CN117184709A

CN117184709A - Stereoscopic automatic warehouse for boxes with different sizes and specifications and automatic pipe warehouse method thereof

Info

Publication number: CN117184709A
Application number: CN202310415886.5A
Authority: CN
Inventors: 徐益平
Original assignee: Ningbo Chaoping Modern Furniture Co ltd; Ningbo Chaoping Intelligent Technology Co ltd
Current assignee: Ningbo Chaoping Modern Furniture Co ltd; Ningbo Chaoping Intelligent Technology Co ltd
Priority date: 2023-04-13
Filing date: 2023-04-13
Publication date: 2023-12-08

Abstract

The invention discloses a stereoscopic automatic warehouse with boxes of different sizes and specifications and an automatic pipe warehouse method thereof, which comprises a stereoscopic warehouse, a continuous lifter, a loading mechanism, a unloading mechanism, an upper rack sorting and conveying mechanism and a lower rack sorting and conveying mechanism, wherein the continuous lifter is communicated and penetrated between different floors; the box storage roadway vehicle and the box taking roadway vehicle respectively realize box butt joint or box taking butt joint from two ends of a roadway conveying line between adjacent shelves, and the roadway conveying line is arranged between the adjacent shelves. Automatic storage management of boxes with different specifications and sizes is automatically achieved, and storage management efficiency is improved.

Description

Stereoscopic automatic warehouse for boxes with different sizes and specifications and automatic pipe warehouse method thereof

Technical Field

The invention relates to an automatic warehouse, in particular to a stereoscopic warehouse for carrying out warehouse management on cargoes with different types of cargoes as boxes with different specifications and sizes and a warehouse management method thereof.

Background

With the development of modern technology and life, more and more types of goods need to be stored or managed through a warehouse or an automatic warehouse, and the goods are usually box-type goods with different specifications and sizes; the box-type cargoes with different specifications and sizes need to be effectively managed in the daily warehouse management process. On one hand, the stereoscopic warehouse meets the requirement of the storage amount of goods through a multilayer goods shelf with higher storage height and even a multilayer warehouse storage management mode; on the other hand, the need to carry out effective warehouse management to the box goods of different size specifications, what face then is how can the high-efficient business turn over management in stereoscopic warehouse to the goods case of different size of high-efficient implementation in the storage management process, and the management operation cost and the market competition of stereoscopic warehouse to the goods case are influenced in direct association.

However, in the existing stereoscopic warehouse, when the cargo boxes with different package sizes are used for packaging the cargo under the condition that the packaged cargo in the boxes is of the same type in the stereoscopic warehouse management process, the commonly used warehouse management scheme is to use the uniform package size for carrying out in-out operation management on the packaged cargo boxes; or boxes with different sizes are placed in the same specification of the working boxes for carrying out in-out operation management or warehouse management, and thus, each packaging box or the working box needs to occupy a warehouse space, and the whole warehouse management efficiency of the stereoscopic warehouse is low and the management cost is high.

The utility model provides a publication day is that patent number ZL202110907556.9 of 2021 9 month 7 days has disclosed an article sorting device and intelligent stereoscopic warehouse, the on-line screen storage device comprises a base, a plurality of support columns of base upside fixed connection, support column upside fixed connection disc, disc outside fixed connection ring channel, the ring channel outside sets up a plurality of sorter, every sorter all includes right angle pivoted plate, the ring channel outside is equipped with logical groove, right angle pivoted plate rotates to be connected in logical inslot, ring channel outside fixed connection first motor, the main shaft of first motor and the pivot fixed connection of right angle pivoted plate, disc bottom fixed connection driving motor, the one end fixed connection poking rod of disc is worn to driving motor's main shaft, the base upside is equipped with a plurality of storing cabinets, storing cabinet and sorter one-to-one setting. The storage cabinet is provided with a plurality of storage compartments, and one side of each storage compartment facing the right-angle rotating plate is of an open structure; the sorting station of each sorting device is also provided with a photoelectric recognition system in the prior art, namely, the packing box is stuck with a bar code for recognizing the information of the packing box or the inner packing object, and a scanner of the photoelectric recognition system irradiates the corresponding bar code during automatic sorting. According to the invention, the packing box is pushed along the groove of the annular groove by the rotation of the toggle rod to the upper side of the corresponding right-angle rotating plate, and the packing box is sent into the corresponding storage cabinet to form classified storage by the rotation of the right-angle rotating plate, so that the sorting efficiency is improved, and the storage accuracy is ensured. Although the scheme can realize sorting of different objects from the aspect of object sorting scheme, the sorting scheme needs to arrange the storage cabinets and the sorting devices in one-to-one correspondence on one hand, so that the tasks to be sorted need to be configured in advance to a certain extent, and flexible execution of the sortable tasks is limited; on the other hand, the sorting scheme also relies on bar codes identified by the package information, and sorting tasks are completed by scanning and identifying the bar codes. Efficient implementation of sorting cannot be performed if the bar code is missing.

