the container to cooperate with the positioning pin.
  • the sky rail 927 extends longitudinally along the rail vehicle, the sky rail 927 is located at the top of the conveying roadway 924, and is fixed with the frame body 921, and the sky rail 927 It is used to cooperate with the conveying device for positioning and guiding; the sky rail 927 is preferably set on the transverse centerline of the rail vehicle.
  • the trolley line 928 extends along the longitudinal direction of the rail vehicle.
  • the trolley line 928 is located on the top of the conveying roadway 924 and is detachably connected to the frame body 921.
  • the trolley line 928 is used to cooperate with the collector of the conveying device to carry out transportation for the conveying device. powered by.
  • the cooperation of the trolley line 928 and the current collector makes it unnecessary for the conveying device to be connected to the power supply system of the rail vehicle through a cable, which simplifies the setting of the cable and reduces the cost.
  • each top beam 9211 includes several sections of roof sub-beams extending in sequence along the transverse direction, and the two ends of each section of the top sub-beam in the length direction are respectively detachably connected to the top longitudinal beam 9212 . Therefore, it is set so that the lateral length of the frame body 921 can be adjusted according to needs, so as to adapt to different vehicle models and improve the versatility of the device. At the same time, when there is an installation error in the top beam 9211, the length of each section of the top beam can be adjusted in time to adapt in time, without the need to replace the frame body 921 again, reducing maintenance costs.
  • the fixed corner piece includes a first plate portion and a second plate portion, the first plate portion and the second plate portion are vertically arranged, and preferably the first plate portion and the second plate portion have the same structure, and the first plate portion and the second plate portion Mounting through holes and mounting slide holes are respectively arranged on the upper part to cooperate with threaded fasteners.
  • the connection relationship between the above-mentioned components makes it easy to disassemble and assemble when a certain component is damaged and needs to be replaced, reducing the maintenance cost. At the same time, the parts are connected by fixed corner fittings to further improve the connection strength.
  • a bottom connecting block is also included, and the bottom connecting block is located on the bottom wall of the bottom mounting plate 923; To pass through the bottom mounting plate 923 and the bottom connecting block for fixing with the floor of the rail vehicle.
  • the setting of the connecting block at the bottom prevents the threaded fastener from penetrating through the bottom mounting plate 923, increases the thread area and improves the connection stability.
  • the adjacent vertical supporting frames 9213 arranged in the longitudinal direction are provided with preset intervals to form at least one horizontal conveying lane 925 , and the transverse conveying lane 925 runs through the frame body 921 along the transverse direction.
  • the preset interval is greater than the interval between the adjacent vertical support frames 9213 arranged longitudinally and forming the stacking position.
  • the preset interval is greater than the length of the connecting crossbeam 9214;
  • the required width of the conveying system is set, and the number of transverse conveying lanes 925 is at least two, so as to set several docking places in the carriage, further improve the docking and conveying efficiency of goods with the conveying system at the door, and further improve the degree of automation.
  • the shelf system includes a stacking position state detection device, which is connected to the general control system, and the stacking position state detection device is used to send the ULD arrival instruction to the general control system when detecting the storage of ULDs;
  • the control system is also used to update the stacking position list information after receiving the ULD arrival instruction of the stacking position, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position.
  • the stacking position state detection device is preferably to install one or more of pressure sensors, infrared sensors or position switches at the stacking positions of each shelf to detect whether there is a ULD in each stacking position,
  • the master control system can judge the current number of remaining stacking positions according to the detection signal, or judge whether the ULD is in place according to the detection signal.
  • the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Economics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Tourism & Hospitality (AREA)
  • Theoretical Computer Science (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • General Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Strategic Management (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Development Economics (AREA)
  • Transportation (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Primary Health Care (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Provided in the embodiments of the present application are a warehousing management method and system for a railway vehicle. The method comprises: acquiring container information of a container to be warehoused; allocating a stacking position to said container according to the container information, binding the container to the stacking position allocated thereto, and storing the container; and sending an instruction to move said container to the allocated stacking position for storage. By means of the method and system, containers and stacking positions can be bound to each other on a one-to-one basis, and stacking position allocation information of warehousing can be acquired in a timely manner, thereby facilitating a subsequent management operation on the stacking positions of a warehouse; and the system can be engaged with other systems in a logistics park system, thereby meeting requirements for modern warehousing, multi-modal transport and transfer, etc.; moreover, a basis can be provided for the improvement of the logistics turnover speed and efficiency and for the building of a comprehensive traffic transportation network, such that the logistic requirements for multiple varieties, large batches and short periods are met.

Description

一种轨道车辆的仓储管理方法及***Warehouse management method and system for rail vehicles 技术领域technical field
本申请涉及轨道车辆技术，尤其涉及一种安全环路***及轨道车厢。The application relates to rail vehicle technology, in particular to a safety loop system and a rail car.
背景技术Background technique
随着科技的进步，物联网已经深深地渗入到人们生活中，电商行业的兴起激发了物流业的增长潜力。短短几年，快递物流的业务可谓是空前高涨，每年的快递业务量以20％～30％的速度快速发展，那么如何更好地应对快递物流的需求成为我们的关注点。在规模巨大的同时，不可忽略的是与之相匹配的物流基础设施与发达国家相比相对滞后，现代化设施比重低，不能满足现代物流发展要求。传统的物流业所采用的人工装卸方式及存储方式既不能保证货物运输过程中的质量要求，也无法匹配多品种、大批量、短周期的电商业务。现有的轨道车辆上的装卸与存储***无法满足现代化仓储、多式联运转运等需求；各***之间无法进行有效衔接，无法建立功能完善的物流园区体系。With the advancement of science and technology, the Internet of Things has deeply penetrated into people's lives, and the rise of the e-commerce industry has stimulated the growth potential of the logistics industry. In just a few years, the business of express logistics has soared unprecedentedly, and the annual express business volume has grown rapidly at a rate of 20% to 30%. So how to better respond to the needs of express logistics has become our focus. While the scale is huge, what cannot be ignored is that the matching logistics infrastructure is relatively lagging behind compared with developed countries, and the proportion of modern facilities is low, which cannot meet the requirements of modern logistics development. The manual loading and unloading methods and storage methods adopted by the traditional logistics industry can neither guarantee the quality requirements during the transportation of goods, nor can they match the multi-variety, large-volume, and short-cycle e-commerce business. The existing loading, unloading and storage systems on rail vehicles cannot meet the needs of modern warehousing and multimodal transportation; the systems cannot be effectively connected, and a fully functional logistics park system cannot be established.
发明内容Contents of the invention
本申请实施例中提供了一种轨道车辆的仓储管理方法及***，以解决现有的轨道车辆上的装卸与存储***无法满足现代化仓储、多式联运转运等需求的问题。The embodiments of the present application provide a storage management method and system for rail vehicles to solve the problem that the existing loading, unloading and storage systems on rail vehicles cannot meet the needs of modern storage and multimodal transportation.
为了达到上述目的，本申请提供如下技术方案：In order to achieve the above object, the application provides the following technical solutions:
一种轨道车辆的仓储管理方法，包括：A warehouse management method for rail vehicles, comprising:
获取待入库的集装器的集装器信息；Obtain the ULD information of the ULD to be put into storage;
根据所述集装器信息为所述待入库的集装器分配堆垛位，并将所述集装器与其分配的堆垛位进行绑定并存储；Allocating a stacking position for the container to be put into storage according to the container information, and binding and storing the container with its assigned stacking position;
发出指令以将所述待入库的集装器移动至分配的堆垛位处进行存储。An instruction is issued to move the ULDs to be stored to the assigned stacking location for storage.
可选地，所述根据所述集装器信息为所述待入库的集装器分配堆垛位，具体包括：Optionally, the allocating a stacking position for the ULD to be put into storage according to the ULD information specifically includes:
根据所述集装器信息读取集装器所装载的货物的货物站位信息；Read the cargo station information of the goods loaded in the container according to the container information;
根据所述货物站位信息确定所装载的货物的旅途类型，通过所述旅途类别确定与所述待入库的集装器对应的存储区域，及所述存储区域中、所述待入库的集装器对应的堆垛位。Determine the journey type of the loaded goods according to the cargo station information, determine the storage area corresponding to the container to be loaded into the warehouse through the journey type, and determine the storage area in the storage area, the cargo to be loaded into the warehouse The stacking position corresponding to the ULD.
可选地，所述根据所述货物站位信息确定所装载的货物的旅途类型，具体包括：Optionally, the determining the journey type of the loaded cargo according to the cargo station information specifically includes:
根据所述货物站位信息确定所装载的货物的货物到站信息；Determining the cargo arrival information of the loaded cargo according to the cargo station information;
根据预设列车时刻表、获取的当前站台信息和所述货物到站信息进行判断，当货物到站和当前站台间的停靠站数大于或等于预设停靠站数时，认为所装载的货物的旅途类型为长途类型；当货物到站和当前站台间的停靠站数小于所述预设停靠站数时，认为所装载的货物的旅途类型为短途类型。Judging according to the preset train timetable, the obtained current platform information and the arrival information of the goods, when the number of stops between the arrival of the goods and the current platform is greater than or equal to the number of preset stops, it is considered that the goods loaded The journey type is a long-distance type; when the number of stops between the arrival of the goods and the current platform is less than the preset number of stops, it is considered that the journey type of the loaded goods is a short-distance type.
可选地，所述通过所述旅途类别确定与所述待入库的集装器对应的存储区域，及所述存储区域中、所述待入库的集装器对应的堆垛位，具体包括：Optionally, the determination of the storage area corresponding to the ULD to be put into storage and the stacking position corresponding to the ULD to be put into storage in the storage area through the category of the journey, specifically include:
通过所述旅途类别确定与所述待入库的集装器对应的存储区域；Determining the storage area corresponding to the ULD to be put into storage through the journey category;
判断所述存储区域内是否存在闲置的堆垛位，若是，则根据预设规则为所述待入库的集装器分配堆垛位。It is judged whether there is an idle stacking position in the storage area, and if so, a stacking position is assigned to the ULD to be put into storage according to a preset rule.
可选地，所述判断所述存储区域内是否存在闲置的堆垛位，还包括：Optionally, the judging whether there are idle stacking positions in the storage area further includes:
当存储区域内不存在闲置的堆垛位时，进行当前存储区域内无闲置堆垛位报警。When there is no idle stacking position in the storage area, an alarm for no idle stacking position in the current storage area is issued.
可选地，所述将所述待入库的集装器移动至分配的堆垛位处进行存储之后，所述方法还包括：Optionally, after the storage of the ULDs to be put into storage is moved to the assigned stacking location, the method further includes:
判断是否接收到堆垛位的集装器到位指令，若是，则认为所述待入库的集装器完成入库，并更新堆垛位列表信息，所述堆垛位列表信息包括所述集装器与其对应的堆垛位的绑定关系。Judging whether the ULD arrival instruction for the stacking position has been received, if so, it is considered that the ULD to be put into the warehouse has completed the warehousing, and the stacking position list information is updated, and the stacking position list information includes the set The binding relationship between the loader and its corresponding stacking position.
可选地，所述方法还包括：Optionally, the method also includes:
当接收到出库指令时，根据预到站的到站信息确定预出库的集装器；When receiving the outbound instruction, determine the pre-outbound ULD according to the arrival information of the pre-arrival station;
并根据所述预出库的集装器以及所述堆垛位列表信息，确定堆垛位的位置；And determine the position of the stacking position according to the pre-delivered ULD and the stacking position list information;
根据所述堆垛位的位置取出对应的所述预出库的集装器。According to the position of the stacking position, the corresponding pre-delivery container is taken out.
可选地，所述当接收到出库指令时之前，所述方法还包括：Optionally, before the outbound instruction is received, the method further includes:
根据当前时刻和预设列车时刻表中预到站的到站时刻进行判断，当所述当前时刻与所述预到站的到站时刻具有预设时间间隔时，发送出库指令。Judging according to the current time and the arrival time of the expected station in the preset train timetable, when there is a preset time interval between the current time and the arrival time of the expected station, an exit instruction is sent.
可选地，所述根据所述堆垛位的位置取出所述预出库的集装器之后，所述方法还包括：Optionally, after taking out the pre-delivery container according to the position of the stacking position, the method further includes:
解除所述预出库的集装器和与其对应的堆垛位的绑定关系，并更新所述堆垛位列表信息。Release the binding relationship between the pre-delivery ULD and its corresponding stacking position, and update the stacking position list information.
可选地，所述更新所述堆垛位列表信息之后，所述方法还包括：Optionally, after the updating of the stacking position list information, the method further includes:
根据所述堆垛位列表信息计算闲置的堆垛位的数量，并根据所述闲置的堆垛位的数量得到堆垛位警戒数；获取预到站的待入库的集装器的数量；Calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions; obtain the number of pre-arrived ULDs to be put into storage;
当所述预到站的待入库的集装器的数量大于所述堆垛位警戒数时，进行报警。When the quantity of the pre-arrived ULDs to be put into storage is greater than the warning number of stacking positions, an alarm is issued.
可选地，所述获取待入库的集装器的集装器信息，具体包括：Optionally, the acquiring the ULD information of the ULD to be put into storage specifically includes:
通过读取与待入库的集装器对应的电子标签获取所述待入库的集装器的集装器信息；所述集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。Obtain the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; information and cargo characteristics information.
所述获取待入库的集装器的集装器信息，具体包括：The acquisition of the ULD information of the ULD to be put into storage specifically includes:
通过读取车辆总控***发送的控制信号获取待入库的集装器的集装器信息。Obtain the ULD information of the ULDs to be stored by reading the control signal sent by the vehicle master control system.
本申请提供一种轨道车辆的仓储管理***，包括：The application provides a warehouse management system for rail vehicles, including:
集装器信息获取模块，用于获取待入库的集装器的集装器信息；The ULD information acquisition module is used to obtain the ULD information of the ULD to be put into storage;
堆垛位分配模块，用于根据所述集装器信息为所述待入库的集装器分配堆垛位；A stacking location allocation module, configured to allocate a stacking location for the container to be put into storage according to the container information;
存储模块，用于将所述集装器与其分配的堆垛位进行绑定并存储；a storage module, configured to bind and store the ULD with its allocated stacking position;
指令控制模块，用于发出指令将所述待入库的集装器移动至分配的堆垛位处进行存储。The instruction control module is used to issue an instruction to move the container to be stored to the assigned stacking location for storage.
可选地，所述堆垛位分配模块具体包括：Optionally, the stacking location allocation module specifically includes:
货物站位信息读取单元，用于根据所述集装器信息读取集装器所装载的货物的货物站位信息；The cargo station information reading unit is used to read the cargo station information of the cargo loaded in the container according to the container information;
货物旅途类型确定单元，用于根据所述货物站位信息确定所装载的货物的旅途类型，通过所述旅途类别确定与所述待入库的集装器对应的存储区域，及所述存储区域中、所述待入库的集装器对应的堆垛位。A cargo journey type determining unit, configured to determine the journey type of the loaded cargo according to the cargo station information, determine the storage area corresponding to the container to be put into the warehouse through the journey type, and the storage area In, the stacking location corresponding to the ULDs to be put into storage.
可选地，所述货物旅途类型确定单元具体包括：Optionally, the cargo journey type determination unit specifically includes:
货物到站信息确定子单元，用于根据所述货物站位信息确定所装载的货物的货物到站信息；The cargo arrival information determination subunit is used to determine the cargo arrival information of the loaded cargo according to the cargo station information;
货物旅途类型判断子单元，用于根据预设列车时刻表、获取的当前站台信息和所述货物到站信息进行判断，当货物到站和当前站台间的停靠站数大于或等于预设停靠站数时，认为所装载的货物的旅途类型为长途类型；当货物到站和当前站台间的停靠站数小于所述预设停靠站数时，认为所装载的货物的旅途类型为短途类型。The cargo journey type judging subunit is used to judge according to the preset train timetable, the obtained current platform information and the cargo arrival information, when the number of stops between the cargo arrival and the current platform is greater than or equal to the preset stop When the number of stops is less than the preset number of stops, the journey type of the loaded goods is considered to be the short-distance type.
可选地，所述货物旅途类型确定单元具体包括：Optionally, the cargo journey type determination unit specifically includes:
存储区域确定子单元，用于通过所述旅途类别确定与所述待入库的集装器对应的存储区域；A storage area determination subunit, configured to determine the storage area corresponding to the container to be put into storage through the category of the trip;
闲置堆垛位判断子单元，用于判断所述存储区域内是否存在闲置的堆垛位，若是，则随机为所述待入库的集装器分配堆垛位。The idle stacking position judging subunit is used to determine whether there is an idle stacking position in the storage area, and if so, randomly assign a stacking position to the ULDs to be put into storage.
可选地，所述闲置堆垛位判断子单元还用于：Optionally, the idle stacking position judging subunit is also used for:
当存储区域内不存在闲置的堆垛位时，进行当前存储区域内无闲置堆垛位报警。When there is no idle stacking position in the storage area, an alarm for no idle stacking position in the current storage area is issued.
可选地，还包括：Optionally, also include:
集装器到位判断模块，用于判断是否接收到堆垛位的集装器到位指令，若是，则认为所述待入库的集装器完成入库，并发送信号至堆垛位列表信息更新模块；ULD in-position judging module, used to judge whether the ULD in-position instruction for the stacking position has been received, if so, consider that the ULD to be put into storage has completed the warehousing, and send a signal to the stacking position list information update module;
所述堆垛位列表信息更新模块，用于更新堆垛位列表信息，所述堆垛位列表信息包括所述集装器与其对应的堆垛位的绑定关系。The stacking position list information updating module is used to update the stacking position list information, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position.
可选地，还包括：Optionally, also include:
预出库集装器确定模块，用于当接收到出库指令时，根据预到站的到站信息确定预出库的集装器；The pre-outbound ULD determination module is used to determine the pre-outbound ULD according to the arrival information of the pre-arrival station when the outbound instruction is received;
堆垛位位置确定模块，用于根据所述预出库的集装器以及所述堆垛位列表信息，确定堆垛位的位置；A stacking location position determining module, configured to determine the location of the stacking location according to the pre-out-of-warehouse container and the stacking location list information;
所述集装器输送模块，用于根据所述堆垛位的位置取出对应的所述预出库的集装器。The container conveying module is used to take out the corresponding pre-out container according to the position of the stacking position.
可选地，还包括：Optionally, also include:
出库判断模块，用于根据当前时刻和预设列车时刻表中预到站的到站时刻进行判断，当所述当前时刻与所述预到站的到站时刻具有预设时间间隔时，向所述预出库集装器确定模块发送出库指令。Departure judging module, for judging according to the current time and the arrival time of the pre-arrival station in the preset train timetable, when the current time and the arrival time of the pre-arrival station have a preset time interval, send The pre-outbound container determination module sends an outbound instruction.
可选地，所述存储模块还用于：Optionally, the storage module is also used for:
解除所述预出库的集装器和与其对应的堆垛位的绑定关系，并发送信号至所述堆垛位列表信息更新模块更新所述堆垛位列表信息。Release the binding relationship between the pre-delivered ULD and its corresponding stacking position, and send a signal to the stacking position list information update module to update the stacking position list information.
可选地，还包括：Optionally, also include:
闲置堆垛位计算模块，用于根据所述堆垛位列表信息计算闲置的堆垛位的数量，并根据所述闲置的堆垛位的数量得到堆垛位警戒数；The idle stacking position calculation module is used to calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
待入库集装器数量获取模块，用于获取预到站的待入库的集装器的数量；The module for obtaining the quantity of ULDs to be put into storage is used to obtain the quantity of pre-arrived ULDs to be put into storage;
堆垛位容纳量判断模块，用于当所述预到站的待入库的集装器的数量大于所述堆垛位警戒数时，进行报警。The stacking position capacity judging module is configured to give an alarm when the quantity of the pre-arrived ULDs to be put into storage is greater than the stacking position warning number.
可选地，所述集装器信息获取模块具体用于：Optionally, the container information acquisition module is specifically used for:
通过读取与待入库的集装器对应的电子标签获取所述待入库的集装器的集装器信息；所述集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。Obtain the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; information and cargo characteristics information.
所述集装器信息获取模块具体用于：The container information acquisition module is specifically used for:
通过读取车辆总控***发送的控制信号获取待入库的集装器的集装器信息。Obtain the ULD information of the ULDs to be stored by reading the control signal sent by the vehicle master control system.
本申请提供一种设备，包括存储器和处理器，以及存储在所述存储器上且能够在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时，实现上述实施例任一项所述的轨道车辆的仓储管理方法的步骤。The present application provides a device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor. When the processor executes the computer program, any one of the above-mentioned embodiments can be realized. The steps of the storage management method for rail vehicles described in the item.
本申请提供一种计算机可读存储介质，其上存储有计算机程序，当所述计算机程序被处理器执行时，实现上述实施例任 一项所述的轨道车辆的仓储管理方法的步骤。The present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the storage management method for rail vehicles described in any one of the above-mentioned embodiments are realized.
本申请实施例提供的一种轨道车辆的仓储管理方法及***，包括获取待入库的集装器的集装器信息；根据集装器信息为待入库的集装器分配堆垛位，并将集装器与其分配的堆垛位进行绑定并存储；发出指令以将待入库的集装器移动至分配的堆垛位处进行存储。A storage management method and system for rail vehicles provided in an embodiment of the present application, including obtaining the container information of the container to be put into storage; assigning a stacking position to the container to be stored according to the container information, Bind and store the ULDs with their assigned stacking positions; issue instructions to move the ULDs to be put into storage to the assigned stacking positions for storage.
采用本申请实施例中提供的一种轨道车辆的仓储管理方法及***，相较于现有技术，具有以下技术效果：Compared with the prior art, the storage management method and system for rail vehicles provided in the embodiment of the present application have the following technical effects:
在获取待入库的集装器的集装器信息后，根据该集装器信息为待入库的集装器分配堆垛位，并将集装器与分配的堆垛位进行绑定并进行存储，控制相应的输送设备将待入库的集装器移动至分配的堆垛位处进行存储，并根据车辆的运行和到站信息，依据到站时间的长短、货架堆垛位的使用情况、到站情况进行自动分配和抓取，使得车辆仓储转运效率大大提升；上述方法及***使得集装器和堆垛位能够进行一一绑定，并能够及时获取仓储的堆垛位分配信息，以便于后续对仓库的堆垛位进行管理操作，并能够与物流园区体系中其他***进行衔接，满足现代化仓储、多式联运转运等需求；同时能够为提高物流周转速度和效率，为综合交通运输网络的搭建提供基础，满足多品种、大批量、短周期的物流需求。After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and For storage, control the corresponding conveying equipment to move the ULDs to be stored to the assigned stacking position for storage, and according to the operation of the vehicle and the arrival information, according to the length of the arrival time and the use of the shelf stacking position The automatic allocation and capture of the situation and arrival situation greatly improves the efficiency of vehicle storage and transfer; the above method and system enable the binding of the container and the stacking position one by one, and the timely acquisition of the stacking position allocation information of the storage , so as to facilitate the subsequent management and operation of the stacking positions of the warehouse, and to be able to connect with other systems in the logistics park system to meet the needs of modern warehousing, multimodal transportation, etc.; The construction of the transportation network provides the foundation to meet the logistics needs of multiple varieties, large quantities, and short cycles.
附图说明Description of drawings
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:
图1为本申请实施例提供的一种车门处输送***的第一状态结构示意图；FIG. 1 is a schematic structural diagram of a first state structure of a conveying system at a vehicle door provided by an embodiment of the present application;
图2为本申请实施例提供的一种车门处输送***的第二状态结构示意图；Fig. 2 is a schematic structural diagram of the second state of a conveying system at the door provided by the embodiment of the present application;
图3为本申请实施例提供的站台输送***的轴测结构示意图；Fig. 3 is a schematic diagram of the axonometric structure of the platform conveying system provided by the embodiment of the present application;
图4为本申请实施例提供的第三方向移动调节件的结构示意图；Fig. 4 is a schematic structural diagram of the third direction movement regulator provided by the embodiment of the present application;
图5为本申请实施例提供的一种轨道车辆的堆垛***的轴测结构示意图；Fig. 5 is a schematic diagram of the axonometric structure of a rail vehicle stacking system provided by the embodiment of the present application;
图6为图5的主视结构示意图；Fig. 6 is a schematic diagram of the front view of Fig. 5;
图7为图5的侧向结构示意图；Fig. 7 is a schematic diagram of the lateral structure of Fig. 5;
图8为图7中局部结构放大示意图；Figure 8 is an enlarged schematic view of the local structure in Figure 7;
图9为图8的俯视结构示意图；Fig. 9 is a top view structural schematic diagram of Fig. 8;
图10为本申请实施例提供的货叉的第一剖视结构示意图；Fig. 10 is a first cross-sectional structural schematic diagram of the fork provided by the embodiment of the present application;
图11为本申请实施例提供的货叉的第二剖视结构示意图；Fig. 11 is a second cross-sectional structural schematic diagram of the fork provided by the embodiment of the present application;
图12为本申请实施例提供的货叉的第三剖视结构示意图；Fig. 12 is a schematic diagram of the third cross-sectional structure of the fork provided by the embodiment of the present application;
图13为图5的局部结构放大示意图；FIG. 13 is an enlarged schematic view of the partial structure of FIG. 5;
图14为图13的局部结构放大示意图；FIG. 14 is an enlarged schematic view of the partial structure of FIG. 13;
图15为本申请实施例提供的一种货架***的主视结构示意图；Fig. 15 is a schematic front view structural diagram of a shelf system provided by the embodiment of the present application;
图16为图15的主视结构示意图；Fig. 16 is a schematic diagram of the front view of Fig. 15;
图17为图15的侧向结构示意图；Fig. 17 is a schematic diagram of the lateral structure of Fig. 15;
图18为本申请实施例提供的货架***的局部放大结构示意图；Fig. 18 is a schematic diagram of a partial enlarged structure of the shelf system provided by the embodiment of the present application;
图19为本申请实施例提供的竖向支撑架的安装结构示意图；Fig. 19 is a schematic diagram of the installation structure of the vertical support frame provided by the embodiment of the present application;
图20为本申请实施例提供的拉紧装置的结构示意图；Fig. 20 is a schematic structural diagram of the tensioning device provided by the embodiment of the present application;
图21为本申请实施例提供的一种轨道车辆的仓储管理方法的流程示意图。Fig. 21 is a schematic flowchart of a storage management method for rail vehicles provided by an embodiment of the present application.
附图中标记如下：The markings in the attached drawings are as follows:
堆垛***91；Stacking system 91;
堆垛机机架911、货叉912、控制装置913、防撞缓冲装置914、集电装置918、定位件919、扫码装置9110； Stacker frame 911, fork 912, control device 913, anti-collision buffer device 914, current collector 918, positioning part 919, code scanning device 9110;
货叉动力件91251、驱动齿轮91252、驱动齿条91253； Fork power part 91251, drive gear 91252, drive rack 91253;
一级货叉9121、二级货叉9122、缩回链条9123、伸出链条9127、固定货叉9128、伸出链轮91272、缩回链轮91232、伸出链条托板91271、缩回链条托板91231；First-level fork 9121, second-level fork 9122, retracting chain 9123, extending chain 9127, fixed fork 9128, extending sprocket 91272, retracting sprocket 91232, extending chain support plate 91271, retracting chain support board 91231;
导向块91241、导向槽91242、限位导向槽91243、限位导向块91244； Guide block 91241, guide groove 91242, limit guide groove 91243, limit guide block 91244;
升降板9161、货叉升降动力件9151、货叉升降驱动件9171；Lifting plate 9161, fork lifting power part 9151, fork lifting driving part 9171;
架体921、拉紧装置922、底部安装板923、输送巷道924、横向输送巷道925、地轨926、天轨927、滑触线928、定位凸起929； Frame body 921, tensioning device 922, bottom mounting plate 923, conveying lane 924, lateral conveying lane 925, ground rail 926, sky rail 927, trolley line 928, positioning protrusion 929;
顶部支撑架9210、顶部横梁9211、顶部纵梁9212、竖向支撑架9213、连接横梁9214； Top support frame 9210, top beam 9211, top longitudinal beam 9212, vertical support frame 9213, connecting beam 9214;
顶板拉紧组件9221、侧墙拉紧组件9222； Roof tensioning assembly 9221, side wall tensioning assembly 9222;
第一铰接座92221、第一螺杆92222、锁紧螺母92223、第二螺杆92224、第二铰接座92225、固定件92226；The first hinge seat 92221, the first screw rod 92222, the lock nut 92223, the second screw rod 92224, the second hinge seat 92225, and the fixing piece 92226;
第一竖向立柱92131、第二竖向立柱92132、支撑横梁92133；The first vertical column 92131, the second vertical column 92132, the support beam 92133;
中间连接横梁92141、端部连接横梁92142；Intermediate connecting beam 92141, end connecting beam 92142;
站台输送***931、车门处输送***932；Platform conveyor system 931, door conveyor system 932;
站台控制装置9311、站台输送组件9312、第一方向移动调节件9313、第三方向移动调节件9314、第二方向移动调节件9315、第一底架9316； Platform control device 9311, platform conveying assembly 9312, first direction movement adjustment member 9313, third direction movement adjustment member 9314, second direction movement adjustment member 9315, first chassis 9316;
第一输送组件安装架93121、第一积放滚筒93122；The first conveying assembly mounting frame 93121, the first accumulating roller 93122;
第三安装座93143、第三驱动电机93141、第三升降机构93142、第三支撑座93144；The third mounting base 93143, the third driving motor 93141, the third lifting mechanism 93142, and the third support base 93144;
车门控制装置9321、车门输送装置9322、第二底架9323、翻转驱动组件9324、集装器到位检测组件9325、第二输送组件安装架9326、第二积放滚筒9327；Vehicle door control device 9321, vehicle door conveying device 9322, second underframe 9323, overturning drive assembly 9324, container in-position detection assembly 9325, second conveying assembly mounting frame 9326, second accumulating roller 9327;
第一车门输送组件93221、第二车门输送组件93222。The first car door conveying assembly 93221, the second car door conveying assembly 93222.
具体实施方式Detailed ways
本发明实施例公开了一种轨道车辆的仓储管理方法及***，以解决现有的轨道车辆上的装卸与存储***无法满足现代化仓储、多式联运转运等需求的问题。The embodiment of the present invention discloses a storage management method and system for rail vehicles, so as to solve the problem that the existing loading, unloading and storage systems on rail vehicles cannot meet the requirements of modern storage, multimodal transportation and the like.
为了使本申请实施例中的技术方案及优点更加清楚明白，以下结合附图对本申请的示例性实施例进行进一步详细的说明，显然，所描述的实施例仅是本申请的一部分实施例，而不是所有实施例的穷举。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。In order to make the technical solutions and advantages in the embodiments of the present application clearer, the exemplary embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only part of the embodiments of the present application, and Not an exhaustive list of all embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
本申请实施例提供的轨道车辆的仓储管理方法及***，应用于轨道交通智能装卸***。为便于理解仓储管理方法的具体流程、仓储管理***的设计原理和工作方式，下文从轨道交通智能装卸***开始介绍。The rail vehicle storage management method and system provided in the embodiments of the present application are applied to rail transit intelligent loading and unloading systems. In order to facilitate the understanding of the specific process of the warehouse management method, the design principle and working method of the warehouse management system, the following is introduced from the rail transit intelligent loading and unloading system.
请参阅图1-4，图1为本申请实施例提供的一种车门处输送***932的第一状态结构示意图；图2为本申请实施例提供的一种车门处输送***932的第二状态结构示意图；图3为本申请实施例提供的站台输送***931的轴测结构示意图；图4为本申请实施例提供的第三方向移动调节件9314的结构示意图。Please refer to Figures 1-4, Figure 1 is a schematic structural diagram of a first state of a vehicle door delivery system 932 provided by an embodiment of the present application; Figure 2 is a second state of a vehicle door delivery system 932 provided by an embodiment of this application Schematic diagram of the structure; FIG. 3 is a schematic diagram of the axonometric structure of the platform conveying system 931 provided by the embodiment of the present application; FIG. 4 is a schematic diagram of the structure of the third direction movement regulator 9314 provided by the embodiment of the present application.
在一种具体的实施方式中，本申请提供一种轨道交通智能装卸***，轨道交通智能装卸***包括站台输送***和轨道车辆。其中，轨道车辆包括车门处输送***932、堆垛***、货架***、总控***。其中，站台输送***931和车门处输送***932共同形成轨道交通联控输送***，车门处输送***932固定在轨道车辆的车门处，轨道车辆可以为货运轨道车辆、货运车厢或客货混编轨道车辆等，可根据需要进行设置，均在本申请的保护范围内。上述轨道交通联控输送***还包括总控装置，总控装置一般设置在地面管理平台中的总控室中。总控装置分别与站台输送***931与车门处输送***932连接，以控制站台输送***931与车门处输送***932对接，总控装置可具体为控制器。可根据现有技术的发展水平进行设置。In a specific embodiment, the present application provides an intelligent rail transit loading and unloading system, which includes a platform conveying system and rail vehicles. Among them, the rail vehicle includes a conveying system 932 at the door, a stacking system, a shelf system, and a master control system. Wherein, the platform conveying system 931 and the door conveying system 932 jointly form a rail transit joint control conveying system, and the door conveying system 932 is fixed at the door of the rail vehicle, and the rail vehicle can be a freight rail vehicle, a freight car or a passenger-cargo mixed track Vehicles and the like can be set up as required, all within the protection scope of the present application. The above-mentioned rail transit joint control conveying system also includes a master control device, which is generally set in the master control room in the ground management platform. The master control device is respectively connected with the platform conveying system 931 and the conveying system 932 at the door to control the docking of the conveying system 931 at the station and the conveying system 932 at the door. The master control device may specifically be a controller. It can be set according to the development level of the existing technology.