Disclosure of Invention

The invention provides a stereoscopic automatic warehouse with different size boxes and an automatic warehouse management method thereof, which can automatically realize automatic warehouse management of the goods with different size boxes, improve warehouse management efficiency of the stereoscopic warehouse and reduce warehouse management cost.

The invention adopts the concrete technical scheme for solving the technical problems that: the utility model provides a three-dimensional automatic warehouse of different size specification size cases, includes the three-dimensional storehouse of two-layer or more than two-layer and locates the goods shelves in the storehouse, its characterized in that: the system comprises a continuous lifter, a loading mechanism, a unloading mechanism, an loading sorting conveying mechanism and a unloading sorting conveying mechanism, wherein the continuous lifter comprises a continuous lifter for lifting and a continuous lifter for descending, the continuous lifter is communicated and penetrated between different floors and is used for loading and conveying cargoes upstairs and unloading cargoes downstairs, the loading mechanism and the unloading mechanism are arranged at a bottom floor and are used for lifting and conveying cargoes upstairs for loading sorting and conveying cargoes, and a long, wide and high three-dimensional size detection sorting conveying line for cargo boxes is arranged in the loading mechanism; the lower goods mechanism is used for delivering and delivering the descending goods, each layer in the three-dimensional storehouse with more than two layers is provided with an upper shelf sorting and conveying mechanism and a lower shelf sorting and conveying mechanism, the upper shelf sorting and conveying mechanism is used for sorting, delivering and storing the goods lifted up by the continuous lifter for lifting into the goods shelf, and the lower shelf sorting and conveying mechanism is used for taking out, sorting and conveying the goods on the goods shelf to the continuous lifter for descending; the upper frame sorting and conveying mechanism comprises an upper box storage swing table sorting machine and a box storage roadway vehicle, the sorting, conveying and storing of the cargoes lifted upstairs into the goods shelves are realized through the upper frame sorting and conveying mechanism, the lower frame sorting and conveying mechanism comprises a box taking roadway vehicle and an upper box taking and splitting swing table, the cargoes are taken out from the goods shelves and conveyed and sorted through the lower frame sorting and conveying mechanism and then conveyed to the continuous lifting machine for descending, and the taken cargoes are lowered to the lower cargo discharging mechanism to finish shipment; the box storage roadway vehicle and the box taking roadway vehicle respectively realize box butt joint or box taking butt joint from two ends of a roadway conveying line between adjacent shelves, and the roadway conveying line is arranged between the adjacent shelves. The bottom layer up-down cargo mechanism of the stereoscopic warehouse and the warehouse cargo boxes on the building are implemented through the continuous lifter, so that the bottom layer up-down cargo delivery warehouse management of the cargo boxes is realized, and the sorting conveying line is detected through the length, width and height three-dimensional size of the cargo boxes arranged in the cargo loading mechanism; through the automatic detection, deletion, storage and operation management of the cargo boxes are realized by the storage box roadway vehicle, the box taking roadway vehicle and the combined and split flow technology arranged on the floors provided with the goods shelves, the automatic detection, deletion, storage and management of the cargoes of boxes with different specifications and sizes can be automatically realized, more storage space is not required to be occupied, the storage management efficiency of the stereoscopic warehouse is improved, the storage management cost is reduced, and the manual management input cost is reduced. Autostereoscopic warehouse management hierarchy is compact. The flexible and efficient access management implementation of cargo boxes with different specifications and sizes in the stereoscopic warehouse is realized.