总控***根据接收到的车门启动信号控制车门处输送***和站台输送***对接。总控***包括总控装置、***接口、仓储管理***(WMS)、调度控制(WCS)模块，分别实现与***信息***的接口、仓储物流管理层和仓储物流调度层相应的功能。车厢内的所有动力设备通过车厢内的电源、经过稳压电源给总控装置、堆垛机以及门口输送机供电；堆垛机通过主电源对滑触线供电而取得动力。总控装置直接控制门口输送机，总控装置与堆垛***进行无线通讯，与站台输送***进行I/O通讯，总控装置与车体通过以太网进行通讯，总控装置与仓库管理***通过以太网进行通讯。总控装置配置人机操作界面；堆垛机配置人机操作界面；站台输送机配置按钮盒；车辆的4个门口均配置按钮盒和快速通讯插头；站台输送机可以独立控制。The master control system controls the docking of the conveying system at the door and the platform conveying system according to the received door start signal. The general control system includes the general control device, system interface, warehouse management system (WMS), and scheduling control (WCS) modules, which respectively realize the corresponding functions of the interface with the peripheral information system, warehousing logistics management layer and warehousing logistics scheduling layer. All power equipment in the compartment supplies power to the master control device, stacker and door conveyor through the power supply in the compartment and the stabilized power supply; the stacker obtains power through the main power supply to the trolley line. The master control device directly controls the door conveyor, the master control device communicates wirelessly with the stacking system, and performs I/O communication with the platform conveying system, the master control device communicates with the car body through Ethernet, and the master control device communicates with the warehouse management system through Ethernet for communication. The master control device is equipped with a man-machine interface; the stacker is equipped with a man-machine interface; the platform conveyor is equipped with a button box; the four doorways of the vehicle are equipped with a button box and a fast communication plug; the platform conveyor can be controlled independently.
通过对仓储物流主机设备、物流电控***、物流计算机***的数据库服务器、应用服务器、管理软件等统一配置，实现对仓储物流的自动化统一管理和调度。具体的，触摸屏上配置HMI***，具有动作执行、状态显示、动作统计和故障报警功能；仓储管理***具有与扫描***通讯，具有跺位状态信息、进出库统计等功能；自动调度***是根据货物状态信息，自动分配跺位；到站前，调度堆垛机自动取走到站货物；总控装置与HMI***、仓储管理***、自动调度***通讯；总控装置与仓储管理***的硬件安装在货舱内；总控装置具有自动和手动控制模式；控制***符合标准化、规格化要求，同时所有产品选用必须确保安全使用性、通用性和互换性，容易调修和更换，便于维修。运动部件和电线、电缆等进行单独防护；电缆用金属管防护；设备必须有急停开关，安装在便于紧急操作的位置，颜色为红色。Through the unified configuration of warehousing logistics host equipment, logistics electronic control system, logistics computer system database server, application server, management software, etc., the automatic unified management and scheduling of warehousing logistics are realized. Specifically, the HMI system is configured on the touch screen, which has the functions of action execution, status display, action statistics, and fault alarm; the warehouse management system has the functions of communicating with the scanning system, and has the functions of stomping status information, warehouse entry and exit statistics, etc.; the automatic scheduling system is based on Cargo status information, automatic allocation of stomp positions; before arrival at the station, the scheduling stacker automatically picks up the goods at the station; the master control device communicates with the HMI system, warehouse management system, and automatic dispatching system; the hardware installation of the master control device and the warehouse management system In the cargo compartment; the master control device has automatic and manual control modes; the control system meets the requirements of standardization and specification, and all products must be selected to ensure safe use, versatility and interchangeability, easy to repair and replace, and easy to maintain. The moving parts and wires, cables, etc. shall be separately protected; the cables shall be protected by metal tubes; the equipment must have an emergency stop switch, which shall be installed in a position convenient for emergency operation, and the color shall be red.
具体集装器入库流程为：轨道车辆在驶入站台后，开启车门；总控***在接收到车门启动信号后，控制车门处输送***翻转，站台输送***与车门对位，在站台输送***和车门对准后，站台输送***伸出与车门处输送对接；站台输送***启动，将其上的集装器输送至车门处输送***上，车门处输送***将站台输送***输送来的集装器向车门输送至预设位置处，总控***控制堆垛***对车门处输送***的集装器进行抓取和扫描，根据扫描集装器得到的集装器信息分配堆垛位，并控制堆垛***根据分配的堆垛位将待入库的集装器移动至货架***的相应堆垛位处进行存储；完成集装器的入库流程。The specific loading process of ULDs is as follows: After the rail vehicle enters the platform, the door is opened; after the master control system receives the door activation signal, the conveying system at the door is controlled to turn over, the platform conveying system is aligned with the door, and the platform conveying system After aligning with the vehicle door, the platform conveying system stretches out and docks with the vehicle door; the platform conveying system starts, and transports the container on it to the vehicle door conveying system, and the vehicle door conveying system conveys the container delivered by the platform conveying system The container is transported to the door to the preset position, and the master control system controls the stacking system to grab and scan the container in the conveying system at the door, allocates the stacking position according to the container information obtained by scanning the container, and controls The stacking system moves the ULDs to be stored to the corresponding stacking positions of the shelf system according to the assigned stacking positions; completes the storage process of the ULDs.
具体集装器出库流程为：根据当前预到站以及到站时刻，在到站时刻前预设时段发出出库指令，根据预到站的到站信息确定预出库的集装器，并根据预出库的集装器以及堆垛位列表信息，确定堆垛位的位置，总控***控制堆垛***根据堆垛位的位置取出对应的预出库的集装器，并移送至货架***的缓存区域处，等待车门处输送***和站台输送***对接后，堆垛***将集装器移送至车门处输送***，并通过车门处输送***输送至站台输送***上，由站台输送***将集装器从轨道车辆上输送至站台上，完成集装器的出库流程。The specific outbound process of ULDs is as follows: according to the current pre-arrival time and arrival time, the outbound order is issued at a preset period before the arrival time, and the ULDs to be outbound are determined according to the arrival information of the pre-arrival station, and Determine the position of the stacking position according to the pre-delivered ULD and the stacking position list information, and the master control system controls the stacking system to take out the corresponding pre-delivered ULD according to the position of the stacking position, and transfer it to the shelf At the buffer area of the system, after waiting for the docking of the conveyor system at the door and the platform conveyor system, the stacking system will transfer the ULD to the conveyor system at the door, and then transport it to the platform conveyor system through the door conveyor system, and the platform conveyor system will The container is transported from the rail vehicle to the platform to complete the outbound process of the container.
实施例一Embodiment one
如图21所示，图21为本申请实施例提供的一种轨道车辆的仓储管理方法的流程示意图。在一种具体的实施方式中，本申请提供的轨道车辆的仓储管理方法包括：As shown in FIG. 21 , FIG. 21 is a schematic flowchart of a warehouse management method for rail vehicles provided by an embodiment of the present application. In a specific embodiment, the storage management method for rail vehicles provided by the application includes:
S941：获取待入库的集装器的集装器信息；S941: Obtain the ULD information of the ULD to be put into storage;
其中，集装器信息一般包括集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。货物归属信息如归属旅客的身份信息、乘坐座次等信息；货物特性信息如保存条件(如保存温度、湿度等)、货物属性、其他货物标识信息等。获取方式可通过扫码装置对集装器上的电子标签进行扫描获得。Among them, ULD information generally includes ULD information including cargo on-station information, cargo arrival information, cargo attribution information and cargo characteristic information. Cargo attribution information such as the identity information of the belonging passenger, seat number and other information; cargo characteristic information such as storage conditions (such as storage temperature, humidity, etc.), cargo attributes, and other cargo identification information, etc. The acquisition method can be obtained by scanning the electronic label on the container through the code scanning device.
S942：根据集装器信息为待入库的集装器分配堆垛位，并将集装器与其分配的堆垛位进行绑定并存储；S942: Allocate a stacking position for the ULD to be put into storage according to the ULD information, and bind and store the ULD with the assigned stacking position;
根据集装器的型号选取合适的堆垛位，并绑定集装器和为其分配的堆垛位。Select the appropriate stacking position according to the model of the ULD, and bind the ULD and the stacking position assigned to it.
S943：发出指令以将待入库的集装器移动至分配的堆垛位处进行存储。S943: Issue an instruction to move the ULDs to be put into storage to the assigned stacking positions for storage.
向输送设备发出指令，以控制输送设备抓取并输送待入库的集装器至分配的堆垛位处，进行存储。其中，输送设备可以为机械臂，堆垛机或者其他设备，可根据需要进行设置。Send instructions to the conveying equipment to control the conveying equipment to grab and transport the ULDs to be put into storage to the assigned stacking position for storage. Wherein, the conveying equipment can be a mechanical arm, a stacker or other equipment, which can be set as required.
采用本申请实施例中提供的一种轨道车辆的仓储管理方法及***，相较于现有技术，具有以下技术效果：Compared with the prior art, the storage management method and system for rail vehicles provided in the embodiment of the present application have the following technical effects:
在获取待入库的集装器的集装器信息后，根据该集装器信息为待入库的集装器分配堆垛位，并将集装器与分配的堆垛位进行绑定并进行存储，控制相应的输送设备将待入库的集装器移动至分配的堆垛位处进行存储，并根据车辆的运行和到站信息，依据到站时间的长短、货架堆垛位的使用情况、到站情况进行自动分配和抓取，使得车辆仓储转运效率大大提升。上述方法及***使得集装器和堆垛位能够进行一一绑定，并能够及时获取仓储的堆垛位分配信息，以便于后续对仓库的堆垛位进行管理操作，并能够与物流园区体系中其他***进行衔接，满足现代化仓储、多式联运转运等需求。After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and For storage, control the corresponding conveying equipment to move the ULDs to be stored to the assigned stacking position for storage, and according to the operation of the vehicle and the arrival information, according to the length of the arrival time and the use of the shelf stacking position The automatic allocation and capture of the situation and arrival situation greatly improves the efficiency of vehicle storage and transfer. The above method and system enable the ULDs and stacking positions to be bound one by one, and can obtain the storage stacking position allocation information in time, so as to facilitate the subsequent management and operation of the warehouse stacking positions, and can be integrated with the logistics park system It can be connected with other systems in the system to meet the needs of modern warehousing and multimodal transportation.
具体的，根据集装器信息为待入库的集装器分配堆垛位，具体包括：Specifically, assign stacking positions for the ULDs to be put into storage according to the ULD information, including:
根据集装器信息读取集装器所装载的货物的货物站位信息；一般的，货物的货物站位信息包括货物的上站信息和货物的到站信息。根据货物站位信息确定所装载的货物的旅途类型，如可以根据货物的乘坐站数以及乘坐时长确定货物的旅途类型，通过旅途类别确定与待入库的集装器对应的存储区域，及存储区域中、待入库的集装器对应的堆垛位。旅途类型可分为长途或短途，并根据旅途类型确定集装器的存储区域，以根据集装器的长途类型或短途类型进行摆放，由此以能够优化仓库的整体仓储空间，优化输送设备的转运路线。Read the cargo station information of the cargo loaded in the ULD according to the container information; generally, the cargo station information of the cargo includes the on-station information of the cargo and the arrival information of the cargo. Determine the journey type of the loaded goods according to the cargo station information, for example, determine the journey type of the goods according to the number of stations and the duration of the journey, determine the storage area corresponding to the ULD to be put into the warehouse through the journey category, and store The stacking position corresponding to the ULD to be put into storage in the area. Journey types can be divided into long-distance or short-distance, and determine the storage area of the container according to the type of journey, so as to place the container according to the long-distance type or short-distance type, so as to optimize the overall storage space of the warehouse and optimize the conveying equipment the transfer route.
其中，根据货物站位信息确定所装载的货物的旅途类型，具体包括：Among them, the journey type of the loaded cargo is determined according to the cargo station information, specifically including:
根据货物站位信息确定所装载的货物的货物到站信息；Determine the cargo arrival information of the loaded cargo according to the cargo station information;
根据预设列车时刻表、获取的当前站台信息和货物到站信息进行判断，当货物到站和当前站台间的停靠站数大于或等于预设停靠站数时，认为所装载的货物的旅途类型为长途类型；当货物到站和当前站台间的停靠站数小于预设停靠站数时，认为所装载的货物的旅途类型为短途类型。Judging based on the preset train timetable, the obtained current platform information and the arrival information of the goods, when the number of stops between the arrival of the goods and the current platform is greater than or equal to the number of preset stops, the type of journey of the loaded goods is considered It is a long-distance type; when the number of stops between the arrival of the goods and the current platform is less than the preset number of stops, it is considered that the journey type of the loaded goods is a short-distance type.
预设列车时刻表包括当前车辆车次、到站名称和到站时刻，为一种成熟的现有技术。优选地，预设停靠站数可设置为三站，根据不同的运行路线和不同的预设列车时刻表进行相应的设置。The preset train timetable includes the current train number, the name of the station and the time of arrival, which is a mature prior art. Preferably, the preset number of stops can be set to three stations, and corresponding settings are made according to different operating routes and different preset train timetables.
在一种实施例中，通过旅途类别确定与待入库的集装器对应的存储区域，及存储区域中、待入库的集装器对应的堆垛位，具体包括：In one embodiment, the storage area corresponding to the ULD to be put into storage and the stacking position corresponding to the ULD to be put into storage in the storage area are determined through the category of the journey, specifically including:
通过旅途类别确定与待入库的集装器对应的存储区域；Determine the storage area corresponding to the ULDs to be put into storage through the journey category;
判断存储区域内是否存在闲置的堆垛位，若是，则根据预设规则为待入库的集装器分配堆垛位；若否，进行当前存储区域内无闲置堆垛位报警。其中，预设规则可以为随机分配，或者以自远至近的排布规则进行分配。Judging whether there is an idle stacking space in the storage area, if so, assigning a stacking space to the ULDs to be put into storage according to the preset rules; if not, alarming that there is no idle stacking space in the current storage area. Wherein, the preset rule may be random distribution, or the distribution may be made according to the arrangement rule from far to near.
具体的，将待入库的集装器移动至分配的堆垛位处进行存储之后，方法还包括：Specifically, after moving the ULDs to be stored to the assigned stacking position for storage, the method further includes:
S944：判断是否接收到堆垛位的集装器到位指令，若是，则认为待入库的集装器完成入库，并更新堆垛位列表信息，堆垛位列表信息包括集装器与其对应的堆垛位的绑定关系。S944: Judging whether the ULD arrival instruction for the stacking position has been received, if so, consider that the ULD to be put into the warehouse has been put into the warehouse, and update the stacking position list information, the stacking position list information includes the ULD and its corresponding The binding relationship of the stacking position.
在堆垛位处设置位置开关或者压力传感器等设备，当集装器移动至堆垛位处时发送集装器到位指令，以根据该指令能 够执行下一操作。在集装器完成入库后，更新堆垛位列表信息。Devices such as position switches or pressure sensors are installed at the stacking position, and when the ULD moves to the stacking position, the ULD in-position command is sent, so that the next operation can be performed according to the command. After the ULD is put into storage, update the stacking position list information.
进一步地，方法还包括：Further, the method also includes:
S945：当接收到出库指令时，根据预到站的到站信息确定预出库的集装器；一般的，出库指令由车辆总控***发出，一般在实际到站时刻前一段时间发出，如提前十五分钟发出出库指令，以为集装器的出库留有充足时间准备出库。根据预到站的到站信息以及堆垛位列表信息确定预出库的集装器。S945: When receiving the outbound instruction, determine the pre-outbound ULD according to the arrival information of the pre-arrival station; generally, the outbound instruction is issued by the vehicle master control system, usually some time before the actual arrival time , if the delivery order is issued 15 minutes in advance, there is enough time for the delivery of the ULD to prepare for delivery. Determine the pre-delivery ULDs based on the pre-arrival information and the stacking position list information.
S946：并根据预出库的集装器以及堆垛位列表信息，确定堆垛位的位置；S946: and determine the position of the stacking position according to the pre-delivered ULD and the list information of the stacking position;
S947：根据堆垛位的位置取出对应的预出库的集装器，输送设备根据堆垛位的位置取出预出库的集装器，并输送至车门处，等待执行下一步骤；可以理解的是，集装器在运转过程中的垛位不是固定不变的，根据集装器到站信息情况，***提前判断，将即将下车的集装器在车辆运行过程中提前运输至靠近门口的缓存区域上，在车辆到站时运出，以提高下车时的集装器输送效率；反之，在上车时，集装器输送可以先输送至门口的缓存区域上，车辆运行后根据到站信息再次进行分配，以最大限度提高站台停车时的输送效率。具体的，根据货物特点存储区域分区设置通用存放区域，大件存放区域，缓存区域，进行分区管理，缓存区域设置在靠近车门处，预出库的集装器输送至缓存区域，等待出库；同样地，在集装器上车后，堆垛机可以将全部或部分集装器暂时放置在缓存区域，等待分配堆垛位。S947: Take out the corresponding pre-out ULD according to the position of the stacking position, and the conveying equipment takes out the pre-out ULD according to the position of the stacking position, and transport it to the car door, waiting for the next step; understandable The most important thing is that the stack position of the ULD is not fixed during the operation process. According to the arrival information of the ULD, the system judges in advance and transports the ULD that is about to get off the vehicle to the door near the door during the operation of the vehicle. On the buffer area of the vehicle, it is transported out when the vehicle arrives at the station to improve the efficiency of the ULD when getting off; on the contrary, when getting on the vehicle, the ULD can be transported to the buffer area at the door first, and the vehicle can be transported according to the arrival time after the vehicle is running. The station information is redistributed to maximize the conveying efficiency when the platform stops. Specifically, according to the characteristics of the goods, the storage area is partitioned to set up a general storage area, a large storage area, and a buffer area for partition management. The buffer area is set near the door of the car, and the pre-delivered ULDs are transported to the buffer area and wait for the warehouse; Similarly, after the ULDs are loaded, the stacker can temporarily place all or part of the ULDs in the buffer area, waiting for the allocation of stacking positions.
步骤S947之后，方法还包括：After step S947, the method also includes:
S948：解除预出库的集装器和与其对应的堆垛位的绑定关系，并更新堆垛位列表信息。S948: Release the binding relationship between the pre-delivered ULD and its corresponding stacking position, and update the stacking position list information.
在该具体实施例中，步骤S945前，方法还包括：In this specific embodiment, before step S945, the method also includes:
S949：根据当前时刻和预设列车时刻表中预到站的到站时刻进行判断，当当前时刻与预到站的到站时刻具有预设时间间隔时，发送出库指令。S949: Judging according to the current time and the expected arrival time in the preset train timetable, when there is a preset time interval between the current time and the expected arrival time, send an outbound instruction.
在一种实施例中，更新堆垛位列表信息之后，方法还包括：In one embodiment, after updating the stacking position list information, the method further includes:
根据堆垛位列表信息计算闲置的堆垛位的数量，并根据闲置的堆垛位的数量得到堆垛位警戒数；Calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
获取预到站的待入库的集装器的数量；Obtain the number of pre-arrived ULDs to be put into storage;
当预到站的待入库的集装器的数量大于堆垛位警戒数时，进行报警。When the number of pre-arrived ULDs to be stored is greater than the warning number of stacking positions, an alarm is issued.
举例说明，当闲置的堆垛位的数量为5个时，堆垛位警戒数可以为4个，当预到站的待入库的集装器的数量大于4个时，即可进行警戒报警。堆垛位警戒数可根据需要进行设置。For example, when the number of idle stacking positions is 5, the warning number of stacking positions can be 4, and when the number of pre-arrived ULDs to be put into storage is greater than 4, a warning alarm can be issued . The warning number of stacking positions can be set as required.
具体的，步骤S941具体包括：Specifically, step S941 specifically includes:
通过读取与待入库的集装器对应的电子标签获取待入库的集装器的集装器信息；集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。在另一实施例中，还可以通过读取车辆总控***发送的控制信号获取待入库的集装器的集装器信息。Obtain the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; the container information includes the information of the cargo on the station, the arrival of the cargo, the ownership of the cargo and the characteristics of the cargo information. In another embodiment, it is also possible to obtain the container information of the container to be put into storage by reading the control signal sent by the vehicle master control system.
可以理解的是，货物上站信息、货物到站信息、货物归属信息和货物特性信息等一一对应，通过某一信息，可以查询到符合标准的所有集装器信息，如，当下一站为A站时，那么可以查询到在A站到站的所有集装器信息、包括位置、货物归属和货物上站信息等。可以查询每站出入库的货物数量及属性，以及当前库里所有的货物的属性；可以根据时间、入站、到站以及货物归属等特定条件对出入库进行统计。It can be understood that there is a one-to-one correspondence between the information on the destination of the cargo, the information on the arrival of the cargo, the information on the ownership of the cargo, and the information on the characteristics of the cargo. Through a certain information, you can query all the information of all ULDs that meet the standards. For example, when the next station is At station A, you can query all ULD information arriving at station A, including location, cargo ownership, and cargo loading information, etc. You can query the quantity and properties of the goods entering and leaving the warehouse at each station, as well as the properties of all the goods in the current warehouse; you can count the goods entering and leaving the warehouse according to specific conditions such as time, entry, arrival, and goods ownership.
查询统计功能以地面的货物管理***为主，车上的查询统计为辅助，车上的查询统计功能是当地铁或仓储***出现故障时，通过查询统计功能可以手动出库的或进行特殊查询。假如当地铁或仓储***出现故障时，下站是A站，可以统计出A站一共有哪几个集装器(例如装生鲜或疫苗等)需要手动下车。假如警方获悉从B站上车的集装器里的物品有非法物品，就可以通过查询功能找出哪几个集装器是从B站上车的。The query statistics function is mainly based on the cargo management system on the ground, supplemented by the query statistics on the train. The query statistics function on the train is that when the subway or storage system breaks down, the warehouse can be manually released or special queries can be performed through the query statistics function. If there is a failure in the subway or storage system, the next station is station A, and it can be counted which ULDs (such as fresh food or vaccines) in station A need to be manually alighted. If the police learn that there are illegal items in the ULDs boarded from station B, they can use the query function to find out which ULDs boarded from station B.
基于上述方法实施例，本申请还提供了一种轨道车辆的仓储管理***，包括：Based on the above method embodiment, the present application also provides a warehouse management system for rail vehicles, including:
集装器信息获取模块，用于获取待入库的集装器的集装器信息；The ULD information acquisition module is used to obtain the ULD information of the ULD to be put into storage;
堆垛位分配模块，用于根据集装器信息为待入库的集装器分配堆垛位；The stacking position allocation module is used to allocate stacking positions for the ULDs to be put into storage according to the ULD information;
存储模块，用于将集装器与其分配的堆垛位进行绑定并存储；A storage module for binding and storing the ULD with its assigned stacking position;
指令控制模块，用于发出指令将待入库的集装器移动至分配的堆垛位处进行存储。The instruction control module is used to issue an instruction to move the ULDs to be stored to the assigned stacking position for storage.
上述方案具有以下技术效果：The above scheme has the following technical effects:
在获取待入库的集装器的集装器信息后，根据该集装器信息为待入库的集装器分配堆垛位，并将集装器与分配的堆垛位进行绑定并进行存储，控制相应的输送设备将待入库的集装器移动至分配的堆垛位处进行存储，上述方法及***使得集装器和堆垛位能够进行一一绑定，并能够及时获取仓储的堆垛位分配信息，以便于后续对仓库的堆垛位进行管理操作，并能够与物流园区体系中其他***进行衔接，满足现代化仓储、多式联运转运等需求。After obtaining the ULD information of the ULD to be put into the warehouse, allocate a stacking position for the ULD to be put into the warehouse according to the ULD information, and bind the ULD to the assigned stacking position and storage, and control the corresponding conveying equipment to move the ULDs to be stored to the allocated stacking positions for storage. The above method and system enable the ULDs and stacking positions to be bound one by one, and can be obtained in time The allocation information of the stacking position of the warehouse is convenient for subsequent management and operation of the stacking position of the warehouse, and it can be connected with other systems in the logistics park system to meet the needs of modern storage and multimodal transportation.
堆垛位分配模块具体包括：The stacking location allocation module specifically includes:
货物站位信息读取单元，用于根据集装器信息读取集装器所装载的货物的货物站位信息；The cargo station information reading unit is used to read the cargo station information of the cargo loaded in the container according to the container information;
货物旅途类型确定单元，用于根据货物站位信息确定所装载的货物的旅途类型，通过旅途类别确定与待入库的集装器对应的存储区域，及存储区域中、待入库的集装器对应的堆垛位。The cargo journey type determination unit is used to determine the journey type of the loaded cargo according to the cargo station information, and determine the storage area corresponding to the container to be put into the warehouse through the journey type, and the container to be put into the warehouse in the storage area. The stacking position corresponding to the device.
具体的，货物旅途类型确定单元具体包括：Specifically, the cargo journey type determination unit specifically includes:
货物到站信息确定子单元，用于根据货物站位信息确定所装载的货物的货物到站信息；The cargo arrival information determination subunit is used to determine the cargo arrival information of the loaded cargo according to the cargo station information;
货物旅途类型判断子单元，用于根据预设列车时刻表、获取的当前站台信息和货物到站信息进行判断，当货物到站和当前站台间的停靠站数大于或等于预设停靠站数时，认为所装载的货物的旅途类型为长途类型；当货物到站和当前站台间的停靠站数小于预设停靠站数时，认为所装载的货物的旅途类型为短途类型。Cargo journey type judging sub-unit, used to judge according to preset train timetable, current platform information obtained and cargo arrival information, when the number of stops between the arrival of goods and the current platform is greater than or equal to the preset number of stops , the journey type of the loaded cargo is considered to be the long-distance type; when the number of stops between the arrival of the cargo and the current platform is less than the preset number of stops, the journey type of the loaded cargo is considered to be the short-distance type.
进一步地，货物旅途类型确定单元具体包括：Further, the cargo journey type determination unit specifically includes:
存储区域确定子单元，用于通过旅途类别确定与待入库的集装器对应的存储区域；The storage area determination subunit is used to determine the storage area corresponding to the container to be put into storage through the journey category;
闲置堆垛位判断子单元，用于判断存储区域内是否存在闲置的堆垛位，若是，则随机为待入库的集装器分配堆垛位。The idle stacking location judging subunit is used to judge whether there is an idle stacking location in the storage area, and if so, randomly assign a stacking location to the ULDs to be put into storage.
在一种实施例中，闲置堆垛位判断子单元还用于：In one embodiment, the idle stacking position judging subunit is also used for:
当存储区域内不存在闲置的堆垛位时，进行当前存储区域内无闲置堆垛位报警。When there is no idle stacking position in the storage area, an alarm for no idle stacking position in the current storage area is issued.
其中，该***还包括：Among them, the system also includes:
集装器到位判断模块，用于判断是否接收到堆垛位的集装器到位指令，若是，则认为待入库的集装器完成入库，并发送信号至堆垛位列表信息更新模块；The ULD in-position judging module is used to judge whether the ULD in-position instruction for the stacking position has been received, and if so, it will consider that the ULD to be put into storage has completed the warehousing, and send a signal to the stacking position list information update module;
堆垛位列表信息更新模块，用于更新堆垛位列表信息，堆垛位列表信息包括集装器与其对应的堆垛位的绑定关系。The stacking position list information update module is used to update the stacking position list information, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position.
在该具体实施例中，还包括：In this specific embodiment, it also includes:
预出库集装器确定模块，用于当接收到出库指令时，根据预到站的到站信息确定预出库的集装器；The pre-outbound ULD determination module is used to determine the pre-outbound ULD according to the arrival information of the pre-arrival station when the outbound instruction is received;
堆垛位位置确定模块，用于根据预出库的集装器以及堆垛位列表信息，确定堆垛位的位置；The stacking position determination module is used to determine the position of the stacking position according to the pre-delivery container and the stacking position list information;
集装器输送模块，用于根据堆垛位的位置取出对应的预出库的集装器。The ULD conveying module is used to take out the corresponding pre-delivery ULD according to the position of the stacking position.
优选地，还包括：Preferably, it also includes:
出库判断模块，用于根据当前时刻和预设列车时刻表中预到站的到站时刻进行判断，当当前时刻与预到站的到站时刻具有预设时间间隔时，向预出库集装器确定模块发送出库指令。Departure judging module, used for judging according to the current time and the arrival time of the pre-arrival station in the preset train timetable, when the current time and the pre-arrival time have a preset time interval, the pre-departure set The loader determines that the module sends an outbound command.
具体的，存储模块还用于：Specifically, the storage module is also used for:
解除预出库的集装器和与其对应的堆垛位的绑定关系，并发送信号至堆垛位列表信息更新模块更新堆垛位列表信息。Release the binding relationship between the pre-delivered ULD and its corresponding stacking position, and send a signal to the stacking position list information update module to update the stacking position list information.
其中，该***还包括：Among them, the system also includes:
闲置堆垛位计算模块，用于根据堆垛位列表信息计算闲置的堆垛位的数量，并根据闲置的堆垛位的数量得到堆垛位警戒数；The idle stacking position calculation module is used to calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
待入库集装器数量获取模块，用于获取预到站的待入库的集装器的数量；The module for obtaining the quantity of ULDs to be put into storage is used to obtain the quantity of pre-arrived ULDs to be put into storage;
堆垛位容纳量判断模块，用于当预到站的待入库的集装器的数量大于堆垛位警戒数时，进行报警。The capacity judging module of the stacking position is used to give an alarm when the number of pre-arrived ULDs is greater than the warning number of the stacking position.
同时，集装器信息获取模块具体用于：At the same time, the ULD information acquisition module is specifically used for:
通过读取与待入库的集装器对应的电子标签获取待入库的集装器的集装器信息；集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。在另一实施例中，还可以通过读取车辆总控***发送的控制信号获取待入库的集装器的集装器信息，而该车辆总控***发送的控制信号可以在实际到站时刻前预设时段发出。Obtain the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; the container information includes the information of the cargo on the station, the arrival of the cargo, the ownership of the cargo and the characteristics of the cargo information. In another embodiment, the ULD information of the ULDs to be put into storage can also be obtained by reading the control signal sent by the vehicle master control system, and the control signal sent by the vehicle master control system can be Issued at the pre-set time period.
本申请还提供了一种设备，包括存储器和处理器，以及存储在存储器上且能够在处理器上运行的计算机程序，处理器执行计算机程序时，实现上述方法实施例任一项的轨道车辆的仓储管理方法的步骤。The present application also provides a device, including a memory and a processor, and a computer program stored on the memory and capable of running on the processor. When the processor executes the computer program, the rail vehicle of any one of the above method embodiments can be realized. Steps of warehouse management method.
本申请还提供了一种计算机可读存储介质，其上存储有计算机程序，当计算机程序被处理器执行时，实现上述方法实施例任一项的轨道车辆的仓储管理方法的步骤。The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the storage management method for rail vehicles in any one of the above method embodiments are realized.
实施例二Embodiment two
在一种实施例中，站台输送***931包括与总控装置连接的站台输送装置，该装置包括站台输送组件9312和位置调节组件。其中，站台输送组件9312用于输送货物，站台输送组件9312的一端位于站台上，另一端用于与车门处输送***932对接；如设置为输送带、输送链或其他输送设备。位置调节组件与站台输送组件9312连接，位置调节组件用于带动站台输送组件9312进行空间位置调节；总控装置分别与站台输送组件9312和位置调节组件连接，可采用有线或无线通信连接，总 控装置控制位置调节组件动作，以将站台输送组件9312与车门处输送***932对接；以当轨道车辆未停止在预设站台位置处时、站台输送装置及时进行位置差补偿，优化对接效率。In one embodiment, the platform conveying system 931 includes a platform conveying device connected to the general control device, and the device includes a platform conveying component 9312 and a position adjustment component. Wherein, the platform conveying assembly 9312 is used for conveying goods, and one end of the platform conveying assembly 9312 is located on the platform, and the other end is used for docking with the conveying system 932 at the door; for example, it is set as a conveying belt, conveying chain or other conveying equipment. The position adjusting component is connected with the platform conveying component 9312, and the position adjusting component is used to drive the platform conveying component 9312 to adjust the spatial position; the master control device is respectively connected with the platform conveying component 9312 and the position adjusting component, which can be connected by wired or wireless communication. The device controls the action of the position adjustment component to dock the platform conveying component 9312 with the conveying system 932 at the door; when the rail vehicle does not stop at the preset platform position, the platform conveying device performs position difference compensation in time to optimize docking efficiency.
其中，此处及下文所述的货物或集装器可以调换，或者采用托盘或其他货物承载设备，或者直接抓取货物进行传输，电子标签可以设置在货物或货物承载设备上，可以根据***需要进行设置。Among them, the goods or ULDs described here and below can be exchanged, or use pallets or other cargo carrying equipment, or directly grab the goods for transmission, and the electronic tags can be set on the goods or cargo carrying equipment, and can be customized according to the needs of the system. to set.
位置调节组件如垂向调节组件、垂直于轨道方向的纵向调节组件和平行于轨道方向的横向调节组件中的一者或几者；具体的，站台输送装置还包括第一底架9316和位置调节组件；第一底架9316用于安装站台输送组件9312，位置调节组件包括第一方向移动调节件9313、第二方向移动调节件9315和第三方向移动调节件9314。其中，第一方向移动调节件9313位于第一底架9316上，用于带动站台输送组件9312沿站台输送组件9312的长度方向前后移动；第二方向移动调节件9315位于第一底架9316上，用于带动站台输送组件9312沿站台输送组件9312的宽度方向移动；第三方向移动调节件9314位于第一底架9316上，用于带动站台输送组件9312沿站台输送组件9312的垂向方向移动。优选地，第一方向移动调节件9313、第二方向移动调节件9315和第三方向移动调节件9314的结构相同，如设置为电机带动齿轮齿条结构进行动力驱动，更为优选地，还包括导向机构，以为各方向移动调节件的移动进行导向，使得移动更为平稳。以第二方向移动调节件9315为例进行说明，在第一底架9316上包括两组导向结构、第二驱动电机和螺母丝杆机构，丝杆与第二驱动电机连接，螺母套装在丝杆上，且螺母固定在站台输送组件9312的底部，丝杆和导向结构沿站台输送组件9312的宽度方向设置，在第二驱动电机的带动下，丝杆转动、以带动螺母在站台输送组件9312的宽度方向移动；同时，站台输送组件9312的底部还设有导向件，导向件和设置在第一底架9316上的导轨配合，进行导向。在其他实施例中，可根据需要进行各方向移动调节件的设置，均在本申请的保护范围内。Position adjustment components such as one or more of vertical adjustment components, vertical adjustment components perpendicular to the track direction, and horizontal adjustment components parallel to the track direction; specifically, the platform conveying device also includes a first chassis 9316 and a position adjustment Components; the first chassis 9316 is used to install the platform conveying component 9312 , and the position adjustment component includes a first direction movement adjustment member 9313 , a second direction movement adjustment member 9315 and a third direction movement adjustment member 9314 . Wherein, the first direction movement adjusting member 9313 is located on the first chassis 9316, and is used to drive the platform conveying assembly 9312 to move forward and backward along the length direction of the platform conveying assembly 9312; the second direction moving adjusting member 9315 is located on the first chassis 9316, It is used to drive the platform conveying assembly 9312 to move along the width direction of the platform conveying assembly 9312; the third direction movement adjustment member 9314 is located on the first chassis 9316, and is used to drive the platform conveying assembly 9312 to move along the vertical direction of the platform conveying assembly 9312. Preferably, the structure of the first direction movement adjustment member 9313, the second direction movement adjustment member 9315 and the third direction movement adjustment member 9314 are the same, for example, a motor drives a rack and pinion structure for power drive, more preferably, it also includes The guide mechanism is used to guide the movement of the moving adjustment member in all directions, so that the movement is more stable. Taking the second direction movement adjustment member 9315 as an example for illustration, the first base frame 9316 includes two sets of guide structures, the second driving motor and the nut screw mechanism, the screw rod is connected with the second driving motor, and the nut is set on the screw rod and the nut is fixed on the bottom of the platform conveying assembly 9312, the screw rod and the guide structure are arranged along the width direction of the platform conveying assembly 9312, driven by the second drive motor, the screw mandrel rotates to drive the nut on the platform conveying assembly 9312 Move in the width direction; meanwhile, the bottom of the platform conveying assembly 9312 is also provided with a guide, and the guide cooperates with the guide rail arranged on the first chassis 9316 to guide. In other embodiments, the adjustment parts for moving in various directions can be set as required, all within the protection scope of the present application.
采用本申请实施例中提供的一种轨道交通联控输送***，具有以下技术效果：Adopting a rail transit joint control conveying system provided in the embodiment of the application has the following technical effects:
第一，在站台上设置站台输送***931，在轨道车辆上设置车门处输送***932，总控装置分别与站台输送***931和车门处输送***932连接，以使二者对接，以能够在站台和轨道车辆上进行货物输送，实现轨道车辆和站台上货物的自动化传输，同时能够进行合理分工和有效衔接，提高货物转运效率，为综合交通运输体系的搭建做好基础；First, a platform conveying system 931 is set on the platform, and a vehicle door conveying system 932 is arranged on the rail vehicle. Carry out cargo transportation on rail vehicles, realize automatic transmission of goods on rail vehicles and platforms, and at the same time, be able to carry out reasonable division of labor and effective connection, improve the efficiency of cargo transfer, and lay a good foundation for the construction of an integrated transportation system;
第二，站台输送***931包括与总控装置连接的站台输送装置，通过站台输送组件9312进行货物的输送，使得货物能够在车门处输送***932和站台间进行相互传输；Second, the platform conveying system 931 includes a platform conveying device connected to the master control device, and the cargo is conveyed through the platform conveying component 9312, so that the cargo can be mutually transmitted between the conveying system 932 at the door and the platform;
第三，通过设置位置调节组件带动站台输送组件9312进行空间位置调节，以能够将站台输送组件9312和车门处输送***932进行对接，进一步提高对接效率以及传输效率，减少人工操作，实现轨道交通联控输送***的智能化发展，满足现代物流发展要求。Thirdly, the platform conveying assembly 9312 is driven to adjust the spatial position by setting the position adjustment assembly, so that the platform conveying assembly 9312 can be docked with the door conveying system 932, further improving the docking efficiency and transmission efficiency, reducing manual operations, and realizing rail transit. The intelligent development of the control conveying system meets the development requirements of modern logistics.
在该具体实施例中，第一底架9316为矩形框架，第三方向移动调节件9314位于第一底架9316的顶角处，第三方向移动调节件9314包括第三安装座93143、第三支撑座93144、第三驱动电机93141和第三升降机构93142。第三安装座93143与第一底架9316固定连接，第三驱动电机93141和第三升降机构93142分别固定于第三安装座93143上，第三驱动电机93141与第三升降机构93142连接；第三升降机构93142设置为丝杠升降机和梯形升降丝杆，丝杠升降机、第三驱动电机93141间设有联轴器，丝杠升降机、第三驱动电机93141和联轴器均设置在第三安装座93143上，梯形升降丝杆的一端穿过第三安装座93143与第三支撑座93144转动连接，第三支撑座93144的一端与地面接触，另一端与贯穿第三安装座93143的第三升降机构93142连接，第三驱动电机93141驱动第三升降机构93142动作，以带动第三安装座93143和第一底架9316沿垂向移动，由此以实现第一底架9316上的站台输送组件9312沿垂向的移动；第三方向移动调节件9314结构简单、便于设置。在其他实施例中，第三方向移动调节件9314可根据需要进行设置，均在本申请的保护范围内。在一种实施例中，为了便于各方向移动调节件的设置，在站台输送组件9312的垂向方向上，第一方向移动调节件9313、第二方向移动调节件9315和第三方向移动调节件9314自上至下依次设置。In this specific embodiment, the first base frame 9316 is a rectangular frame, the third direction movement adjustment member 9314 is located at the top corner of the first base frame 9316, and the third direction movement adjustment member 9314 includes a third mounting seat 93143, a third Support base 93144, third driving motor 93141 and third lifting mechanism 93142. The third mounting base 93143 is fixedly connected with the first chassis 9316, the third driving motor 93141 and the third elevating mechanism 93142 are respectively fixed on the third mounting base 93143, the third driving motor 93141 is connected with the third elevating mechanism 93142; The lifting mechanism 93142 is set as a lead screw lift and a trapezoidal lift screw, and a coupling is provided between the lead screw lift and the third driving motor 93141, and the lead screw lift, the third driving motor 93141 and the coupling are all arranged on the third mounting seat On 93143, one end of the trapezoidal lifting screw passes through the third mounting base 93143 and is rotationally connected to the third supporting base 93144, one end of the third supporting base 93144 is in contact with the ground, and the other end is connected to the third lifting mechanism passing through the third mounting base 93143 93142 is connected, and the third drive motor 93141 drives the third elevating mechanism 93142 to move vertically to drive the third mounting base 93143 and the first chassis 9316, thereby realizing the platform conveying assembly 9312 on the first chassis 9316 to move along the vertical direction. Vertical movement; the third direction movement adjustment member 9314 has a simple structure and is convenient for setting. In other embodiments, the third direction movement adjusting member 9314 can be set as required, all of which are within the protection scope of the present application. In one embodiment, in order to facilitate the setting of the movement adjustment parts in various directions, in the vertical direction of the platform conveying assembly 9312, the first direction movement adjustment part 9313, the second direction movement adjustment part 9315 and the third direction movement adjustment part 9314 are set sequentially from top to bottom.
在该具体实施例中，站台输送组件9312包括第一输送组件安装架93121、若干个第一积放滚筒93122和第一积放滚筒93122驱动单元。其中，各个第一积放滚筒93122的长度方向的两端分别与第一输送组件安装架93121转动连接；各第一积放滚筒93122沿第一输送组件安装架93121的长度方向设置。优选地，第一积放滚筒93122驱动单元设置在第一输送组件安装架93121上，第一积放滚筒93122驱动单元与各个第一积放滚筒93122连接，以驱动第一积放滚筒93122沿自身轴线转动，驱动第一积放滚筒93122上的货物沿输送方向移动。同时，第一积放滚筒93122驱动单元可以为驱动电机和驱动机构的组成，驱动机构如齿轮链条结构等，齿轮和驱动电机连接，链条与各第一积放滚筒93122连接；在其他实施例中，可根据需要设置第一积放滚筒93122驱动单元的结构，均在本申请的保护范围内。In this specific embodiment, the platform conveying assembly 9312 includes a first conveying assembly mounting frame 93121 , several first accumulation rollers 93122 and a driving unit for the first accumulation rollers 93122 . Wherein, both ends of the length direction of each first accumulation roller 93122 are respectively rotatably connected with the first conveying assembly mounting frame 93121; each first accumulation roller 93122 is arranged along the length direction of the first conveying assembly mounting frame 93121. Preferably, the driving unit of the first accumulation roller 93122 is arranged on the mounting frame 93121 of the first conveying assembly, and the driving unit of the first accumulation roller 93122 is connected with each first accumulation roller 93122 to drive the first accumulation roller 93122 along its own The axis rotates to drive the goods on the first accumulation roller 93122 to move along the conveying direction. At the same time, the driving unit of the first accumulation drum 93122 can be composed of a driving motor and a driving mechanism. The driving mechanism is such as a gear chain structure, etc., the gear is connected to the driving motor, and the chain is connected to each first accumulation drum 93122; in other embodiments , the structure of the driving unit of the first accumulation drum 93122 can be set as required, all of which are within the protection scope of the present application.
为了货物在第一输送组件上更好地移动，第一输送组件安装架93121的上表面、沿宽度方向的两端设有第一导向条，第一导向条沿第一输送组件安装架93121的长度方向延伸，可以理解的是，第一导向条的侧壁和第一输送组件安装架93121的 上表面形成U形槽，以对货物进行导向及限位，防止货物从第一输送组件的宽度方向倾倒滑脱。In order for the goods to move better on the first conveying assembly, the upper surface of the first conveying assembly mounting frame 93121 and both ends along the width direction are provided with first guide strips, and the first guiding strips are along the sides of the first conveying assembly mounting frame 93121. Extending in the length direction, it can be understood that the side wall of the first guide bar and the upper surface of the first conveying assembly mounting frame 93121 form a U-shaped groove to guide and limit the goods and prevent the goods from moving from the width of the first conveying assembly. Orientation tipped and slipped.
进一步地，为了与车门更好地进行对接，还包括车门位置检测组件，其用于检测已到站的轨道车辆的车门的位置，车门位置检测组件与总控装置连接；总控装置根据检测到的车门的位置，控制位置调节组件动作，以将站台输送组件9312的输出端与车门处输送***932对接。车门位置检测组件可设置为红外传感器、图像采集器或者其他检测组件，只要能够达到相同的技术效果即可。具体的，车门位置检测组件为激光测距传感器。Further, in order to better dock with the car door, it also includes a car door position detection component, which is used to detect the position of the car door of the rail vehicle that has arrived at the station, and the car door position detection component is connected with the master control device; The position of the car door is controlled, and the action of the position adjustment component is controlled to connect the output end of the platform conveying component 9312 with the conveying system 932 at the car door. The vehicle door position detection component can be set as an infrared sensor, an image collector or other detection components, as long as the same technical effect can be achieved. Specifically, the vehicle door position detection component is a laser ranging sensor.
更进一步地，为了在货物输送完成后、站台输送组件9312的归位，在第一底架9316的底部设置行走驱动组件，行走驱动组件与总控装置连接，总控装置根据上位机的指令控制行走驱动组件沿预设路线行走。行走驱动组件可设置为电机和行走轮的组合结构，通过总控装置控制行走驱动组件沿预设路线行走，以使得站台输送组件9312在完成作业后，能够自动移动至初始位进行收纳，更进一步提高站台输送***931的自动化程度，优化站台空间布置，一体化程度更高。Furthermore, in order to return the platform conveying assembly 9312 after the goods are conveyed, a traveling drive assembly is installed at the bottom of the first underframe 9316, and the traveling driving assembly is connected to the master control device, which controls according to the instructions of the host computer. The travel drive assembly travels along a preset route. The walking drive assembly can be set as a combined structure of a motor and a walking wheel. The general control device controls the walking drive assembly to walk along a preset route, so that the platform conveying assembly 9312 can automatically move to the initial position for storage after completing the operation. Improve the degree of automation of the platform conveying system 931, optimize the space layout of the platform, and achieve a higher degree of integration.
在另一实施例中，本申请还包括车门输送装置9322，其包括第二底架9323、翻转驱动组件9324、第一车门输送组件93221和第二车门输送组件93222。其中，第二底架9323用于可拆卸的连接于车辆地板上；第二底架9323用于安装第一车门输送组件93221和第二车门输送组件93222以及翻转驱动组件9324，第一车门输送组件93221和第二车门输送组件93222依次设置，第二车门输送组件93222能够延伸至车门处；如在沿轨道车辆的宽度方向上顺序设置，使得车厢内的货物依次经过第一车门输送组件93221和第二车门输送组件93222运输至车门处。而为了优化车厢内部空间，将第一车门输送组件93221和第二车门输送组件93222设置为可翻转结构；或者，在一种实施例中，翻转驱动组件9324的一端与第二底架9323铰接，另一端与第二车门输送组件93222铰接，以使第二车门输送组件93222能够在第一状态和第二状态之间翻转，其中，第一状态时，第二车门输送组件93222向第一车门输送组件93221方向翻转用于收缩至轨道车辆的车厢内；第二状态时，第二车门输送组件93222向远离第一车门输送组件93221方向翻转，用以延伸至车门处并对接站台输送***931。In another embodiment, the present application further includes a vehicle door conveying device 9322 , which includes a second chassis 9323 , a turning drive assembly 9324 , a first vehicle door conveying assembly 93221 and a second vehicle door conveying assembly 93222 . Wherein, the second base frame 9323 is used for detachably connecting on the vehicle floor; the second base frame 9323 is used for installing the first car door conveying assembly 93221, the second car door conveying assembly 93222 and the turning drive assembly 9324, the first car door conveying assembly 93221 and the second door conveying assembly 93222 are arranged in sequence, and the second door conveying assembly 93222 can extend to the door; if arranged in sequence along the width direction of the rail vehicle, the goods in the compartment pass through the first door conveying assembly 93221 and the second door conveying assembly 93221 in sequence The second car door conveying assembly 93222 is transported to the car door. In order to optimize the interior space of the compartment, the first door conveying assembly 93221 and the second door conveying assembly 93222 are configured as reversible structures; or, in one embodiment, one end of the reversing drive assembly 9324 is hinged to the second chassis 9323, The other end is hinged with the second door delivery assembly 93222, so that the second door delivery assembly 93222 can turn over between the first state and the second state, wherein, in the first state, the second door delivery assembly 93222 delivers to the first door The direction of the component 93221 is reversed for shrinking into the compartment of the rail vehicle; in the second state, the second door conveying component 93222 is reversed away from the first door conveying component 93221 to extend to the door and dock with the platform conveying system 931.
优选地，第一状态时，第一车门输送组件93221处于水平状态，第二车门输送组件93222处于竖直状态；第二状态时，第一车门输送组件93221和第二车门输送组件93222均处于水平状态。由此设置，在无需进行作业时，翻转第二车门输送组件93222以优化车门内部空间，提高空间利用率。Preferably, in the first state, the first door conveying assembly 93221 is in a horizontal state, and the second door conveying assembly 93222 is in a vertical state; in the second state, both the first door conveying assembly 93221 and the second door conveying assembly 93222 are in a horizontal state state. Therefore, when no work is required, the second door delivery assembly 93222 can be turned over to optimize the interior space of the door and improve space utilization.
具体的，翻转驱动组件9324包括转轴和翻转驱动缸。其中，转轴沿第一车门输送组件93221的宽度方向设置，且第二车门输送组件93222套装于转轴上，能够绕转轴转动；翻转驱动缸一端铰接于第二底架9323上，另一端与第二车门输送组件93222的侧壁铰接，翻转驱动缸位于转轴的下方，且在第一车门输送组件93221的长度方向上，翻转驱动缸和转轴间设有间隔，由此以能够实现第二车门输送组件93222的翻转。翻转驱动缸可设置为液压缸或气缸等，可根据现有技术的发展水平进行设置，均在本申请的保护范围内。Specifically, the turning drive assembly 9324 includes a rotating shaft and a turning driving cylinder. Wherein, the rotating shaft is arranged along the width direction of the first car door conveying assembly 93221, and the second car door conveying assembly 93222 is set on the rotating shaft and can rotate around the rotating shaft; The side wall of the car door conveying assembly 93222 is hinged, the turning drive cylinder is located below the rotating shaft, and in the length direction of the first car door conveying assembly 93221, there is an interval between the turning driving cylinder and the rotating shaft, so as to realize the second car door conveying assembly 93222's flip. The overturn driving cylinder can be set as a hydraulic cylinder or an air cylinder, etc., and can be set according to the development level of the prior art, all of which are within the protection scope of the present application.
在一种实施例中，第一车门输送组件93221和第二车门输送组件93222均包括第二输送组件安装架9326、若干个第二积放滚筒9327和第二积放滚筒9327驱动单元。其中，各个第二积放滚筒9327的长度方向的两端分别与第二输送组件安装架9326转动连接；转轴位于第二输送组件安装架9326上；或者，转轴位于第一车门输送组件93221的第二输送组件安装架9326上，以使第一车门输送组件93221和第二车门输送组件93222连接处的结构更为紧凑。In one embodiment, both the first vehicle door conveying assembly 93221 and the second vehicle door conveying assembly 93222 include a second conveying assembly mounting frame 9326, a plurality of second accumulation rollers 9327 and a driving unit for the second accumulation rollers 9327. Wherein, the two ends of the length direction of each second accumulating roller 9327 are rotatably connected with the second conveying assembly mounting frame 9326 respectively; the rotating shaft is located on the second conveying assembly mounting frame 9326; The second conveying assembly is installed on the frame 9326, so that the structure at the junction of the first car door conveying assembly 93221 and the second car door conveying assembly 93222 is more compact.
第二积放滚筒9327驱动单元与各个第二积放滚筒9327连接，以驱动第二积放滚筒9327沿自身轴线转动。其中，第二输送组件安装架9326的结构可参考上述的第一输送组件安装架93121的结构进行设置，同样地，第二积放滚筒9327驱动单元也可以参看第一积放滚筒93122驱动单元的结构进行设置。The driving unit of the second accumulation roller 9327 is connected with each second accumulation roller 9327 to drive the second accumulation roller 9327 to rotate along its own axis. Wherein, the structure of the second conveying assembly mounting frame 9326 can be set with reference to the above-mentioned structure of the first conveying assembly mounting frame 93121. Similarly, the driving unit of the second accumulation drum 9327 can also refer to the driving unit of the first accumulation drum 93122. structure is set.
在另一实施例中，第二输送组件安装架9326的上表面、沿宽度方向的两端设有第二导向条，第二导向条沿第二输送组件安装架9326的长度方向延伸，第二导向条对第二输送组件上的集装器的移动进行导向。同样地，第二导向条的结构可参考上述第一导向条的结构进行设置，在此不再赘述。In another embodiment, the upper surface of the second conveying assembly mounting frame 9326 and the two ends along the width direction are provided with second guide strips, and the second guiding strips extend along the length direction of the second conveying assembly mounting frame 9326. The guide bar guides the movement of the ULD on the second conveyor assembly. Likewise, the structure of the second guide bar can be set with reference to the structure of the above-mentioned first guide bar, and will not be repeated here.
具体的，还包括集装器到位检测组件9325，集装器到位检测组件9325位于第一车门输送组件93221的第二底架9323上，集装器到位检测组件9325用于对移动至第一车门输送组件93221上、预设位置处的集装器进行到位检测；集装器到位检测组件9325可设置为位置开关、红外传感器等，总控装置与集装器到位检测组件9325连接，总控装置根据集装器的到位信号从第一车门输送组件93221上取货，并放至货架上；或者将货物从货架上放在第一车门输送组件93221上，总控装置根据集装器的到位信号可以控制第二车门输送组件93222翻转至水平状态。Specifically, it also includes a container in-position detection assembly 9325, which is located on the second chassis 9323 of the first door conveying assembly 93221, and the container in-position detection assembly 9325 is used to check the movement to the first car door The ULD at the preset position on the conveying component 93221 performs in-position detection; the ULD in-position detection component 9325 can be set as a position switch, an infrared sensor, etc., and the master control device is connected with the ULD in-position detection component 9325, and the master control device Pick up the goods from the first door conveying assembly 93221 according to the arrival signal of the container, and put them on the shelf; or put the goods from the shelf on the first door conveying assembly 93221, and the master control device according to the arrival signal of the container The second vehicle door conveying assembly 93222 can be controlled to turn over to a horizontal state.
在一种实施例中，本申请还提供了一种站台输送***931，包括站台控制装置9311和与其连接的站台输送装置，站台输送装置包括：站台输送组件9312，用于输送货物，站台输送组件9312的一端位于站台上，另一端用于与车门处输送***932对接；位置调节组件，与站台输送组件9312连接，位置调节组件用于带动站台输送组件9312进行空间位置调节；站台控制装置9311分别与站台输送组件9312和位置调节组件连接，站台控制装置9311控制位置调节组件动作，以将站台输送组件9312与车门处输送***932对接。In one embodiment, the present application also provides a platform conveying system 931, including a platform control device 9311 and a platform conveying device connected thereto. The platform conveying device includes: a platform conveying assembly 9312 for conveying goods, and a platform conveying assembly One end of 9312 is located on the platform, and the other end is used for docking with the conveying system 932 at the door; the position adjustment component is connected with the platform conveying component 9312, and the position adjusting component is used to drive the platform conveying component 9312 to adjust the spatial position; the platform control device 9311 is respectively Connected with the platform conveying component 9312 and the position adjusting component, the platform control device 9311 controls the action of the position regulating component to dock the platform conveying component 9312 with the conveying system 932 at the door.
其中，总控装置包括站台控制装置9311以及车门控制装置9321，总控装置分别与站台控制装置9311以及车门控制装置9321无线通信连接，以进行远程控制。或者，站台控制装置9311作为独立的控制单元，可以进行手动控制，如设置为控制按钮或开关等控制设备，均在本申请的保护范围内。Wherein, the master control device includes a platform control device 9311 and a vehicle door control device 9321, and the master control device is respectively connected with the platform control device 9311 and the vehicle door control device 9321 through wireless communication for remote control. Or, as an independent control unit, the platform control device 9311 can be manually controlled, such as being set as control devices such as control buttons or switches, all of which are within the protection scope of the present application.
在另一种实施例中，本申请还提供了一种车门处输送***932，包括车门控制装置9321和车门输送装置9322，车门输送装置9322用于固定在轨道车辆车门处，车门输送装置9322与车门控制装置9321连接，车门输送装置9322包括：第二底架9323，第二底架9323用于可拆卸的连接于车辆地板上；第一车门输送组件93221和第二车门输送组件93222，分别位于第二底架9323上，第一车门输送组件93221和第二车门输送组件93222依次设置，且第二车门输送组件93222能够延伸至车门处；翻转驱动组件9324，翻转驱动组件9324的一端与第二底架9323铰接，另一端与第二车门输送组件93222铰接；车门控制装置9321控制翻转驱动组件9324动作，以使第二车门输送组件93222能够在第一状态和第二状态之间翻转；其中，第一状态时，第二车门输送组件93222向第一车门输送组件93221方向翻转用于收缩至轨道车辆的车厢内；第二状态时，第二车门输送组件93222向远离第一车门输送组件93221方向翻转，用以延伸至车门处并对接站台输送***931。In another embodiment, the present application also provides a delivery system 932 at the door, including a door control device 9321 and a door delivery device 9322, the door delivery device 9322 is used to be fixed at the door of a rail vehicle, and the door delivery device 9322 and The car door control device 9321 is connected, and the car door conveying device 9322 includes: a second chassis 9323, which is used to detachably connect to the vehicle floor; a first car door conveying assembly 93221 and a second car door conveying assembly 93222, respectively located On the second chassis 9323, the first car door conveying assembly 93221 and the second car door conveying assembly 93222 are arranged in sequence, and the second car door conveying assembly 93222 can extend to the door; The bottom frame 9323 is hinged, and the other end is hinged with the second door conveying assembly 93222; the door control device 9321 controls the turning drive assembly 9324 to move, so that the second door conveying assembly 93222 can turn over between the first state and the second state; wherein, In the first state, the second door conveying assembly 93222 is flipped toward the direction of the first door conveying assembly 93221 for shrinking into the compartment of the rail vehicle; in the second state, the second door conveying assembly 93222 is turned away from the first door conveying assembly 93221 Turn over to extend to the door and dock with the platform conveyor system 931 .