Preferably, the loading mechanism sequentially comprises a loading interface conveying line, a box measuring mechanism conveying line, a loading swing table sorting machine, a recovery conveying sorting line and a box lifting preparation interface conveying line, boxes with different sizes are loaded through the loading interface conveying line and conveyed to the box measuring mechanism conveying line, a three-dimensional size detecting device for detecting the length, width, height and three-dimensional size of the boxes is arranged on the box measuring mechanism conveying line, correct or incorrect box sizes are sorted through the loading swing table sorting machine, and the boxes with correct sizes are conveyed to the box lifting preparation interface conveying line and the boxes with incorrect sizes are conveyed to the recovery conveying sorting line; the loading interface conveying line is provided with a loading detection adjustment alignment device for detecting and aligning the cargo boxes, and the loading detection adjustment alignment device comprises an opposite-shooting detection grating, a width adjustment push plate and a push plate driving motor, wherein the push plate driving motor drives the width adjustment push plate to push the cargo boxes to one side for alignment transportation. The automatic detection deleting warehouse management method has the advantages that the simplicity and effectiveness of automatic detection deleting warehouse management of the cargoes which do not accord with the size range for the boxes with different specifications and sizes are improved. The flexible and efficient access management implementation of cargo boxes with different specifications and sizes in the stereoscopic warehouse is realized.

Preferably, the lower cargo mechanism comprises a box outlet preparation interface conveying line and a box conveying outlet conveying temporary storage line, the box is connected with the box outlet preparation interface conveying line after the bottom building is arranged under the descending continuous lifter, the box outlet preparation interface conveying line is connected with the box conveying outlet conveying temporary storage line in a rear stage, and box conveying and cargo discharging are realized through the box conveying outlet conveying temporary storage line. And the management efficiency of automatic unloading and shipment subareas of the stereoscopic warehouse is improved.

Preferably, a wall body electric control translation warehouse door is arranged between the loading interface conveying line and the box measuring mechanism conveying line, and a translation band-type brake locking structure is arranged at a door opening of the wall body electric control translation warehouse door; when boxes with different sizes and specifications need to be put in storage, the wall body electric control translation warehouse door is in an open state, and when the warehouse is closed at night, the wall body electric control translation warehouse door is in a closed state. The use and closing management efficiency of the stereoscopic automatic warehouse is improved.

Preferably, the box measuring mechanism conveying line comprises a roller conveying line and three direction detection measuring gratings for detecting the length, width and height dimensions of the box, wherein the grating detection brackets are arranged on two sides of the roller conveying line, the vertical support posts of the grating detection brackets are provided with box vertical detection measuring gratings, the transverse support arms of the grating detection brackets are provided with box transverse detection measuring gratings, and the conveying direction side edges of the roller conveying line are provided with box longitudinal detection measuring gratings, so that the detection and measurement of the length, width and height dimension data of the box in the conveying and moving process on the roller conveying line are realized. The detection accuracy, reliability and efficiency of the three-dimensional size of the length, width and height of the goods box passing through are improved.

Preferably, the upper frame sorting and conveying mechanism sequentially comprises an upper lifting machine interface conveying line, an upper storage box converging and swinging table, a belt pushing plate conveying line, a segmented power conveying line, an error box temporary storage conveying line, a correct box conveying line and a storage box roadway vehicle, wherein the upper lifting machine interface conveying line is used for being connected with a cargo box lifted by a continuous lifting machine, after the upper lifting machine interface conveying line is connected with the lifted cargo box, the lifted cargo box flows to the belt pushing plate conveying line through the upper storage box converging and swinging table, the belt pushing plate conveying line is used for carrying out recalibration on the cargo box and conveying the recalibrated cargo box to the segmented power conveying line, a two-dimensional code reading head and a third pushing plate mechanism are arranged at the other opposite side edge of the segmented power conveying line, which is connected with the error box temporary storage conveying line, of the error box is pushed out towards the error box temporary storage conveying line through the third pushing plate mechanism, the two-dimensional code reading head is used for reading the cargo box, the correct judgment is identified and judged to be conveyed into the correct box, and the cargo box is identified and judged to be pushed onto the error box temporary storage conveying line by the third pushing plate mechanism; a fourth push plate mechanism is arranged on the correct box conveying line, the goods boxes are repositioned and are in butt joint with a box storage roadway vehicle through the fourth push plate mechanism, the box storage roadway vehicle comprises a ground rail, a top rail, a frame, a rotary swing table and a swing table driving motor, the correct goods boxes are received through the box storage roadway vehicle, and the correct goods boxes are transferred and stored in corresponding goods shelf positions through a roadway conveying line; the end of the error box temporary storage conveying line is provided with a temporary storage fluent line area. The automatic reliability of the detection and diversion treatment conveying frame before the lower building is sorted, conveyed and conveyed to the upper building and enters the goods shelf is realized by the upper frame sorting conveying mechanism.