车门控制装置9321与车辆控制***通信连接，以接收车门信号，当车门打开后，发送车门开启信号至车门控制装置9321，使第二车门输送组件93222向远离第一车门输送组件93221方向翻转。The door control device 9321 communicates with the vehicle control system to receive the door signal. When the door is opened, the door opening signal is sent to the door control device 9321, so that the second door conveying assembly 93222 turns away from the first door conveying assembly 93221.
具体的作业过程为：当轨道车辆停站后，总控装置控制翻转驱动组件动作，使第二车门输送组件翻转至第二状态，第一车门输送组件和第二车门输送组件均处于水平状态；总控装置根据接收到的作业指令，控制位置调节组件调整站台输送组件的空间位置，并通过车门位置检测组件进行反馈，以使站台输送组件与第二车门输送组件对接；总控装置在对接后，控制堆垛***进行相应的动作。The specific operation process is as follows: when the rail vehicle stops at the station, the master control device controls the action of the turning drive assembly, so that the second door conveying assembly is turned over to the second state, and the first door conveying assembly and the second door conveying assembly are in a horizontal state; The master control device controls the position adjustment component to adjust the spatial position of the platform conveying component according to the received operation instructions, and gives feedback through the door position detection component, so that the platform conveying component is docked with the second door conveying component; after docking, the master control device , to control the stacking system to perform corresponding actions.
采用本申请实施例中提供的一种站台输送***931或一种车门处输送***932，相较于现有技术，具有以下技术效果：Using a platform conveying system 931 or a vehicle door conveying system 932 provided in the embodiment of the present application, compared with the prior art, has the following technical effects:
第一，在站台上设置站台输送***931，在轨道车辆上设置车门处输送***932，总控装置分别与站台输送***931和车门处输送***932连接，以使二者对接，以能够在站台和轨道车辆上进行货物输送，实现轨道车辆和站台上货物的自动化传输，同时能够进行合理分工和有效衔接，提高货物转运效率，为综合交通运输体系的搭建做好基础；First, a platform conveying system 931 is set on the platform, and a vehicle door conveying system 932 is arranged on the rail vehicle. Carry out cargo transportation on rail vehicles, realize automatic transmission of goods on rail vehicles and platforms, and at the same time, be able to carry out reasonable division of labor and effective connection, improve the efficiency of cargo transfer, and lay a good foundation for the construction of an integrated transportation system;
第二，站台输送***931包括与总控装置连接的站台输送装置，通过站台输送组件9312进行货物的输送，使得货物能够在车门处输送***932和站台间进行相互传输；Second, the platform conveying system 931 includes a platform conveying device connected to the master control device, and the cargo is conveyed through the platform conveying component 9312, so that the cargo can be mutually transmitted between the conveying system 932 at the door and the platform;
第三，通过设置位置调节组件带动站台输送组件9312进行空间位置调节，以能够将站台输送组件9312和车门处输送***932进行对接，进一步提高对接效率以及传输效率，减少人工操作，实现轨道交通联控输送***的智能化发展，满足现代物流发展要求。Thirdly, the platform conveying assembly 9312 is driven to adjust the spatial position by setting the position adjustment assembly, so that the platform conveying assembly 9312 can be docked with the door conveying system 932, further improving the docking efficiency and transmission efficiency, reducing manual operations, and realizing rail transit. The intelligent development of the control conveying system meets the development requirements of modern logistics.
实施例三Embodiment three
请参阅图5-7，图5为本申请实施例提供的一种轨道车辆的堆垛***的轴测结构示意图；图6为图5的主视结构示意图；图7为图5的侧向结构示意图。Please refer to Figures 5-7, Figure 5 is a schematic diagram of the axonometric structure of a rail vehicle stacking system provided by the embodiment of the present application; Figure 6 is a schematic diagram of the front view of Figure 5; Figure 7 is a schematic diagram of the lateral structure of Figure 5 schematic diagram.
本申请还提供一种堆垛***91，其包括堆垛机机架911、货叉912、堆垛机行走驱动装置和控制装置913。堆垛机机架911优选为矩形框架，矩形框架的各棱边间均可拆卸的连接，以便于生产加工。货叉912位于堆垛机机架911上，用于对集装器进行取放。堆垛机行走驱动装置同样位于堆垛机机架911上，用于带动堆垛机在轨道车辆内行走，堆垛机行走驱动装置可为电机和行走轮的组成结构，优选地，在轨道车辆的地板上设置有预设轨道，如滑轨，与行走轮配合，对堆垛机行走驱动装置的走行提供预设轨道，以简化控制操作。在其他实施例中，可根据需要设置堆垛机行走驱动装置的结构，只要能够达到相同的技术效果即可。控制装置913与车辆总控***连接，且控制装置913分别与货叉912和堆垛机行走驱动装置连接，控制装置913用于控制堆垛机行走驱动装置行走至与轨道车辆货架对应位置处，并控制货叉912动作、对集装器进行取放，由此以将车门输送***上的集装器取走，或者将轨道车辆货架上的集装器送至车门输送***上。The present application also provides a stacking system 91 , which includes a stacker frame 911 , a pallet fork 912 , a stacker driving device and a control device 913 . The stacker frame 911 is preferably a rectangular frame, and each edge of the rectangular frame can be detachably connected to facilitate production and processing. The pallet forks 912 are located on the stacker frame 911 and are used to pick and place the container. The stacker travel driving device is also located on the stacker frame 911, and is used to drive the stacker to walk in the rail vehicle. The stacker travel drive can be a composition structure of a motor and a traveling wheel. Preferably, in a rail vehicle There are preset tracks on the floor, such as slide rails, which cooperate with the travel wheels to provide preset tracks for the travel of the stacker travel drive device to simplify the control operation. In other embodiments, the structure of the travel driving device of the stacker can be set as required, as long as the same technical effect can be achieved. The control device 913 is connected with the vehicle master control system, and the control device 913 is respectively connected with the fork 912 and the stacker travel drive device, and the control device 913 is used to control the stacker travel drive device to travel to the position corresponding to the rail vehicle shelf, And control the movement of the pallet fork 912 to pick and place the ULD, so as to take away the ULD on the car door conveying system, or send the ULD on the rail vehicle shelf to the car door conveying system.
堆垛***的控制装置913能够接收车辆总控***发出的信号，以作出相应的工作状态，如当车辆总控***向控制装置913发出即将到站信号时，控制装置913根据该到站信号进行相应的动作。The control device 913 of the stacking system can receive the signal sent by the vehicle master control system to make a corresponding working state. For example, when the vehicle master control system sends a signal to the control device 913 that it is about to arrive at the station, the control device 913 will carry out the process according to the arrival signal. corresponding action.
采用本申请实施例中提供的一种轨道车辆的堆垛***91，相较于现有技术，具有以下技术效果：Compared with the prior art, the stacking system 91 of a rail vehicle provided in the embodiment of the present application has the following technical effects:
本申请通过控制装置913分别与货叉912和堆垛机行走驱动装置连接，能够控制堆垛机行走驱动装置行走至与轨道车辆货架对应位置处，控制货叉912动作，对集装器进行取放。由此设置，以实现对货物的自动化取放货，提高轨道车辆的自动化程度，提高物流周转速度和效率，为综合交通运输网络的搭建提供基础。In this application, the control device 913 is respectively connected with the pallet fork 912 and the travel driving device of the stacker, so that the travel drive device of the stacker can be controlled to travel to the position corresponding to the rail vehicle shelf, and the movement of the pallet fork 912 is controlled to remove the container. put. It is set up to realize the automatic pick-up and release of goods, improve the automation of rail vehicles, improve the speed and efficiency of logistics turnover, and provide a foundation for the construction of an integrated transportation network.
具体的，为了简化货物信息的录入操作、能够对货物信息进行统一管理，还包括扫码装置9110，固定于堆垛机机架911上，扫码装置9110用于对集装器进行扫码，并将集装器信息发送至控制装置913；控制装置913根据集装器信息确定货物在 货架上的位置信息，并根据位置信息控制堆垛机行走驱动装置行走至与轨道车辆货架对应位置处。其中，在集装器信息的载体可设置为固定在集装器上的电子标签，如二维码或条形码等。Specifically, in order to simplify the entry operation of the cargo information and enable unified management of the cargo information, a code scanning device 9110 is also included, which is fixed on the stacker frame 911. The code scanning device 9110 is used to scan the code of the ULD, And the container information is sent to the control device 913; the control device 913 determines the position information of the goods on the shelf according to the container information, and controls the stacker driving device to travel to the position corresponding to the rail vehicle shelf according to the position information. Among them, the carrier of the information on the container can be set as an electronic label fixed on the container, such as a two-dimensional code or a bar code.
在集装器入库或出库时，扫码装置9110对堆垛机抓取的集装器进行扫码，总控装置根据该集装器信息对待入库的集装器进行信息录入，或者，根据该集装器信息判断当前取出的集装器是否为预出库的集装器，以进行核对，防止发生取错货物，提高***准确性。When the ULDs are put into or out of the warehouse, the code scanning device 9110 scans the codes of the ULDs grabbed by the stacker, and the master control device records the information of the ULDs to be put into the warehouse according to the information of the ULDs, or According to the ULD information, it is judged whether the ULD currently taken out is a pre-delivery ULD, so as to check, prevent wrong goods from being picked up, and improve the accuracy of the system.
在另一实施例中，还包括货叉912动力驱动装置，一端固定于堆垛机机架911上，另一端与货叉912连接；其能够带动货叉912相对于堆垛机机架911进行移动；货叉912动力驱动装置与控制装置913连接，控制装置913用于控制货叉912动力驱动装置带动货叉912沿贯穿堆垛机机架911的宽度方向移动，以将货物从堆垛机机架911宽度方向的一端穿过堆垛机机架911移动至另一端。可以理解的是，堆垛机机架911的宽度方向与堆垛机机架911的行进方向垂直设置，堆垛机机架911的宽度方向的两端分别对应车门输送***和轨道车辆货架，由此以在货叉912沿贯穿堆垛机机架911的宽度方向移动时，能够将货物从车门输送***和轨道车辆货架间往复输送，以根据轨道车辆的内部空间优化货叉912的运动方向，提高空间利用率，简化运输路线。In another embodiment, it also includes a power drive device for a pallet fork 912, one end of which is fixed on the stacker frame 911, and the other end is connected with the pallet fork 912; Move; the power drive device of the pallet fork 912 is connected with the control device 913, and the control device 913 is used to control the power drive device of the pallet fork 912 to drive the pallet fork 912 to move along the width direction running through the stacker frame 911, so as to move the goods from the stacker One end in the width direction of the frame 911 passes through the stacker frame 911 and moves to the other end. It can be understood that the width direction of the stacker frame 911 is perpendicular to the direction of travel of the stacker frame 911, and the two ends of the width direction of the stacker frame 911 correspond to the door conveying system and the rail vehicle shelf respectively. This is so that when the fork 912 moves along the width direction through the stacker frame 911, the goods can be reciprocated from the door conveying system and the rail vehicle shelf, so as to optimize the movement direction of the fork 912 according to the internal space of the rail vehicle. Improve space utilization and simplify transportation routes.
如图8-图14所示，图8为图7中局部结构放大示意图；图9为图8的俯视结构示意图；图10为本申请实施例提供的货叉的第一剖视结构示意图；图11为本申请实施例提供的货叉的第二剖视结构示意图；图12为本申请实施例提供的货叉的第三剖视结构示意图；图13为图5的局部结构放大示意图(即货叉的放大示意图)；图14为图13的局部结构放大示意图。具体的，货叉912动力驱动装置包括货叉912动力驱动件，货叉912动力驱动件包括货叉动力件91251和货叉912驱动件，货叉动力件91251为电机，货叉912驱动件包括驱动齿轮91252和与其配合的驱动齿条91253，驱动齿条91253固定于货叉912上、且沿货叉912的长度方向设置；货叉动力件91251和驱动齿轮91252分别位于堆垛机机架911上，货叉动力件91251与驱动齿轮91252连接，以驱动驱动齿轮91252转动、带动驱动齿条91253和货叉912移动。在其他实施例中，货叉912动力驱动件可设置为滑块滑轨机构，可根据需要进行设置。As shown in Figures 8-14, Figure 8 is an enlarged schematic view of the local structure in Figure 7; Figure 9 is a schematic top view of Figure 8; 11 is a schematic diagram of the second sectional structure of the fork provided in the embodiment of the present application; FIG. 12 is a schematic diagram of the third sectional structure of the fork provided in the embodiment of the present application; FIG. Figure 14 is an enlarged schematic view of the partial structure of Figure 13 . Specifically, the power driving device of the fork 912 includes a power driving part of the fork 912, the power driving part of the fork 912 includes a power part 91251 and a driving part of the fork 912, the power part 91251 of the fork is a motor, and the driving part of the fork 912 includes The driving gear 91252 and the driving rack 91253 matched therewith, the driving rack 91253 is fixed on the pallet fork 912 and arranged along the length direction of the pallet fork 912; Above, the power part 91251 of the pallet fork is connected with the driving gear 91252 to drive the driving gear 91252 to rotate and drive the driving rack 91253 and the pallet fork 912 to move. In other embodiments, the power driving part of the pallet fork 912 can be set as a slider slide rail mechanism, which can be set as required.
进一步地，为了能够优化货叉912的伸出运动，该货叉912包括在堆垛机机架911的垂向方向上，自下至上依次叠放的固定货叉9128、一级货叉9121和二级货叉9122，固定货叉9128固定于堆垛机机架911上，一级货叉9121能够相对于固定货叉9128移动，二级货叉9122能够相对于一级货叉9121移动。优选地，在固定货叉9128和堆垛机机架911之间、固定货叉9128和一级货叉9121间、一级货叉9121和二级货叉9122间分别设置滑移驱动机构，以分别进行多级伸出或缩回，能够在满足集装器位置需求的同时，在缩回时能够优化空间设置，使得货叉912不会阻碍其他设备的正常行进。Further, in order to optimize the extension movement of the pallet fork 912, the pallet fork 912 includes a fixed pallet 9128, a first-stage pallet fork 9121 and The secondary fork 9122 and the fixed fork 9128 are fixed on the stacker frame 911, the primary fork 9121 can move relative to the fixed fork 9128, and the secondary fork 9122 can move relative to the primary fork 9121. Preferably, between the fixed fork 9128 and the stacker frame 911, between the fixed fork 9128 and the first-level fork 9121, between the first-level fork 9121 and the second-level fork 9122, a sliding drive mechanism is respectively set, so as to Respectively performing multi-stage extension or retraction can meet the position requirements of the ULD and at the same time optimize the space setting when retracting, so that the fork 912 will not hinder the normal travel of other equipment.
为了实现各货叉912之间的同步伸缩运动，货叉912动力驱动装置与二级货叉9122连接，以驱动二级货叉9122相对于固定货叉9128移动。其中，在堆垛机机架911的宽度方向上，货叉动力驱动装置还包括：伸出链条9127和缩回链条9123。In order to realize the synchronous telescopic movement between the forks 912 , the power drive device of the forks 912 is connected with the secondary forks 9122 to drive the secondary forks 9122 to move relative to the fixed forks 9128 . Wherein, in the width direction of the stacker frame 911 , the power driving device for the fork further includes: an extending chain 9127 and a retracting chain 9123 .
如图11、12所示，伸出链条9127的第一端与固定货叉9128的后端固定连接；第二端自固定货叉9128的后端、一级货叉9121的下壁后端绕至一级货叉9121的上壁前端、向一级货叉9121的上壁后端延伸，且与二级货叉9122的下壁后端固定；伸出链条9127与一级货叉9121的前端滑动连接；缩回链条9123的第一端与固定货叉9128的前端固定连接，第二端自所述固定货叉9128的前端、一级货叉9121的下壁后端绕至一级货叉9121的上壁前端、自一级货叉9121的上壁前端向前延伸、与二级货叉9122的下壁前端固定；伸出链条9127与一级货叉9121的前端滑动连接。由此设置，当货叉912动力驱动装置带动一级货叉9121移动时，通过伸出链条9127和缩回链条9123，带动二级货叉9122实现伸出和缩回，可以理解的是，固定货叉9128固定在堆垛机机架911上，为一级货叉9121和二级货叉9122提供支撑。As shown in Figures 11 and 12, the first end of the protruding chain 9127 is fixedly connected to the rear end of the fixed fork 9128; It extends to the front end of the upper wall of the first-level fork 9121, extends to the rear end of the upper wall of the first-level fork 9121, and is fixed to the rear end of the lower wall of the second-level fork 9122; extends the chain 9127 and the front end of the first-level fork 9121 Sliding connection; the first end of the retracting chain 9123 is fixedly connected to the front end of the fixed fork 9128, and the second end is wound from the front end of the fixed fork 9128 and the rear end of the lower wall of the first-level fork 9121 to the first-level fork The front end of the upper wall of 9121 extends forward from the front end of the upper wall of the first-level cargo fork 9121, and is fixed with the front end of the lower wall of the second-level cargo fork 9122; Thus, when the power drive device of the fork 912 drives the first-level fork 9121 to move, the second-level fork 9122 is driven to extend and retract by extending the chain 9127 and retracting the chain 9123. It can be understood that the fixed Pallet fork 9128 is fixed on the stacker frame 911, provides support for primary pallet fork 9121 and secondary pallet fork 9122.
更进一步地，为了优化链条的滑动，货叉动力驱动装置还包括伸出链轮91272和缩回链轮91232。其中，伸出链轮91272固定于一级货叉9121的前端、且能够沿自身轴线转动，伸出链轮91272与伸出链条9127咬合，以防止伸出链条9127直接与一级货叉9121的表面接触，减小摩擦力，提高滑动顺畅度；同理，缩回链轮91232固定于一级货叉9121的后端、且能够沿自身轴线转动，缩回链轮91232与缩回链条9123配合。为了实现链轮的安装，一级货叉9121的前端设有沿垂向贯通的伸出滑轮安装孔，用于安装伸出链轮91272；一级货叉9121的后端设有沿垂向贯通的缩回滑轮安装孔，用于安装缩回链轮91232。Furthermore, in order to optimize the sliding of the chain, the fork power drive device also includes an extension sprocket 91272 and a retraction sprocket 91232 . Wherein, the sprocket wheel 91272 is fixed on the front end of the first-level cargo fork 9121 and can rotate along its own axis. The sprocket wheel 91272 is engaged with the chain 9127 to prevent the chain 9127 from directly contacting the first-level cargo fork 9121. Surface contact reduces friction and improves sliding smoothness; similarly, the retracting sprocket 91232 is fixed on the rear end of the first-stage fork 9121 and can rotate along its own axis, and the retracting sprocket 91232 cooperates with the retracting chain 9123 . In order to realize the installation of the sprocket, the front end of the first-level cargo fork 9121 is provided with a vertically extending pulley mounting hole for installing the extending sprocket 91272; Retract Pulley Mounting Hole for Retract Sprocket 91232.
为了对链条进行支撑，货叉动力驱动装置还包括伸出链条托板91271和缩回链条托板91231。其中，伸出链条托板91271分别固定于固定货叉9128和一级货叉9121的上壁、沿长度方向延伸设置，用以承托伸出链条9127；缩回链条托板91231分别固定于固定货叉9128和一级货叉9121的上壁、沿长度方向延伸设置，用以承托缩回链条9123。同时防止链条在伸出或缩回时，空闲的链条交叠、错位或出现缠绕等问题，保证位置统一，降低故障发生次数。In order to support the chain, the power driving device of the cargo fork also includes an extending chain supporting plate 91271 and a retracting chain supporting plate 91231 . Among them, the protruding chain supporting plate 91271 is respectively fixed on the upper wall of the fixed fork 9128 and the first-level fork 9121, and is extended along the length direction to support the protruding chain 9127; the retracting chain supporting plate 91231 is respectively fixed on the fixed The upper walls of the pallet fork 9128 and the primary pallet fork 9121 extend along the length direction, and are used to support the retraction chain 9123 . At the same time, when the chain is stretched out or retracted, problems such as overlapping, misalignment or winding of idle chains are prevented, ensuring a uniform position and reducing the number of failures.
为了对各级货叉912间的滑移进行更好地导向，货叉动力驱动装置还包括导向组件，导向组件包括导向块91241和导向槽91242。其中，导向块91241固定于固定货叉9128的上壁上，且沿固定货叉9128的长度方向设置；导向槽91242固定于 一级货叉9121的下壁上，且沿货叉912的长度方向设置；导向块91241优选位于固定货叉9128的宽度中心线上，导向槽91242进行相应地设置。由此设置，以防止固定货叉9128发生宽度方向晃动，提高货叉912在滑移过程中的稳定性。为了进一步提高稳定性，导向块91241的侧壁上设有沿固定货叉9128的长度方向延伸设置的限位导向槽91243；导向槽91242的侧壁上设有与限位导向槽91243配合的限位导向块91244。通过限位导向槽91243和限位导向块91244对固定货叉9128沿垂向方向的抖动进行限位，以进一步提高滑移过程中、垂向方向上的稳定性。在具体实施例中，导向块91241分别固定于固定货叉9128的上壁和一级货叉9121的上壁上，且沿货叉912的长度方向设置；导向块91241的侧壁上设有沿货叉912的长度方向延伸设置的限位导向槽91243；导向槽91242分别固定于一级货叉9121的下壁和二级货叉9122的下壁上，且沿货叉912的长度方向设置；导向槽91242的侧壁上设有与限位导向槽91243配合的限位导向块91244。为了在保证导向效果的同时、降低作业成本，导向块91241的个数为若干个，导向块91241分别沿货叉912的长度方向间隔设置。In order to better guide the sliding between the pallet forks 912 at different levels, the power driving device of the pallet fork also includes a guide assembly, which includes a guide block 91241 and a guide groove 91242 . Among them, the guide block 91241 is fixed on the upper wall of the fixed fork 9128, and is arranged along the length direction of the fixed fork 9128; Setting; the guide block 91241 is preferably located on the width centerline of the fixed fork 9128, and the guide groove 91242 is set accordingly. Therefore, it is set to prevent the fixed fork 9128 from shaking in the width direction and improve the stability of the fork 912 during the sliding process. In order to further improve the stability, the side wall of the guide block 91241 is provided with a limit guide groove 91243 extending along the length direction of the fixed fork 9128; Bit guide block 91244. Vibration of the fixed fork 9128 in the vertical direction is limited by the limit guide groove 91243 and the limit guide block 91244, so as to further improve the stability in the vertical direction during the sliding process. In a specific embodiment, the guide block 91241 is respectively fixed on the upper wall of the fixed fork 9128 and the upper wall of the first-stage fork 9121, and is arranged along the length direction of the fork 912; The limit guide groove 91243 is extended in the length direction of the fork 912; the guide groove 91242 is respectively fixed on the lower wall of the first-level fork 9121 and the lower wall of the second-level fork 9122, and is arranged along the length direction of the fork 912; A limit guide block 91244 that cooperates with the limit guide groove 91243 is provided on the side wall of the guide groove 91242 . In order to reduce the operating cost while ensuring the guiding effect, the number of guiding blocks 91241 is several, and the guiding blocks 91241 are respectively arranged at intervals along the length direction of the pallet fork 912 .
在一种具体的实施例中，货叉912为两组，各组货叉912分别连接有一个货叉912驱动件；货叉动力件91251分别经各个货叉912驱动件带动各组货叉912同步动作。每组货叉912分别包括固定货叉9128、一级货叉9121、二级货叉9122、伸出链条9127和缩回链条9123。两组货叉912的货叉912驱动件采用同一个转轴带动，转轴的长度方向的两端分别设有驱动齿轮91252，以分别与各组货叉912的驱动齿条91253配合。货叉动力件91251带动转轴转动，进而带动驱动齿轮91252转动。一个货叉动力件91251分别经各个货叉912驱动件带动两组货叉912同步动作。同时，伸出链条9127和缩回链条9123分别沿两组货叉912的中心线对称设置，以优化装置结构。In a specific embodiment, there are two groups of forks 912, and each group of forks 912 is respectively connected to a driving part of the fork 912; the power part 91251 of the fork drives each group of forks 912 respectively through the driving parts of each fork 912. Synchronized actions. Each set of forks 912 includes a fixed fork 9128, a primary fork 9121, a secondary fork 9122, an extension chain 9127 and a retraction chain 9123, respectively. The pallet fork 912 driving parts of two groups of cargo forks 912 are driven by the same rotating shaft, and the two ends of the length direction of the rotating shaft are respectively provided with driving gears 91252 to cooperate with the driving racks 91253 of each group of pallet forks 912 respectively. The power part 91251 of the cargo fork drives the rotating shaft to rotate, and then drives the driving gear 91252 to rotate. One fork power part 91251 drives two groups of forks 912 to move synchronously through the driving parts of each fork 912 respectively. At the same time, the extending chain 9127 and the retracting chain 9123 are arranged symmetrically along the centerlines of the two groups of forks 912, so as to optimize the structure of the device.
具体的同步伸缩作业过程为：控制装置913根据接收到的动作指令控制货叉动力件91251启动，货叉动力件91251带动驱动齿轮91252转动，位于一级货叉9121上的驱动齿条91253在驱动齿轮91252的转动下移动，一级货叉9121伸出，此时，伸出链条9127绕伸出链轮91272转动，位于一级货叉9121的下壁端的伸出链条9127部分增加，位于一级货叉9121的上壁的伸出链条9127部分缩短，同时推动二级货叉9122向前伸出，此时缩回链条9123在二级货叉9122伸出的拉力作用下，位于一级货叉9121的上壁的缩回链条9123部分增加，位于一级货叉9121的下壁的缩回链条9123部分缩短，缩回链条9123被动动作；当需要货叉912缩回时，货叉动力件91251带动驱动齿轮91252反向转动，驱动齿条91253在驱动齿轮91252的转动下进行缩回移动，此时位于一级货叉9121的下壁的缩回链条9123处于拉紧状态，同时位于一级货叉9121的上壁的缩回链条9123通过缩回链轮91232移动，位于一级货叉9121的下壁的缩回链条9123长度增加，位于一级货叉9121的上壁的缩回链条9123长度缩短，二级货叉9122被拉回，由此以实现一级货叉9121和二级货叉9122的同步伸缩的过程。上述装置结构简单、便于设置，能够实现同步伸缩，简化同步控制操作，提高效率。The specific synchronous telescopic operation process is: the control device 913 controls the power part 91251 of the fork to start according to the action command received, the power part 91251 of the fork drives the driving gear 91252 to rotate, and the driving rack 91253 on the first-level fork 9121 is driving The rotation of the gear 91252 moves down, and the first-level cargo fork 9121 stretches out. At this time, the stretched out chain 9127 rotates around the stretched out sprocket 91272, and the part of the stretched out chain 9127 positioned at the lower wall end of the first-level cargo fork 9121 increases, and is located at the first-level The protruding chain 9127 on the upper wall of the fork 9121 is partially shortened, and at the same time, the secondary fork 9122 is pushed forward to extend forward. At this time, the retracting chain 9123 is located at the primary fork under the pulling force of the secondary fork 9122. The part of the retraction chain 9123 on the upper wall of the 9121 is increased, and the part of the retraction chain 9123 located on the lower wall of the primary fork 9121 is shortened, and the retraction chain 9123 is passive; when the fork 912 needs to be retracted, the fork power part 91251 Drive the drive gear 91252 to rotate in reverse, and the drive rack 91253 retracts under the rotation of the drive gear 91252. At this time, the retraction chain 9123 on the lower wall of the first-level cargo fork 9121 is in a tensioned state, and at the same time it is located on the first-level cargo The retraction chain 9123 on the upper wall of the fork 9121 moves through the retraction sprocket 91232, and the length of the retraction chain 9123 on the lower wall of the first-level cargo fork 9121 increases, and the length of the retraction chain 9123 on the upper wall of the first-level cargo fork 9121 increases. shortened, the secondary pallet fork 9122 is pulled back, thereby to realize the process of synchronous telescopic expansion of the primary pallet fork 9121 and the secondary pallet fork 9122. The above-mentioned device has a simple structure, is easy to install, can realize synchronous expansion and contraction, simplifies synchronous control operations, and improves efficiency.
其中，堆垛机行走驱动装置还包括行走动力件和行走驱动件，行走驱动件包括行走驱动齿轮91252和与其配合的行走驱动齿条91253，行走动力件与行走驱动齿轮91252连接，行走驱动齿条91253用于固定在轨道车辆的地轨上，行走动力件驱动行走驱动齿轮91252转动、以带动堆垛机机架911沿地轨行进。上述齿轮齿条机构提高行走和定位精度，减小行走误差。具体的，堆垛机行走驱动装置还包括行走导向机构，行走导向机构包括行走滑槽和行走滑块，行走滑槽沿堆垛机机架911的长度方向设置，行走滑块用于固定在轨道车辆的地轨上，行走滑槽和行走滑块对堆垛机机架911在地轨上的移动进行导向。Wherein, the walking drive device of the stacker also includes a walking power part and a walking driving part. The walking driving part includes a walking driving gear 91252 and a walking driving rack 91253 matched with it. The walking power part is connected with the walking driving gear 91252, and the walking driving rack 91253 is used to be fixed on the ground rail of the rail vehicle, and the traveling power part drives the traveling drive gear 91252 to rotate to drive the stacker frame 911 to advance along the ground rail. The rack and pinion mechanism improves walking and positioning accuracy and reduces walking errors. Specifically, the walking drive device of the stacker also includes a walking guide mechanism, the walking guide mechanism includes a walking chute and a walking slider, the walking chute is arranged along the length direction of the stacker frame 911, and the walking slider is used to be fixed on the track On the ground rail of the vehicle, the travel chute and the travel slider guide the movement of the stacker frame 911 on the ground rail.