Preferably, the lower frame sorting and conveying mechanism sequentially comprises a box taking roadway vehicle, an upper box taking port line, an upper box taking and distributing swing table, a split roller line and a descending elevator joint conveying line, wherein the box taking roadway vehicle is used for taking out a goods box to be taken out from a goods shelf through the roadway conveying line and converting the goods box to the upper box taking and distributing swing table, the upper box taking port line is used for receiving and conveying the goods box to be taken out to the upper box taking and distributing swing table, the split roller line is arranged between the upper box taking and distributing swing table and the upper box storing and distributing swing table arranged in the upper frame sorting and conveying mechanism, recognition split judgment after box taking is realized through the upper box taking and distributing swing table, the goods box can be normally taken out, and the goods box can be conveyed to the descending elevator joint conveying line, and the normal box to be taken out is transferred to the descending continuous elevator through the descending elevator joint conveying line. The automatic reliability of the judgment that the diversion treatment conveying is lowered to the bottom building is improved when the lower frame sorting conveying mechanism is taken out from the upstairs goods shelves.

Preferably, the storage roadway vehicle comprises a first ground rail, a first day rail, a first frame, a first lifting drag chain groove, a first rotary swing table driving motor, a first lifting motor and a first traveling motor, wherein the first frame comprises a first frame underframe and first lifting rail type upright rails arranged at two sides of the first frame underframe, the two first lifting rail type upright rails are connected with the first day rail and the first lifting drag chain groove, a floating connection structure is adopted between the first day rail and the two first lifting rail type upright rails, the two first lifting rail type upright rails are connected with the first rotary swing table, a first rotary swing table driving motor is arranged on the first rotary swing table, the length direction of a rotary axis of the first rotary swing table is parallel to the length direction of the first day rail or the first ground rail in space, a photoelectric sensor and a distance sensor are arranged at one end or two end buckling sides of a first rotary swing table inlet and outlet port, a first swing table top is arranged at the other side of the first rotary swing table, a plurality of baffle plates are arranged at the opposite sides of the first rotary swing table inlet and outlet port and the first swing table top are parallel to the first swing table top, and the first swing table top is far away from the first swing table top and the first swing table top is parallel to the first swing table top, and the first swing table top is more than the first swing table top is parallel to the first swing top and has a high rolling top and a high top; the first travelling motor is in driving connection with the first frame underframe and drives the first frame underframe to linearly move on the first ground rail, the first frame underframe drives the two first lifting rail type stand column rails and the first day rail to linearly move on the ground rail along with the first frame underframe, and the first lifting motor drives the first rotary swing table to lift and move along the two first lifting rail type stand column rails. The automatic reliability and the effectiveness of the storage roadway vehicle on the treatment of the receiving, storing, transferring and warehousing goods shelves of the goods boxes are improved.

Preferably, the box taking roadway vehicle comprises a second ground rail, a second overhead rail, a second frame, a second lifting drag chain groove, a box taking storage swing table, a second lifting motor and a portal frame, wherein the portal frame is arranged at the position above the box taking storage swing table, and the bottom end of the portal frame is higher than the top end surface of the box, which is used for placing the goods box after the goods box is taken out from the box taking storage swing table; the second frame comprises a second frame underframe and second lifting rail type upright post rails arranged at two side ends of the second frame underframe, a second overhead rail and a second lifting drag chain are connected to the two second lifting rail type upright post rails, a floating connection structure is adopted between the second overhead rail and the two second lifting rail type upright post rails, a box taking and storing swing table is connected to the two second lifting rail type upright post rails, a second swing table surface of the box taking and storing swing table is provided with a plurality of second fluent strips distributed in parallel array, the rolling direction of the second fluent strips faces the box taking and storing swing table box inlet and outlet end direction or is far away from the box taking and storing swing table box inlet and outlet end direction, the top height of a swing table baffle is higher than the top height of the second fluent strips on the second swing table surface, and the other side corresponding to the box taking and storing swing table inlet and outlet end is provided with a second swing table baffle; the second travelling motor is in driving connection with the second frame underframe and drives the second frame underframe to linearly move on the second ground rail, the second frame underframe drives the two second lifting rail type upright post rails and the second overhead rail to linearly move on the second ground rail along with the second frame underframe, and the second lifting motor drives the box taking storage swing table and the portal frame above the box taking storage swing table to lift along the two second lifting rail type upright post rails; be equipped with on the portal frame and get the case and snatch three-dimensional mobile device, snatch three-dimensional mobile device through getting the case and snatch the transfer and put to getting the case and deposit the pendulum platform, get the case and snatch the translation device and be equipped with the case and snatch the tong and do back-and-forth movement, lift removal and control the corresponding three-dimensional removal actuating mechanism of removal, snatch the removal of realizing the case to the goods through three-dimensional removal actuating mechanism and place to get the case and deposit the pendulum bench assigned position. The reliability and effectiveness of automatic processing of the box taking roadway vehicle from the warehouse goods shelf to the bottom building through goods taking, checking, shunting, conveying and discharging are improved.