在该具体实施例中，还包括货叉912升降驱动装置，货叉912升降驱动装置包括升降板9161、货叉升降动力件9151和货叉升降驱动件9171。其中，升降板9161位于矩形框架中，且能够在矩形框架中沿垂向移动，固定货叉9128固定于升降板9161上；货叉升降动力件9151固定于堆垛机机架911的底板上，货叉升降驱动件9171沿堆垛机机架911的垂向设置，货叉升降驱动件9171的一端与货叉升降动力件9151连接，另一端与升降板9161连接，货叉升降动力件9151驱动货叉升降驱动件9171动作、以带动升降板9161和货叉912进行垂向移动。具体的，货叉升降驱动件9171为螺母丝杠机构，丝杠与货叉升降动力件9151连接以带动其转动，丝杠沿堆垛机机架911的矩形框架的垂向侧壁设置，优选为在一组相对设置的垂向侧壁上分别设置，同时，还设有丝杠安装梁，丝杠安装梁的两端分别与矩形框架固定连接，丝杠与丝杠安装梁间设有轴承，以实现丝杠的安装。螺母固定在升降板9161的一组相对设置的侧边上，螺母套装在丝杠上。In this specific embodiment, a lifting and lowering driving device of the pallet fork 912 is also included, and the lifting and lowering driving device of the pallet fork 912 includes a lifting plate 9161 , a lifting power part of the pallet fork 9151 and a lifting and lowering driving device of the pallet fork 9171 . Wherein, the lifting plate 9161 is located in the rectangular frame and can move vertically in the rectangular frame, the fixed fork 9128 is fixed on the lifting plate 9161; the lifting power part 9151 of the fork is fixed on the bottom plate of the stacker frame 911, The fork lift drive part 9171 is vertically arranged along the stacker frame 911, one end of the fork lift drive part 9171 is connected with the fork lift power part 9151, and the other end is connected with the lift plate 9161, and the fork lift drive part 9151 drives The fork lifting driving part 9171 acts to drive the lifting plate 9161 and the fork 912 to move vertically. Specifically, the fork lift drive part 9171 is a nut screw mechanism, the lead screw is connected with the fork lift power part 9151 to drive its rotation, and the lead screw is arranged along the vertical side wall of the rectangular frame of the stacker frame 911, preferably In order to be installed on a set of opposite vertical side walls, at the same time, there is also a screw mounting beam, the two ends of the screw mounting beam are respectively fixedly connected with the rectangular frame, and a bearing is arranged between the screw and the screw mounting beam. , in order to realize the installation of the lead screw. Nuts are fixed on a group of opposite side edges of the lifting plate 9161, and the nuts are sleeved on the leading screw.
进一步地，为了防止在堆垛***91运行至地轨的端部时发生碰撞，上述堆垛***91还包括防撞缓冲装置914，用于堆垛机机架911和轨道车辆接触时进行防撞缓冲，防撞缓冲装置914分别固定于堆垛机机架911的长度方向的两端。防撞缓冲装置914可设置为橡胶或弹簧等缓冲件，可根据现有技术的发展水平进行设置，均在本申请的保护范围内。Further, in order to prevent collisions when the stacking system 91 runs to the end of the ground rail, the above-mentioned stacking system 91 also includes an anti-collision buffer device 914, which is used to prevent collisions when the stacker frame 911 and the rail vehicle contact Buffering, anti-collision buffering devices 914 are respectively fixed on both ends of the stacker frame 911 in the length direction. The anti-collision buffer device 914 can be set as a buffer member such as rubber or a spring, which can be set according to the development level of the prior art, all of which are within the protection scope of the present application.
具体的，还包括集电装置918，集电装置918包括集电导轨和集电器；集电导轨固定在轨道车辆的顶板上、沿轨道车辆的纵向延伸；集电器固定于堆垛机机架911的顶端，且可拆卸的连接，集电器与集电导轨配合、以为堆垛***91的作业设备提供电力。由此以优化轨道车辆的整体结构，无需重新设置于轨道车辆电力***的布线，简化线缆、同时便于拆装。集电装置还包括绝缘保护套，用于非接触部位的绝缘，防止漏电或人员触碰等，绝缘保护套优选分别设置在集电导轨和集电器上。在该具体实施例中，堆垛机机架911为矩形框架，矩形框架包括顶架、侧架和底架，顶架、侧架和底架中任意两者间可 拆卸的连接，顶架、侧架和底架均为轻量化铝条，以减轻整体重量；顶架上设有集电装置918，底架的底部设有堆垛机行走驱动装置。控制装置913位于矩形框架的外侧底部，用以优化矩形框架的整体空间。Specifically, it also includes a collector device 918, the collector device 918 includes a collector guide rail and a collector; the collector guide rail is fixed on the roof of the rail vehicle and extends along the longitudinal direction of the rail vehicle; the collector is fixed on the stacker frame 911 The top of the top, and detachable connection, the current collector cooperates with the current collector guide rail to provide power for the operation equipment of the stacking system 91 . In this way, the overall structure of the rail vehicle can be optimized without resetting the wiring of the rail vehicle power system, simplifying cables and facilitating disassembly and assembly. The current collecting device also includes an insulating protective cover, which is used for insulation of non-contact parts, preventing electric leakage or personal contact, etc. The insulating protective cover is preferably arranged on the current collecting guide rail and the collector respectively. In this specific embodiment, the stacker frame 911 is a rectangular frame, and the rectangular frame includes a top frame, a side frame and a bottom frame, and any two of the top frame, the side frames and the bottom frame are detachably connected. Both the side frame and the bottom frame are lightweight aluminum strips to reduce the overall weight; the top frame is provided with a collector device 918, and the bottom frame is provided with a stacker driving device. The control device 913 is located at the outer bottom of the rectangular frame to optimize the overall space of the rectangular frame.
同时，还包括定位件919，定位件919位于顶架上长度方向的两端，定位件919用于与轨道车辆的天轨配合，进行定位和导向，防止堆垛机机架911的宽度方向上发生晃动；在顶架的宽度方向上，定位件919位于顶架的中心处。At the same time, it also includes positioning pieces 919. The positioning pieces 919 are located at the two ends of the length direction on the top frame. The positioning pieces 919 are used to cooperate with the sky rail of the rail vehicle for positioning and guiding, so as to prevent the stacker frame 911 from moving in the width direction. Rocking occurs; in the width direction of the top frame, the positioning member 919 is located at the center of the top frame.
还包括编码器和编码尺，分别固定在顶架上，用于进行位置精确定位。通过编码器和编码尺对堆垛机机架911的滑移距离进行精确测量，以提高距离检测精度。在其他实施例中，也可以采用其他形式的距离测量或位置定位，均在本申请的保护范围内。It also includes an encoder and a code ruler, which are respectively fixed on the top frame for precise positioning. The sliding distance of the stacker frame 911 is accurately measured by the encoder and the code ruler, so as to improve the distance detection accuracy. In other embodiments, other forms of distance measurement or position positioning may also be used, all of which are within the protection scope of the present application.
具体的作业过程为：控制装置913根据接收到的动作指令控制货叉升降动力件9151动作，货叉升降驱动件9171动作以带动升降板9161和货叉912进行垂向移动，直至预设高度，该预设高度上，货叉912和第一车门输送组件的高度平齐，以使得货叉912能够对集装器进行叉起或放下；并控制货叉动力件91251启动，并驱动货叉912驱动件动作，使得一级货叉9121和二级货叉9122同步伸出，对位于第一车门输送组件上的集装器进行叉起后，控制货叉912缩回至初始位置；并控制扫码装置9110对集装器上的电子标签进行扫码，根据扫码信息得到该集装器的堆垛位信息，并控制行走动力件和行走驱动件动作，带动堆垛机机架911沿地轨行进至货架的预设位置处，并根据该堆垛位信息控制货叉升降驱动件9171动作，调整货叉912的堆垛位的高度匹配，并再次驱动货叉912驱动件动作，使得货叉912反向伸出，将货叉912上的集装器移送至堆垛位上，完成集装器从车门处输送***至货架***的转运输送，可以理解的是，当取出货物时，执行上述相反的作业过程。The specific operation process is: the control device 913 controls the action of the fork lifting power part 9151 according to the received action command, and the action of the fork lifting driving part 9171 to drive the lifting plate 9161 and the fork 912 to move vertically until the preset height, At this preset height, the height of the pallet fork 912 is equal to that of the first door conveying assembly, so that the pallet fork 912 can fork up or put down the container; and control the activation of the pallet fork power part 91251 and drive the pallet fork 912 The driving part acts, so that the first-level fork 9121 and the second-level fork 9122 are extended synchronously, and after the container on the first door conveying assembly is forked, the fork 912 is controlled to retract to the initial position; and the sweeper is controlled. The code device 9110 scans the code on the electronic label on the container, obtains the stacking position information of the container according to the scanned code information, and controls the movement of the walking power part and the driving part to drive the stacker frame 911 along the ground. The rail travels to the preset position of the shelf, and controls the action of the fork lifting drive part 9171 according to the stacking position information, adjusts the height matching of the stacking position of the pallet fork 912, and drives the drive part of the pallet fork 912 again to make the goods The fork 912 is stretched out in reverse, and the container on the fork 912 is transferred to the stacking position, and the transfer of the container from the door conveyor system to the shelf system is completed. It can be understood that when the goods are taken out, the container is executed The opposite operation process of the above.
实施例四Embodiment four
请参阅图15-20，图15为本申请实施例提供的一种货架***的主视结构示意图；图16为图15的主视结构示意图；图17为图15的侧向结构示意图；图18为本申请实施例提供的货架***的局部放大结构示意图；图19为本申请实施例提供的竖向支撑架的安装结构示意图；图20为本申请实施例提供的拉紧装置的结构示意图。Please refer to Figures 15-20, Figure 15 is a schematic front view of a shelf system provided by the embodiment of the present application; Figure 16 is a schematic front view of Figure 15; Figure 17 is a schematic view of the lateral structure of Figure 15; Figure 18 A partial enlarged structural schematic diagram of the shelf system provided by the embodiment of the present application; FIG. 19 is a schematic diagram of the installation structure of the vertical support frame provided by the embodiment of the present application; FIG. 20 is a schematic structural diagram of the tensioning device provided by the embodiment of the present application.
在一种具体的实施方式中，本申请提供的轨道车辆的货架***，包括架体921、底部安装板923和拉紧装置922。其中，架体921沿轨道车辆的纵向延伸。架体921包括输送巷道924和用于货物存放的存放区，输送巷道924用于输送装置走行，输送装置如堆垛机或机械臂等设备，用于货物的抓取输送。根据输送装置的类型，可以在输送巷道924上设置轨道等辅助设备，可根据实际需要进行设置。输送巷道924沿轨道车辆的纵向延伸设置，存放区位于输送巷道924的两侧。底部安装板923，可拆卸的连接于架体921的底部，用于将架体921与轨道车辆的地板固定。底部安装板923的个数为多个，各个底部安装板923沿架体921的长度方向依次间隔设置，架体921和底部安装板923之间可拆卸的连接，以便于拆装。进一步地，拉紧装置922位于架体921的外部，用于将架体921与轨道车辆的顶板和/或侧墙固定。In a specific embodiment, the rail vehicle racking system provided by the present application includes a frame body 921 , a bottom mounting plate 923 and a tensioning device 922 . Wherein, the frame body 921 extends along the longitudinal direction of the rail vehicle. The frame body 921 includes a conveying lane 924 and a storage area for storing goods. The conveying lane 924 is used for the running of the conveying device, and the conveying device, such as a stacker or a mechanical arm, is used for grabbing and conveying the goods. According to the type of the conveying device, auxiliary equipment such as tracks can be set on the conveying roadway 924, which can be set according to actual needs. The conveying lane 924 is arranged along the longitudinal extension of the rail vehicle, and the storage area is located on both sides of the conveying lane 924 . The bottom mounting plate 923 is detachably connected to the bottom of the frame body 921 for fixing the frame body 921 to the floor of the rail vehicle. There are multiple bottom mounting plates 923, and each bottom mounting plate 923 is arranged at intervals along the length direction of the frame body 921. The frame body 921 and the bottom mounting plate 923 are detachably connected to facilitate disassembly. Further, the tensioning device 922 is located outside the frame body 921 and is used to fix the frame body 921 to the roof and/or side wall of the rail vehicle.
采用本申请实施例中提供的一种轨道车辆的货架***，相较于现有技术，具有以下技术效果：Compared with the prior art, a rail vehicle racking system provided in the embodiment of the present application has the following technical effects:
将架体921作为一个独立单元，在其底部设置底部安装板923，以将架体921和轨道车辆的地板固定，并通过拉紧装置922将架体921与轨道车辆的顶板和/或侧墙固定，由此在安装时，可以将架体921作为一个整体加工后装入车厢中，再进行连接，简化安装操作及步骤，提高安装效率；同时，架体921中设置输送巷道924和货物存放区，以与输送装置配合，为自动化输送及存储提供基础。The frame body 921 is used as an independent unit, and a bottom mounting plate 923 is provided at its bottom to fix the frame body 921 and the floor of the rail vehicle, and the frame body 921 is connected to the roof and/or side wall of the rail vehicle by a tensioning device 922 Fixed, thus during installation, the frame body 921 can be processed as a whole and loaded into the compartment, and then connected, simplifying the installation operation and steps, and improving installation efficiency; at the same time, the frame body 921 is provided with a conveying roadway 924 and cargo storage Area, in order to cooperate with the conveying device, provide the basis for automatic conveying and storage.
具体的，拉紧装置922包括若干个顶板拉紧组件9221和若干个侧墙拉紧组件9222。顶板拉紧组件9221位于架体921的顶部，顶板拉紧组件9221用于与轨道车辆的顶板可拆卸的连接；侧墙拉紧组件9222位于架体921的侧向，侧墙拉紧组件9222用于与轨道车辆的侧墙可拆卸的连接。顶板拉紧组件9221和侧墙拉紧组件9222的结构相同，以便于生产加工。Specifically, the tensioning device 922 includes several roof tensioning assemblies 9221 and several side wall tensioning assemblies 9222 . The roof tensioning assembly 9221 is located on the top of the frame body 921, and the roof tensioning assembly 9221 is used for detachable connection with the roof of the rail vehicle; the side wall tensioning assembly 9222 is located on the side of the frame body 921, and the side wall tensioning assembly 9222 is used for For detachable connection to the side wall of the rail vehicle. The roof tensioning assembly 9221 and the side wall tensioning assembly 9222 have the same structure, so as to facilitate production and processing.
进一步地，顶板拉紧组件9221和侧墙拉紧组件9222分别包括依次设置的第一铰接座92221、第一螺杆92222、锁紧螺母92223、第二螺杆92224、第二铰接座92225和固定件92226，第一铰接座92221和第一螺杆92222铰接，第二螺杆92224和第二铰接座92225铰接，锁紧螺母92223的两端分别与第一螺杆92222和第二螺杆92224螺纹连接，第一铰接座92221与架体921可拆卸的连接，固定件92226用于与轨道车辆的顶板或侧墙可拆卸的连接。通过旋拧第一螺杆92222和第二螺杆92224，调节拉紧组件的长度，以将架体921和顶板或侧墙连接。Further, the top plate tensioning assembly 9221 and the side wall tensioning assembly 9222 respectively include a first hinge seat 92221, a first screw rod 92222, a lock nut 92223, a second screw rod 92224, a second hinge seat 92225 and a fixing piece 92226 arranged in sequence , the first hinged seat 92221 is hinged with the first screw 92222, the second screw 92224 is hinged with the second hinged seat 92225, the two ends of the lock nut 92223 are threaded with the first screw 92222 and the second screw 92224 respectively, and the first hinged seat 92221 is detachably connected with the frame body 921, and the fixing part 92226 is used for detachably connected with the roof or side wall of the rail vehicle. By screwing the first screw rod 92222 and the second screw rod 92224, the length of the tensioning assembly is adjusted to connect the frame body 921 with the top board or the side wall.
在一种实施例中，还包括一组平行设置的地轨926和地轨926限位块，地轨926沿轨道车辆的纵向延伸，地轨926位于输送巷道924的底部、且与底部安装板923可拆卸的连接，地轨926优选位于输送巷道924的宽度方向的两端。地轨926用于与输送装置滑动配合，以使得输送装置能够在输送巷道924中移动。地轨926限位块分别位于各个地轨926的长度方向的端部，且地轨926限位块与底部安装板923固定连接。地轨926限位块防止输送巷道924从地轨926上滑出，提高滑行安全性。In one embodiment, it also includes a group of ground rails 926 and ground rails 926 limit blocks arranged in parallel, the ground rails 926 extend along the longitudinal direction of the rail vehicle, the ground rails 926 are located at the bottom of the conveying roadway 924, and are connected to the bottom mounting plate 923 is detachably connected, and ground rails 926 are preferably located at both ends of the conveying roadway 924 in the width direction. The ground rail 926 is used for sliding cooperation with the conveying device, so that the conveying device can move in the conveying tunnel 924 . The limit blocks of the ground rails 926 are respectively located at the ends of the length direction of each ground rail 926 , and the limit blocks of the ground rails 926 are fixedly connected with the bottom mounting plate 923 . The limit block of the ground rail 926 prevents the conveying roadway 924 from slipping out of the ground rail 926, improving the sliding safety.
具体的，架体921包括顶部支撑架9210和若干个竖向支撑架9213。其中，顶部支撑架9210与轨道车辆的顶板固定连 接；竖向支撑架9213的顶端与顶部支撑架9210固定，竖向支撑架9213的底端与底部安装板923固定；优选为各竖向支撑架9213的底部均设有底部安装板923，竖向支撑架9213分别沿顶部支撑架9210的横向和纵向排布，竖向支撑架9213位于顶部支撑架9210的横向的两端，以形成两端的存放区和输送巷道924，输送巷道924位于中间，优选为存放区在输送巷道924的两侧对称设置。竖向支撑架9213包括支撑横梁92133，在轨道车辆的纵向方向上，沿纵向排布的相邻竖向支撑架9213的支撑横梁92133间设有连接横梁9214，支撑横梁92133和连接横梁9214形成集装器堆垛位，用以支撑集装器。堆垛位优选形成矩形框架，以保证承载力，提高稳定性。Specifically, the frame body 921 includes a top support frame 9210 and several vertical support frames 9213 . Wherein, the top support frame 9210 is fixedly connected with the top plate of the rail vehicle; the top of the vertical support frame 9213 is fixed to the top support frame 9210, and the bottom end of the vertical support frame 9213 is fixed to the bottom mounting plate 923; preferably each vertical support frame The bottoms of 9213 are provided with bottom mounting plates 923, and the vertical support frames 9213 are respectively arranged horizontally and vertically along the top support frame 9210. The area and the conveying lane 924, the conveying lane 924 is located in the middle, preferably the storage area is arranged symmetrically on both sides of the conveying lane 924. The vertical support frame 9213 includes a support beam 92133. In the longitudinal direction of the rail vehicle, connecting beams 9214 are arranged between the support beams 92133 of adjacent vertical support frames 9213 arranged longitudinally. The support beams 92133 and the connecting beams 9214 form a set The container stacking position is used to support the container. The stacking position preferably forms a rectangular frame to ensure bearing capacity and improve stability.
其中，顶部支撑架9210包括若干个顶部纵梁9212和若干个顶部横梁9211，顶部纵梁9212沿轨道车辆的横向排列、且沿轨道车辆的纵向延伸且平行设置；顶部横梁9211沿轨道车辆的纵向排列、且与顶部纵梁9212垂直设置，顶部横梁9211与顶部纵梁9212可拆卸的连接。由此设置，以提高顶部支撑架9210的承载力，为竖向支撑架9213的安装提供安装点。Wherein, the top support frame 9210 includes several top longitudinal beams 9212 and several top cross beams 9211, the top longitudinal beams 9212 are arranged along the transverse direction of the rail vehicle, and extend along the longitudinal direction of the rail vehicle and are arranged in parallel; the top cross beams 9211 are arranged along the longitudinal direction of the rail vehicle Arranged and perpendicular to the top longitudinal beam 9212, the top cross beam 9211 is detachably connected to the top longitudinal beam 9212. It is thus set to increase the bearing capacity of the top support frame 9210 and provide installation points for the installation of the vertical support frame 9213 .
在另一实施例中，竖向支撑架9213包括第一竖向立柱92131和第二竖向立柱92132，支撑横梁92133的长度方向的两端分别与第一竖向立柱92131和第二竖向立柱92132连接，支撑横梁92133沿水平方向设置；第一竖向立柱92131和第二竖向立柱92132的结构相同，以便于生产加工。竖向支撑架9213位于顶部纵梁9212和顶部横梁9211的交点处，即第一竖向立柱92131和第二竖向立柱92132的顶端分别位于顶部纵梁9212和顶部横梁9211的交点处，第一竖向立柱92131和第二竖向立柱92132的底端分别位于底部安装板923上。优选地，支撑横梁92133的个数为至少两个，根据第一竖向立柱92131和第二竖向立柱92132的高度进行设置，第一竖向立柱92131和第二竖向立柱92132的高度根据轨道车辆的车厢垂向高度进行设置。In another embodiment, the vertical support frame 9213 includes a first vertical column 92131 and a second vertical column 92132, and the two ends in the length direction of the support beam 92133 are respectively connected to the first vertical column 92131 and the second vertical column. 92132 connected, the support beam 92133 is set along the horizontal direction; the structure of the first vertical column 92131 and the second vertical column 92132 is the same, so as to facilitate production and processing. The vertical support frame 9213 is located at the intersection of the top longitudinal beam 9212 and the top cross beam 9211, that is, the top ends of the first vertical column 92131 and the second vertical column 92132 are respectively located at the intersection of the top longitudinal beam 9212 and the top cross beam 9211, the first The bottom ends of the vertical column 92131 and the second vertical column 92132 are respectively located on the bottom mounting plate 923 . Preferably, the number of supporting beams 92133 is at least two, set according to the height of the first vertical column 92131 and the second vertical column 92132, and the height of the first vertical column 92131 and the second vertical column 92132 is set according to the height of the track Set the vertical height of the vehicle compartment.
为了提高连接强度，连接横梁9214包括端部连接横梁92142和中间连接横梁92141，端部连接横梁92142分别位于支撑横梁92133的长度方向的两端，且端部连接横梁92142分别与沿纵向排布的相邻竖向支撑架9213固定连接；中间连接横梁92141位于支撑横梁92133的中心处。由此设置，以提高装置的连接强度。In order to improve the connection strength, the connecting beam 9214 includes an end connecting beam 92142 and an intermediate connecting beam 92141. The end connecting beams 92142 are located at both ends of the lengthwise direction of the supporting beam 92133, and the end connecting beams 92142 are respectively connected to the longitudinally arranged The adjacent vertical support frames 9213 are fixedly connected; the intermediate connecting beam 92141 is located at the center of the supporting beam 92133 . It is thus provided to increase the connection strength of the device.
为了实现与集装器的安装定位，防止滑脱，还包括定位凸起929，定位凸起929固定于端部连接横梁92142的上表面，用以与集装器的定位槽配合、以对集装器进行定位。定位凸起929优选为定位销，定位销自下至上口径依次减小，可以理解的是，在集装器的底壁上设置有定位槽，以与定位销配合。In order to realize the installation and positioning of the container and prevent slippage, a positioning protrusion 929 is also included. The positioning protrusion 929 is fixed on the upper surface of the connecting beam 92142 at the end, and is used to cooperate with the positioning groove of the container to align the container. device for positioning. The positioning protrusion 929 is preferably a positioning pin, and the diameter of the positioning pin decreases sequentially from bottom to top. It can be understood that a positioning groove is provided on the bottom wall of the container to cooperate with the positioning pin.
在另一实施例中，还包括天轨927和滑触线928；其中，天轨927沿轨道车辆的纵向延伸，天轨927位于输送巷道924的顶部、且与架体921固定，天轨927用于与输送装置配合以进行限位和导向；天轨927优选设置在轨道车辆的横向中心线上。滑触线928沿轨道车辆的纵向延伸，滑触线928位于输送巷道924的顶部、且与架体921可拆卸的连接，滑触线928用于与输送装置的集电器配合，以为输送装置进行供电。滑触线928和集电器的配合，使得输送装置无需通过线缆与轨道车辆的供电***连接，简化线缆设置，降低成本。In another embodiment, it also includes a sky rail 927 and a trolley line 928; wherein, the sky rail 927 extends longitudinally along the rail vehicle, the sky rail 927 is located at the top of the conveying roadway 924, and is fixed with the frame body 921, and the sky rail 927 It is used to cooperate with the conveying device for positioning and guiding; the sky rail 927 is preferably set on the transverse centerline of the rail vehicle. The trolley line 928 extends along the longitudinal direction of the rail vehicle. The trolley line 928 is located on the top of the conveying roadway 924 and is detachably connected to the frame body 921. The trolley line 928 is used to cooperate with the collector of the conveying device to carry out transportation for the conveying device. powered by. The cooperation of the trolley line 928 and the current collector makes it unnecessary for the conveying device to be connected to the power supply system of the rail vehicle through a cable, which simplifies the setting of the cable and reduces the cost.
为了便于设置，各个顶部横梁9211均包括沿横向依次延伸的若干段顶部分梁，各段顶部分梁的长度方向的两端分别与顶部纵梁9212可拆卸的连接。由此设置，以能够根据需要调整架体921的横向长度，适应不同车型，提高装置的通用性。同时当顶部横梁9211存在安装误差时，能够及时调节各段顶部分梁的长度，以及时适应，无需重新替换架体921，降低维护成本。For ease of installation, each top beam 9211 includes several sections of roof sub-beams extending in sequence along the transverse direction, and the two ends of each section of the top sub-beam in the length direction are respectively detachably connected to the top longitudinal beam 9212 . Therefore, it is set so that the lateral length of the frame body 921 can be adjusted according to needs, so as to adapt to different vehicle models and improve the versatility of the device. At the same time, when there is an installation error in the top beam 9211, the length of each section of the top beam can be adjusted in time to adapt in time, without the need to replace the frame body 921 again, reducing maintenance costs.
其中，顶部纵梁9212和顶部横梁9211间、第一竖向立柱92131和顶部横梁9211间、第二竖向立柱92132和顶部横梁9211间、支撑横梁92133与第一竖向立柱92131间、支撑横梁92133与第二竖向立柱92132间、端部连接横梁92142与支撑横梁92133间、端部连接横梁92142与竖向支撑架9213间、中间连接横梁92141与支撑横梁92133间均分别经固定角件和螺纹紧固件固定。固定角件包括第一板部和第二板部，第一板部和第二板部垂直设置，且优选为第一板部和第二板部的结构相同，第一板部和第二板部上分别设置有安装通孔和安装滑孔，用以与螺纹紧固件配合。上述各部件间的连接关系，使得当某一部件损坏需替换时，能够便于拆装，降低维护成本。同时，各部件之间通过固定角件连接，以进一步提高连接强度。Among them, between the top longitudinal beam 9212 and the top beam 9211, between the first vertical column 92131 and the top beam 9211, between the second vertical column 92132 and the top beam 9211, between the supporting beam 92133 and the first vertical column 92131, between the supporting beam Between 92133 and the second vertical column 92132, between the end connecting beam 92142 and the supporting beam 92133, between the end connecting beam 92142 and the vertical support frame 9213, between the intermediate connecting beam 92141 and the supporting beam 92133, respectively, through fixed corner fittings and Threaded fasteners secure. The fixed corner piece includes a first plate portion and a second plate portion, the first plate portion and the second plate portion are vertically arranged, and preferably the first plate portion and the second plate portion have the same structure, and the first plate portion and the second plate portion Mounting through holes and mounting slide holes are respectively arranged on the upper part to cooperate with threaded fasteners. The connection relationship between the above-mentioned components makes it easy to disassemble and assemble when a certain component is damaged and needs to be replaced, reducing the maintenance cost. At the same time, the parts are connected by fixed corner fittings to further improve the connection strength.
为了底部安装板923与轨道车辆的地板更好的固定，还包括底部连接块，底部连接块位于底部安装板923的底壁上；底部安装板923上设有安装螺纹孔，安装螺纹孔沿垂向贯通底部安装板923和底部连接块，用以与轨道车辆的地板固定。底部连接块的设置，防止螺纹紧固件打穿底部安装板923，增加螺纹面积，提高连接稳固度。In order to better fix the bottom mounting plate 923 and the floor of the rail vehicle, a bottom connecting block is also included, and the bottom connecting block is located on the bottom wall of the bottom mounting plate 923; To pass through the bottom mounting plate 923 and the bottom connecting block for fixing with the floor of the rail vehicle. The setting of the connecting block at the bottom prevents the threaded fastener from penetrating through the bottom mounting plate 923, increases the thread area and improves the connection stability.
在一种实施例中，沿纵向排布的相邻竖向支撑架9213间设有预设间隔，以形成至少一个横向输送巷道925，横向输送巷道925沿横向贯通架体921。该预设间隔大于沿纵向排布的、形成堆垛位的相邻竖向支撑架9213的间隔，举例说明，该预设间隔大于连接横梁9214的长度；横向输送巷道925的宽度可根据车门处输送***所需的宽度进行设置，横向输送巷道925的个数为至少两个，以在车厢中设置若干个对接处，进一步提高与车门处输送***的货物对接及输送效率，进一步提高自动化程度。In one embodiment, the adjacent vertical supporting frames 9213 arranged in the longitudinal direction are provided with preset intervals to form at least one horizontal conveying lane 925 , and the transverse conveying lane 925 runs through the frame body 921 along the transverse direction. The preset interval is greater than the interval between the adjacent vertical support frames 9213 arranged longitudinally and forming the stacking position. For example, the preset interval is greater than the length of the connecting crossbeam 9214; The required width of the conveying system is set, and the number of transverse conveying lanes 925 is at least two, so as to set several docking places in the carriage, further improve the docking and conveying efficiency of goods with the conveying system at the door, and further improve the degree of automation.
具体的，该货架***包括堆垛位状态检测装置，其与总控***连接，堆垛位状态检测装置用于检测到集装器入库时，发送集装器到位指令至总控***；总控***还用于接收到堆垛位的集装器到位指令后，更新堆垛位列表信息，堆垛位列表信息 包括集装器与其对应的堆垛位的绑定关系。其中，堆垛位状态检测装置优选为在各货架的堆垛位处设置压力传感器、红外传感器或位置开关中的一者或几者，对各个堆垛位是否存放有集装器进行状态检测，总控***能够根据检测信号判断当前剩余堆垛位数量，或者根据检测信号判断集装器是否到位。Specifically, the shelf system includes a stacking position state detection device, which is connected to the general control system, and the stacking position state detection device is used to send the ULD arrival instruction to the general control system when detecting the storage of ULDs; The control system is also used to update the stacking position list information after receiving the ULD arrival instruction of the stacking position, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position. Among them, the stacking position state detection device is preferably to install one or more of pressure sensors, infrared sensors or position switches at the stacking positions of each shelf to detect whether there is a ULD in each stacking position, The master control system can judge the current number of remaining stacking positions according to the detection signal, or judge whether the ULD is in place according to the detection signal.
本领域内的技术人员应明白，本申请的实施例可提供为方法、***、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本申请是参照根据本申请实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.
尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。While preferred embodiments of the present application have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once the basic inventive concept is appreciated. Therefore, the appended claims are intended to be construed to cover the preferred embodiment and all changes and modifications which fall within the scope of the application.
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (26)