Another object of the present invention is to provide an automatic warehouse management method for stereoscopic automatic warehouses of boxes with different dimensions, characterized in that: comprising the following bin management method

A1. When boxes with different sizes are required to be stored into the stereoscopic automatic warehouse, the boxes with different sizes are loaded from a loading port of a bottom building of the automatic warehouse into a loading mechanism of the stereoscopic automatic warehouse with boxes with different sizes according to one of the technical schemes;

A2. boxes with different sizes and specifications are delivered through a delivery interface delivery line in a delivery mechanism, and delivered into a box measuring mechanism delivery line through an opened wall body electric control translation warehouse door after delivery; the wall body electric control translation garage door is in an open state only when the warehouse operation is needed, and is in a closed state when the warehouse is not normally put into the warehouse or at night when the warehouse is closed;

A3. in the process of a box measuring mechanism conveying line, three groups of measuring gratings of length, width and height are arranged on the box measuring mechanism conveying line to automatically measure the length, width and height of the passing box, so that the box measuring mechanism conveying line can measure the length, width and height of the passing boxes with different sizes and specifications, and the measured box outline dimension is transmitted to an automatic warehouse management control center;

A4. After passing through the box measuring mechanism conveying line, boxes with different sizes are conveyed into the loading platform sorting machine, and the loading platform sorting machine continuously conveys and conveys the correct (in accordance with the box size range) goods boxes forwards into the box ascending preparation interface conveying line according to the goods box size data information obtained by the automatic warehouse management control center, sorts the wrong (in accordance with the box size range) goods boxes sideways and conveys the wrong (in accordance with the box size range) goods boxes to the recycling conveying sorting line;

A5. sorting the A4 step to obtain correct cargo boxes by using a continuous lifting machine for lifting, accessing the cargo boxes from a lifting preparation interface conveying line, and conveying the cargo boxes upwards to a second-floor warehouse of an automatic warehouse; if the floor is at other floors in the three-dimensional warehouse with more than two floors, automatically transporting upwards according to the floor transportation instruction appointed by the automatic warehouse management control center to be at the appointed floor warehouse;

A6. automatically connecting the cargo boxes to an upper box storage confluence swing table in a two-layer or more than two-layer three-dimensional warehouse from a lifting continuous lifter through an upper lifter interface conveying line, and sequentially conveying the cargo boxes to a push plate conveying line and a sectional power conveying line through the upper box storage confluence swing table; in the push plate conveying line, a push plate arranged on the inner side of the push plate conveying line is used for pushing the goods boxes conveyed to the push plate conveying line to the opposite side edge, so that the correction conveying of the leaning edge is realized;

A7. The goods boxes after the edge correction in the step A6 are conveyed to a sectional power conveying line for sectional conveying, and reading, identifying and pushing are carried out through a two-dimensional code reading head and a push plate mechanism arranged on the sectional power conveying line; conveying the correct cargo boxes to a correct box conveying line, conveying the correct cargo boxes to a steering box storage roadway vehicle after passing through the correct box conveying line, pushing the wrong cargo boxes to a wrong box temporary storage conveying line, and conveying the wrong boxes to a temporary storage fluent line area through the wrong box temporary storage conveying line when the pushing amount of the wrong boxes is large;

A8. the storage box roadway vehicle moves to a conveying joint with a correct box conveying line, a first rotary swing table arranged on the storage box roadway vehicle is driven by rotation of a rotary motor, a box inlet and outlet port of the first rotary swing table rotates downwards to be lower than the bottom end surface of a cargo box on the correct box conveying line, after the cargo box is received from the correct box conveying line, the box inlet and outlet port of the first rotary swing table rotates upwards to enable the correct cargo box to move to the far end of the swing table and retract onto a swing table surface of the first rotary swing table, and then the first rotary swing table rotates downwards to return to a horizontal normal state;