  1. 一种轨道车辆的仓储管理方法，其特征在于，包括：A warehouse management method for rail vehicles, characterized in that it comprises:
    获取待入库的集装器的集装器信息；Obtain the ULD information of the ULD to be put into storage;
    根据所述集装器信息为所述待入库的集装器分配堆垛位，并将所述集装器与其分配的堆垛位进行绑定并存储；Allocating a stacking position for the container to be put into storage according to the container information, and binding and storing the container with its assigned stacking position;
    发出指令以将所述待入库的集装器移动至分配的堆垛位处进行存储。An instruction is issued to move the ULDs to be stored to the assigned stacking location for storage.
  2. 根据权利要求1所述的轨道车辆的仓储管理方法，其特征在于，所述根据所述集装器信息为所述待入库的集装器分配堆垛位，具体包括：The storage management method for rail vehicles according to claim 1, wherein the allocation of stacking positions for the container to be put into storage according to the container information specifically includes:
    根据所述集装器信息读取集装器所装载的货物的货物站位信息；Read the cargo station information of the goods loaded in the container according to the container information;
    根据所述货物站位信息确定所装载的货物的旅途类型，通过所述旅途类别确定与所述待入库的集装器对应的存储区域，及所述存储区域中、所述待入库的集装器对应的堆垛位。Determine the journey type of the loaded goods according to the cargo station information, determine the storage area corresponding to the container to be loaded into the warehouse through the journey type, and determine the storage area in the storage area, the cargo to be loaded into the warehouse The stacking position corresponding to the ULD.
  3. 根据权利要求2所述的轨道车辆的仓储管理方法，其特征在于，所述根据所述货物站位信息确定所装载的货物的旅途类型，具体包括：The warehouse management method for rail vehicles according to claim 2, wherein said determining the journey type of the loaded cargo according to the cargo station information specifically includes:
    根据所述货物站位信息确定所装载的货物的货物到站信息；Determining the cargo arrival information of the loaded cargo according to the cargo station information;
    根据预设列车时刻表、获取的当前站台信息和所述货物到站信息进行判断，当货物到站和当前站台间的停靠站数大于或等于预设停靠站数时，认为所装载的货物的旅途类型为长途类型；当货物到站和当前站台间的停靠站数小于所述预设停靠站数时，认为所装载的货物的旅途类型为短途类型。Judging according to the preset train timetable, the obtained current platform information and the arrival information of the goods, when the number of stops between the arrival of the goods and the current platform is greater than or equal to the number of preset stops, it is considered that the goods loaded The journey type is a long-distance type; when the number of stops between the arrival of the goods and the current platform is less than the preset number of stops, it is considered that the journey type of the loaded goods is a short-distance type.
  4. 根据权利要求2所述的轨道车辆的仓储管理方法，其特征在于，所述通过所述旅途类别确定与所述待入库的集装器对应的存储区域，及所述存储区域中、所述待入库的集装器对应的堆垛位，具体包括：The warehouse management method for rail vehicles according to claim 2, characterized in that, the storage area corresponding to the container to be put into storage is determined through the journey category, and in the storage area, the The stacking positions corresponding to the ULDs to be put into storage, including:
    通过所述旅途类别确定与所述待入库的集装器对应的存储区域；Determining the storage area corresponding to the ULD to be put into storage through the journey category;
    判断所述存储区域内是否存在闲置的堆垛位，若是，则根据预设规则为所述待入库的集装器分配堆垛位。It is judged whether there is an idle stacking position in the storage area, and if so, a stacking position is assigned to the ULD to be put into storage according to a preset rule.
  5. 根据权利要求4所述的轨道车辆的仓储管理方法，其特征在于，所述判断所述存储区域内是否存在闲置的堆垛位，还包括：The storage management method for rail vehicles according to claim 4, wherein the judging whether there is an idle stacking position in the storage area further includes:
    当存储区域内不存在闲置的堆垛位时，进行当前存储区域内无闲置堆垛位报警。When there is no idle stacking position in the storage area, an alarm for no idle stacking position in the current storage area is issued.
  6. 根据权利要求1所述的轨道车辆的仓储管理方法，其特征在于，所述将所述待入库的集装器移动至分配的堆垛位处进行存储之后，所述方法还包括：The warehouse management method for rail vehicles according to claim 1, characterized in that, after moving the container to be put into the warehouse to the assigned stacking position for storage, the method further comprises:
    判断是否接收到堆垛位的集装器到位指令，若是，则认为所述待入库的集装器完成入库，并更新堆垛位列表信息，所述堆垛位列表信息包括所述集装器与其对应的堆垛位的绑定关系。Judging whether the ULD arrival instruction for the stacking position has been received, if so, it is considered that the ULD to be put into the warehouse has completed the warehousing, and the stacking position list information is updated, and the stacking position list information includes the set The binding relationship between the loader and its corresponding stacking location.
  7. 根据权利要求6所述的轨道车辆的仓储管理方法，其特征在于，所述方法还包括：The storage management method for rail vehicles according to claim 6, wherein the method further comprises:
    当接收到出库指令时，根据预到站的到站信息确定预出库的集装器；When receiving the outbound instruction, determine the pre-outbound ULD according to the arrival information of the pre-arrival station;
    并根据所述预出库的集装器以及所述堆垛位列表信息，确定堆垛位的位置；And determine the position of the stacking position according to the pre-delivered ULD and the stacking position list information;
    根据所述堆垛位的位置取出对应的所述预出库的集装器。According to the position of the stacking position, the corresponding pre-delivery container is taken out.
  8. 根据权利要求7所述的轨道车辆的仓储管理方法，其特征在于，所述当接收到出库指令时之前，所述方法还包括：The warehouse management method for rail vehicles according to claim 7, characterized in that, before the outbound order is received, the method further comprises:
    根据当前时刻和预设列车时刻表中预到站的到站时刻进行判断，当所述当前时刻与所述预到站的到站时刻具有预设时间间隔时，发送出库指令。Judging according to the current time and the arrival time of the expected station in the preset train timetable, when there is a preset time interval between the current time and the arrival time of the expected station, an exit instruction is sent.
  9. 根据权利要求7所述的轨道车辆的仓储管理方法，其特征在于，所述根据所述堆垛位的位置取出所述预出库的集装器之后，所述方法还包括：The storage management method for rail vehicles according to claim 7, characterized in that, after taking out the pre-delivery container according to the position of the stacking position, the method further comprises:
    解除所述预出库的集装器和与其对应的堆垛位的绑定关系，并更新所述堆垛位列表信息。Release the binding relationship between the pre-delivery ULD and its corresponding stacking position, and update the stacking position list information.
  10. 根据权利要求9所述的轨道车辆的仓储管理方法，其特征在于，所述更新所述堆垛位列表信息之后，所述方法还包括：The warehouse management method for rail vehicles according to claim 9, characterized in that, after updating the stacking position list information, the method further comprises:
    根据所述堆垛位列表信息计算闲置的堆垛位的数量，并根据所述闲置的堆垛位的数量得到堆垛位警戒数；Calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
    获取预到站的待入库的集装器的数量；Obtain the number of pre-arrived ULDs to be put into storage;
    当所述预到站的待入库的集装器的数量大于所述堆垛位警戒数时，进行报警。When the quantity of the pre-arrived ULDs to be put into storage is greater than the warning number of stacking positions, an alarm is issued.
  11. 根据权利要求1所述的轨道车辆的仓储管理方法，其特征在于，所述获取待入库的集装器的集装器信息，具体包括：The warehouse management method for rail vehicles according to claim 1, wherein the acquiring the container information of the container to be put into storage specifically includes:
    通过读取与待入库的集装器对应的电子标签获取所述待入库的集装器的集装器信息；所述集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。Obtain the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; information and cargo characteristics information.
  12. 根据权利要求1所述的轨道车辆的仓储管理方法，其特征在于，所述获取待入库的集装器的集装器信息，具体包括：The warehouse management method for rail vehicles according to claim 1, wherein the acquiring the container information of the container to be put into storage specifically includes:
    通过读取车辆总控***发送的控制信号获取待入库的集装器的集装器信息。Obtain the ULD information of the ULDs to be stored by reading the control signal sent by the vehicle master control system.
  13. 一种轨道车辆的仓储管理***，其特征在于，包括：A warehouse management system for rail vehicles, characterized in that it comprises:
    集装器信息获取模块，用于获取待入库的集装器的集装器信息；The ULD information acquisition module is used to obtain the ULD information of the ULD to be put into storage;
    堆垛位分配模块，用于根据所述集装器信息为所述待入库的集装器分配堆垛位；A stacking location allocation module, configured to allocate a stacking location for the container to be put into storage according to the container information;
    存储模块，用于将所述集装器与其分配的堆垛位进行绑定并存储；a storage module, configured to bind and store the ULD with its allocated stacking position;
    指令控制模块，用于发出指令将所述待入库的集装器移动至分配的堆垛位处进行存储。The instruction control module is used to issue an instruction to move the container to be stored to the assigned stacking location for storage.
  14. 根据权利要求13所述的轨道车辆的仓储管理***，其特征在于，所述堆垛位分配模块具体包括：The warehouse management system for rail vehicles according to claim 13, wherein the stacking location allocation module specifically includes:
    货物站位信息读取单元，用于根据所述集装器信息读取集装器所装载的货物的货物站位信息；The cargo station information reading unit is used to read the cargo station information of the cargo loaded in the container according to the container information;
    货物旅途类型确定单元，用于根据所述货物站位信息确定所装载的货物的旅途类型，通过所述旅途类别确定与所述待入库的集装器对应的存储区域，及所述存储区域中、所述待入库的集装器对应的堆垛位。A cargo journey type determining unit, configured to determine the journey type of the loaded cargo according to the cargo station information, determine the storage area corresponding to the container to be put into the warehouse through the journey type, and the storage area In, the stacking location corresponding to the ULDs to be put into storage.
  15. 根据权利要求14所述的轨道车辆的仓储管理***，其特征在于，所述货物旅途类型确定单元具体包括：The warehouse management system for rail vehicles according to claim 14, wherein the cargo journey type determination unit specifically includes:
    货物到站信息确定子单元，用于根据所述货物站位信息确定所装载的货物的货物到站信息；The cargo arrival information determination subunit is used to determine the cargo arrival information of the loaded cargo according to the cargo station information;
    货物旅途类型判断子单元，用于根据预设列车时刻表、获取的当前站台信息和所述货物到站信息进行判断，当货物到站和当前站台间的停靠站数大于或等于预设停靠站数时，认为所装载的货物的旅途类型为长途类型；当货物到站和当前站台间的停靠站数小于所述预设停靠站数时，认为所装载的货物的旅途类型为短途类型。The cargo journey type judging subunit is used to judge according to the preset train timetable, the obtained current platform information and the cargo arrival information, when the number of stops between the cargo arrival and the current platform is greater than or equal to the preset stop When the number of stops is less than the preset number of stops, the journey type of the loaded goods is considered to be the short-distance type.
  16. 根据权利要求14所述的轨道车辆的仓储管理***，其特征在于，所述货物旅途类型确定单元具体包括：The warehouse management system for rail vehicles according to claim 14, wherein the cargo journey type determination unit specifically includes:
    存储区域确定子单元，用于通过所述旅途类别确定与所述待入库的集装器对应的存储区域；A storage area determination subunit, configured to determine the storage area corresponding to the container to be put into storage through the category of the trip;
    闲置堆垛位判断子单元，用于判断所述存储区域内是否存在闲置的堆垛位，若是，则随机为所述待入库的集装器分配堆垛位。The idle stacking position judging subunit is used to determine whether there is an idle stacking position in the storage area, and if so, randomly assign a stacking position to the ULDs to be put into storage.
  17. 根据权利要求16所述的轨道车辆的仓储管理***，其特征在于，所述闲置堆垛位判断子单元还用于：The storage management system for rail vehicles according to claim 16, wherein the idle stacking position judging subunit is also used for:
    当存储区域内不存在闲置的堆垛位时，进行当前存储区域内无闲置堆垛位报警。When there is no idle stacking position in the storage area, an alarm for no idle stacking position in the current storage area is issued.
  18. 根据权利要求13所述的轨道车辆的仓储管理***，其特征在于，还包括：The warehouse management system for rail vehicles according to claim 13, further comprising:
    集装器到位判断模块，用于判断是否接收到堆垛位的集装器到位指令，若是，则认为所述待入库的集装器完成入库，并发送信号至堆垛位列表信息更新模块；ULD in-position judging module, used to judge whether the ULD in-position instruction for the stacking position has been received, if so, consider that the ULD to be put into storage has completed the warehousing, and send a signal to the stacking position list information update module;
    所述堆垛位列表信息更新模块，用于更新堆垛位列表信息，所述堆垛位列表信息包括所述集装器与其对应的堆垛位的绑定关系。The stacking position list information updating module is used to update the stacking position list information, and the stacking position list information includes the binding relationship between the ULD and its corresponding stacking position.
  19. 根据权利要求18所述的轨道车辆的仓储管理***，其特征在于，还包括：The warehouse management system for rail vehicles according to claim 18, further comprising:
    预出库集装器确定模块，用于当接收到出库指令时，根据预到站的到站信息确定预出库的集装器；The pre-outbound ULD determination module is used to determine the pre-outbound ULD according to the arrival information of the pre-arrival station when the outbound instruction is received;
    堆垛位位置确定模块，用于根据所述预出库的集装器以及所述堆垛位列表信息，确定堆垛位的位置；A stacking location position determining module, configured to determine the location of the stacking location according to the pre-out-of-warehouse container and the stacking location list information;
    所述集装器输送模块，用于根据所述堆垛位的位置取出对应的所述预出库的集装器。The container conveying module is used to take out the corresponding pre-out container according to the position of the stacking position.
  20. 根据权利要求19所述的轨道车辆的仓储管理***，其特征在于，还包括：The warehouse management system for rail vehicles according to claim 19, further comprising:
    出库判断模块，用于根据当前时刻和预设列车时刻表中预到站的到站时刻进行判断，当所述当前时刻与所述预到站的到站时刻具有预设时间间隔时，向所述预出库集装器确定模块发送出库指令。Departure judging module, for judging according to the current time and the arrival time of the pre-arrival station in the preset train timetable, when the current time and the arrival time of the pre-arrival station have a preset time interval, send The pre-outbound container determination module sends an outbound instruction.
  21. 根据权利要求19所述的轨道车辆的仓储管理***，其特征在于，所述存储模块还用于：The warehouse management system for rail vehicles according to claim 19, wherein the storage module is also used for:
    解除所述预出库的集装器和与其对应的堆垛位的绑定关系，并发送信号至所述堆垛位列表信息更新模块更新所述堆垛位列表信息。Release the binding relationship between the pre-delivered ULD and its corresponding stacking position, and send a signal to the stacking position list information update module to update the stacking position list information.
  22. 根据权利要求19所述的轨道车辆的仓储管理***，其特征在于，还包括：The warehouse management system for rail vehicles according to claim 19, further comprising:
    闲置堆垛位计算模块，用于根据所述堆垛位列表信息计算闲置的堆垛位的数量，并根据所述闲置的堆垛位的数量得到堆垛位警戒数；The idle stacking position calculation module is used to calculate the number of idle stacking positions according to the stacking position list information, and obtain the stacking position warning number according to the number of idle stacking positions;
    待入库集装器数量获取模块，用于获取预到站的待入库的集装器的数量；The module for obtaining the quantity of ULDs to be put into storage is used to obtain the quantity of pre-arrived ULDs to be put into storage;
    堆垛位容纳量判断模块，用于当所述预到站的待入库的集装器的数量大于所述堆垛位警戒数时，进行报警。The stacking position capacity judging module is configured to give an alarm when the quantity of the pre-arrived ULDs to be put into storage is greater than the stacking position warning number.
  23. 根据权利要求13所述的轨道车辆的仓储管理***，其特征在于，所述集装器信息获取模块具体用于：The warehouse management system for rail vehicles according to claim 13, wherein the container information acquisition module is specifically used for:
    通过读取与待入库的集装器对应的电子标签获取所述待入库的集装器的集装器信息；所述集装器信息包括货物上站信息、货物到站信息、货物归属信息和货物特性信息。Obtain the container information of the container to be stored by reading the electronic tag corresponding to the container to be stored; information and cargo characteristics information.
  24. 根据权利要求13所述的轨道车辆的仓储管理***，其特征在于，所述集装器信息获取模块具体用于：The warehouse management system for rail vehicles according to claim 13, wherein the container information acquisition module is specifically used for:
    通过读取车辆总控***发送的控制信号获取待入库的集装器的集装器信息。Obtain the ULD information of the ULDs to be stored by reading the control signal sent by the vehicle master control system.
  25. 一种设备，包括存储器和处理器，以及存储在所述存储器上且能够在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时，实现权利要求1-12任一项所述的轨道车辆的仓储管理方法的步骤。A device comprising a memory and a processor, and a computer program stored on the memory and capable of running on the processor, wherein when the processor executes the computer program, claim 1- 12. The steps of the warehouse management method for rail vehicles described in any one of the 12 items.
  26. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，当所述计算机程序被处理器执行时，实现权利要求1-12任一项所述的轨道车辆的仓储管理方法的步骤。A computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the storage management method for rail vehicles according to any one of claims 1-12 are realized .
PCT/CN2021/141862 2021-12-03 2021-12-28 Warehousing management method and system for railway vehicle WO2023097844A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111469889.4A CN114291464B (en) 2021-12-03 2021-12-03 Warehouse management method and system for rail vehicle
CN202111469889.4 2021-12-03