A9. when the box storage roadway vehicle of the stereoscopic automatic warehouse with boxes of different sizes and specifications transports and moves the goods boxes to the roadway conveying line end between the goods shelves in the warehouse with the same floor in a horizontal state, the height position of the first rotary swinging table is adjusted according to the horizontal direction position and the height direction position of the goods shelves required to be stored in the roadway conveying line end, so that when the height of the first swinging table surface on the first rotary swinging table is larger than the height position of the roadway conveying line corresponding to the goods shelf appointed layer, the goods boxes on the first rotary swinging table are obliquely and downwards slipped and stored in the roadway conveying line through rotating the first rotary swinging table, and are conveyed to the goods shelf appointed position through the roadway conveying line, and the stereoscopic automatic warehouse storage warehouse tube of the goods boxes is completed;

A10. When the cargo box is required to be taken out of the stereoscopic automatic warehouse, the box taking roadway vehicle of the stereoscopic automatic warehouse with the different size specifications moves to the front of a roadway conveying line end between the corresponding cargo frames of the cargo box to be taken, and the cargo box is transferred and conveyed from the roadway conveying line to be butted with the box taking roadway vehicle, and the box taking roadway vehicle grabs and moves the cargo box on a second swinging table surface of a second rotary swinging table on the box taking roadway vehicle through a box grabbing clamp arranged on a portal frame above the first rotary swinging table;

A11. after the box taking roadway vehicle takes out the goods boxes, the box taking roadway vehicle moves to an upper goods taking interface line along a second ground rail, two box grabbing hands arranged on the box taking roadway vehicle are used for positioning the rear parts of the goods boxes, the two box grabbing hands move in the direction of the upper goods taking interface line, the goods boxes are transferred to the upper goods taking interface line, the goods boxes are pushed out of a second rotary swing table on the roadway vehicle, meanwhile, the upper goods taking interface line starts to run, and then the goods boxes are conveyed to an upper goods taking split swing table through the upper goods taking interface line to split, and after the box taking roadway vehicle pushes one goods box, the two box grabbing hands are moved again for positioning until all the goods boxes in the second rotary swing table are sent out;

A12. The goods boxes taken out in the step A11 are automatically detected, identified and judged on the upper box taking and distributing swing table to judge whether the date is out of date, for the goods boxes with normal date which are not out of date, the goods boxes are distributed from the upper box taking and distributing swing table to the descending elevator joint conveying line, and for the goods boxes with the date which are out of date, the goods boxes are distributed from the upper box taking and distributing swing table to the distributing roller line;

A13. the goods boxes with the expiration date in the step A12 are shunted by a shunt roller line and are converged on the upper storage box converging swing table in the step A6;

A14. the goods boxes with the expiration date in the step A13 are converged on an upper box converging swing table, then are sequentially conveyed to a push plate conveying line and a sectional power conveying line, are automatically detected, identified and judged on the sectional power conveying line and conveyed to a temporary storage conveying line of the wrong boxes, and are transferred to a temporary storage fluent line area through the temporary storage conveying line of the wrong boxes when the amount of the wrong boxes is large;

A15. after the goods boxes with normal date and unexpired in the step A12 are shunted to the descending elevator joint conveying line, the goods boxes are in butt joint conveying with the descending continuous elevator through the descending elevator joint conveying line;

A16. after the goods box in the step A15 is received by a continuous elevator for descending, the goods box is descended to a bottom building and then is connected with a box outlet preparation interface conveying line;

A17. The goods case is carried to the case delivery outlet through the case outlet preparation interface conveying line and is carried the line of registering through case delivery outlet and carry the line of registering and realize the case delivery shipment, accomplish the flow of leaving warehouse.

The automatic warehouse management efficiency of entering boxes with different sizes and specifications into the stereoscopic warehouse is automatically realized, more warehouse space is not required to be occupied, and the overall warehouse management efficiency of the stereoscopic warehouse is high, and the management cost is low.

The beneficial effects of the invention are as follows: the bottom layer up-down cargo mechanism of the stereoscopic warehouse and the warehouse cargo boxes on the building are implemented through the continuous lifter, so that the bottom layer up-down cargo delivery warehouse management of the cargo boxes is realized, and the sorting conveying line is detected through the length, width and height three-dimensional size of the cargo boxes arranged in the cargo loading mechanism; through the automatic detection, deletion, storage and operation management of the cargo boxes are realized by the storage box roadway vehicle, the box taking roadway vehicle and the combined and split flow technology arranged on the floors provided with the goods shelves, the automatic detection, deletion, storage and management of the cargoes of boxes with different specifications and sizes can be automatically realized, more storage space is not required to be occupied, the storage management efficiency of the stereoscopic warehouse is improved, the storage management cost is reduced, and the manual management input cost is reduced. Autostereoscopic warehouse management hierarchy is compact.