Publications (1)

Publication Number Publication Date
WO2023097844A1 true WO2023097844A1 (en) 2023-06-08

Family

ID=80966312

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/141862 WO2023097844A1 (en) 2021-12-03 2021-12-28 Warehousing management method and system for railway vehicle

Country Status (2)

Country Link
CN (1) CN114291464B (en)
WO (1) WO2023097844A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114274998A (en) * 2021-12-03 2022-04-05 中车唐山机车车辆有限公司 Goods shelf system of railway vehicle and railway vehicle
CN114261669B (en) * 2021-12-03 2022-09-23 中车唐山机车车辆有限公司 Intelligent rail transit loading and unloading system and rail vehicle

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10194462A (en) * 1996-12-27 1998-07-28 Sumitomo Heavy Ind Ltd Container cargo handling facility
CN107601062A (en) * 2017-09-25 2018-01-19 中铁第四勘察设计院集团有限公司 A kind of high ferro physical-distribution intelligent handling system and method based on AGV dollies
CN108090710A (en) * 2016-11-22 2018-05-29 北京达特集成技术有限责任公司 A kind of high ferro express mail logistics system
CN109508926A (en) * 2018-07-12 2019-03-22 中外运化工国际物流有限公司 A kind of logistics system and working method of dangerous material transfer house
CN110002236A (en) * 2018-01-04 2019-07-12 中车齐齐哈尔车辆有限公司 Railway container shipping device and railway container shipping method
CN112249574A (en) * 2020-11-04 2021-01-22 青岛星华智能装备有限公司 Device and system for material to enter and exit warehouse
CN112644941A (en) * 2020-12-30 2021-04-13 江苏安鑫物流设备有限公司 Explosion-proof logistics storage system and management method
CN114162186A (en) * 2021-12-03 2022-03-11 中车唐山机车车辆有限公司 Passenger and cargo mixed editing control method for train
CN114261799A (en) * 2021-12-03 2022-04-01 中车唐山机车车辆有限公司 Platform conveying system, vehicle door conveying system and rail transit joint control conveying system
CN114261669A (en) * 2021-12-03 2022-04-01 中车唐山机车车辆有限公司 Intelligent rail transit loading and unloading system and rail vehicle
CN114274998A (en) * 2021-12-03 2022-04-05 中车唐山机车车辆有限公司 Goods shelf system of railway vehicle and railway vehicle
CN114314435A (en) * 2021-12-03 2022-04-12 中车唐山机车车辆有限公司 Stacking system of railway vehicle

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005057331A2 (en) * 2003-11-25 2005-06-23 United States Postal Service Methods and systems for tracking delivery items
DE102011106667A1 (en) * 2011-07-05 2013-01-10 SSI Schäfer Noell GmbH Lager- und Systemtechnik Storage and picking system and method for automated order picking with a channel warehouse
CN108263441B (en) * 2017-11-21 2019-11-26 中车长江车辆有限公司 A kind of pipeline transportation vehicle control
US10528604B2 (en) * 2018-01-30 2020-01-07 Sunrise Opportunities, LLC Methods and systems for tracking the flow of trucking freight and/or other assets using mobile device geolocation data
CN110758974A (en) * 2018-07-26 2020-02-07 北京京东振世信息技术有限公司 Goods sorting and conveying device, goods sorting system and goods sorting method
CN109726959A (en) * 2018-12-28 2019-05-07 中国铁道科学研究院集团有限公司电子计算技术研究所 Agreed duration of freight transport monitoring method and device
KR102095735B1 (en) * 2019-05-20 2020-04-01 김성묵 Logistics vender system using cargo based on region and distribution method thereof
US11610174B2 (en) * 2019-08-01 2023-03-21 P44, Llc Systems and methods for imputation of transshipment locations
CN110902246A (en) * 2019-10-17 2020-03-24 广州达宝文机电设备有限公司 Virtual stereo storage system and method
CN212220208U (en) * 2020-01-18 2020-12-25 西安嘉业航空科技有限公司 Carriage inside goods compresses tightly fixing device fast
CN113313218B (en) * 2020-02-27 2023-03-21 中车唐山机车车辆有限公司 Goods management system of rail train
CN212502911U (en) * 2020-05-12 2021-02-09 中科(湖南)先进轨道交通研究院有限公司 High-speed railway commodity circulation assembly device transfer system
CN112061815A (en) * 2020-09-10 2020-12-11 彭振明 Wisdom commodity circulation conveying system
CN112308484A (en) * 2020-10-19 2021-02-02 中国铁道科学研究院集团有限公司 Whole-course logistics information sharing method and system, equipment and medium
CN112700186A (en) * 2020-12-28 2021-04-23 中通服供应链管理有限公司 Management system based on logistics supply chain

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10194462A (en) * 1996-12-27 1998-07-28 Sumitomo Heavy Ind Ltd Container cargo handling facility
CN108090710A (en) * 2016-11-22 2018-05-29 北京达特集成技术有限责任公司 A kind of high ferro express mail logistics system
CN107601062A (en) * 2017-09-25 2018-01-19 中铁第四勘察设计院集团有限公司 A kind of high ferro physical-distribution intelligent handling system and method based on AGV dollies
CN110002236A (en) * 2018-01-04 2019-07-12 中车齐齐哈尔车辆有限公司 Railway container shipping device and railway container shipping method
CN109508926A (en) * 2018-07-12 2019-03-22 中外运化工国际物流有限公司 A kind of logistics system and working method of dangerous material transfer house
CN112249574A (en) * 2020-11-04 2021-01-22 青岛星华智能装备有限公司 Device and system for material to enter and exit warehouse
CN112644941A (en) * 2020-12-30 2021-04-13 江苏安鑫物流设备有限公司 Explosion-proof logistics storage system and management method
CN114162186A (en) * 2021-12-03 2022-03-11 中车唐山机车车辆有限公司 Passenger and cargo mixed editing control method for train
CN114261799A (en) * 2021-12-03 2022-04-01 中车唐山机车车辆有限公司 Platform conveying system, vehicle door conveying system and rail transit joint control conveying system
CN114261669A (en) * 2021-12-03 2022-04-01 中车唐山机车车辆有限公司 Intelligent rail transit loading and unloading system and rail vehicle
CN114274998A (en) * 2021-12-03 2022-04-05 中车唐山机车车辆有限公司 Goods shelf system of railway vehicle and railway vehicle
CN114314435A (en) * 2021-12-03 2022-04-12 中车唐山机车车辆有限公司 Stacking system of railway vehicle

Also Published As

Publication number Publication date
CN114291464B (en) 2024-04-26
CN114291464A (en) 2022-04-08

Similar Documents

Publication Publication Date Title
WO2023097841A1 (en) Rail transit intelligent loading and unloading system and railway vehicle
WO2023097842A1 (en) Platform conveying system, vehicle door conveying system and rail traffic joint-control conveying system
US11214438B2 (en) Method and apparatus for sorting or retreiving items
CN114314435B (en) Rail vehicle
WO2023097844A1 (en) Warehousing management method and system for railway vehicle
WO2023097822A1 (en) Train passenger car and freight car mixed marshalling control method
CN104443993B (en) High-density forward-movement prompt storage and sorting system and working method thereof
CN114274998A (en) Goods shelf system of railway vehicle and railway vehicle
KR20160123728A (en) Method of Managing a Shuttle Rack Automated Warehouse System
CN112158499B (en) Distributed logistics system
CN208008089U (en) A kind of automatic dress cabinet device suitable for counter
CN112061653B (en) Logistics system and method for reducing sorting time
CN112101620A (en) Logistics line planning method
WO2019100586A1 (en) Pipeline transport vehicle control system
CN210504425U (en) Logistics distribution system
US20230406620A1 (en) Storage and retrieval system, high-bay warehouse, storage method and retrieval method
CN212502240U (en) Automatic warehouse of unmanned lift shuttle
CN112093346B (en) Logistics system and method for reducing cargo retention time
CN206085078U (en) Transportation delivery robot of community
KR20200111954A (en) Vertical conveyor for agv, vertical conveyor system for agv, vertical conveyor for pallet and vertical conveyor system for pallet
JPH0475994A (en) Transport device for materials for construction works
CN115557135B (en) Special storage for intelligent verification of high-voltage transformer
CN212221478U (en) Side-by-side loading and unloading operation goods yard for container truck
US20230406634A1 (en) Storage and retrieval system
CN116113585A (en) Trolley alignment device, distribution system and control method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21966264

Country of ref document: EP

Kind code of ref document: A1