Description of the drawings:

the invention is described in further detail below with reference to the drawings and the detailed description.

FIG. 1 is a schematic diagram of the split floor architecture of a stereoscopic automated warehouse and an automated pipe warehouse method for boxes of different sizes and specifications according to the present invention.

Fig. 2 is a schematic diagram of a combined floor perspective structure of a stereoscopic automatic warehouse for boxes with different sizes and an automatic pipe warehouse method thereof according to the present invention.

FIG. 3 is a schematic view of the enlarged construction of the stereoscopic automated warehouse for boxes of different sizes and the automatic pipe warehouse method thereof at A in accordance with the present invention.

Fig. 4 is an enlarged schematic view of the structure of the stereoscopic automatic warehouse for boxes of different sizes and the automatic pipe warehouse method thereof at the middle B of the present invention.

Fig. 5 is a schematic view of the structure of the loading interface conveyor line in the stereoscopic automatic warehouse and automatic warehouse management method of boxes with different sizes and specifications.

Fig. 6 is a schematic structural diagram of an electronically controlled wall translation garage door in a stereoscopic automatic warehouse and an automatic pipe warehouse method for boxes with different sizes and specifications.

FIG. 7 is a schematic diagram of the structure of the conveyor line of the box measuring mechanism in the stereoscopic automatic warehouse and the automatic warehouse management method of boxes with different sizes and specifications.

Fig. 8 is a schematic diagram of the structure of the sorting machine with a loading platform in the stereoscopic automatic warehouse and the automatic pipe warehouse method of boxes with different sizes and specifications.

Fig. 9 is a schematic structural view of a recycling, conveying and sorting line in a stereoscopic automatic warehouse for boxes with different sizes and specifications and an automatic pipe warehouse method thereof.

Fig. 10 is a schematic view of the structure of the box lifting preparation interface conveyor line in the stereoscopic automatic warehouse and the automatic warehouse management method of boxes with different sizes and specifications.

FIG. 11 is a schematic view of the structure of a storage roadway vehicle in a stereoscopic automatic warehouse for boxes with different sizes and specifications and an automatic pipe-placing method thereof.

FIG. 12 is a schematic view of the structure of the box-taking roadway vehicle of the stereoscopic automatic warehouse with boxes of different sizes and the automatic pipe-placing method thereof.

Detailed Description

Example 1:

in the embodiments shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11 and fig. 12, all the directions of hollow arrows in the drawings point to the conveying flow directions of boxes with different sizes, a stereoscopic automatic warehouse with boxes with different sizes comprises two layers or more than two layers of stereoscopic warehouses and shelves arranged in the warehouses, and further comprises a continuous lifter, a loading mechanism, a unloading mechanism, an loading sorting conveying mechanism and a unloading sorting conveying mechanism, wherein the continuous lifter comprises a continuous lifter for ascending and a continuous lifter for descending, the continuous lifter is vertically communicated and arranged between different floors and is used for vertically conveying cargoes in and out of the cargoes from the upper floor, the stereoscopic warehouse with the two layers of stereoscopic warehouses is provided with an overpass 03, the loading mechanism and the unloading mechanism are arranged at a position of the bottom floor 01 (see 1A in fig. 1), and the loading mechanism is used for lifting the loading sorting conveying of the cargoes, and the loading mechanism is provided with a three-dimensional sorting conveying line for detecting the width and height of the cargoes in the loading mechanism; the lower goods mechanism is used for delivering and delivering the descending goods, each layer of the three-dimensional warehouse above the two layers 02 (see 1B of the figure) is provided with an upper rack sorting and conveying mechanism and a lower rack sorting and conveying mechanism, the upper rack sorting and conveying mechanism is used for sorting and delivering the goods boxes lifted up by the continuous lifter 06 for ascending and storing the goods boxes in the goods shelf 2A, and the lower rack sorting and conveying mechanism is used for taking out, sorting and conveying the goods boxes on the goods shelf to the continuous lifter 07 for descending; the upper frame sorting and conveying mechanism comprises an upper box storage swing table sorting machine and a box storage roadway vehicle 130 (see fig. 1, 2 and 11), sorting, conveying and storing the lifted goods boxes into a goods shelf through the upper frame sorting and conveying mechanism, the lower frame sorting and conveying mechanism comprises a box taking roadway vehicle 140 (see fig. 1 and 2) and an upper box taking and splitting swing table, and the goods boxes are taken out from the goods shelf through the lower frame sorting and conveying mechanism, conveyed to a continuous lifting machine for descending after being sorted, and the taken out goods boxes are lowered to the lower goods mechanism to be delivered; the box storage roadway vehicle and the box taking roadway vehicle respectively realize box butt joint or box taking butt joint from two ends of a roadway conveying line between adjacent shelves, and a roadway conveying line 2B (see figure 2) is arranged between the adjacent shelves 2A.

The loading mechanism sequentially comprises a loading interface conveying line 10, a box measuring mechanism conveying line 30, a loading swing table sorting machine 40, a recovery conveying sorting line 50 and a box lifting preparation interface conveying line 60, boxes with different sizes are loaded through the loading interface conveying line 10 and conveyed to the box measuring mechanism conveying line 30, a three-dimensional size detection device for detecting the length, width, height and three-dimensional size of the boxes is arranged on the box measuring mechanism conveying line 30, the correct or incorrect box sizes are sorted out through the loading swing table sorting machine 40, the boxes with the correct sizes are conveyed to the box lifting preparation interface conveying line 60, and the boxes with the incorrect sizes are conveyed to the recovery conveying sorting line 50; the loading interface conveying line 10 (see figure 5) comprises a loading interface conveying frame 16, an electric roller conveying line 11 arranged on the loading interface conveying frame and a loading detection adjustment alignment device, the loading detection adjustment alignment device for detecting and adjusting the aligned cargo boxes is arranged on the loading interface conveying frame 16 of the loading interface conveying line 10, the loading detection adjustment alignment device comprises an opposite-type detection grating 12, a width adjustment push plate 13, a push plate driving motor 15 and a push plate driving synchronous belt 14, the push plate driving motor 15 is fixedly arranged at the side edge of the loading interface conveying frame 16, the push plate driving motor 15 is connected with a push plate driving long shaft 17 in a conveying manner, the length direction of the push plate driving long shaft 17 is parallel to the conveying direction of the loading interface conveying line 10, the two ends of the push plate driving long shaft 17 are respectively provided with driving wheels, two driven wheels which correspond to the driving wheels respectively are arranged on the other side edge of the loading interface conveying frame 16 opposite to the push plate driving long shaft 17 in a mounting manner, the two driving wheels and the corresponding driven wheels are respectively provided with a push plate driving synchronous belt 14, the push plate driving synchronous belt 14 is fixedly connected with a vertical push plate supporting piece 18, the push plate supporting piece 18 upwards penetrates through the roller clearance space adjacent to the electric roller conveying line 11, the top of the push plate supporting piece 18 is fixedly connected with a width adjusting push plate 13, and the height of the top end of the width adjusting push plate 13 higher than the electric roller conveying line 11 is smaller than the height dimension of a box for conveying a cargo box on the electric roller conveying line 11; when goods boxes with different sizes and specifications are arranged on the electric roller conveying line 11, the push plate driving motor 15 drives the push plate driving long shaft 17 to drive the push plate driving synchronous belt 14 to rotate, further drives the push plate supporting piece 18 fixedly connected to the push plate driving synchronous belt 14 and the width adjusting push plate 13 to synchronously move, adjusts the width distance between the width adjusting push plate 13 and one side of the electric roller conveying line 11, adjusts the actual conveying width of the electric roller conveying line to a specified width, conveniently guides the goods boxes to be placed on the electric roller conveying line 11 in a correct direction, realizes that the width adjusting push plate 13 pushes the goods boxes on the electric roller conveying line 11 to one side, and realizes that the push plate driving motor 15 drives the width adjusting push plate to push the goods boxes to one side for aligned conveying; and the correlation type detection grating 12 arranged on the loading interface conveying frame 16 and positioned at the inner side edge of the electric roller conveying line 11 is used for conveying and conveying the goods boxes to the next section of conveying line when detecting and sensing that the next section of conveying line has a spare position after the goods boxes enter, and the electric roller conveying line 11 starts to operate so as to empty the loading interface of the loading interface conveying line, so that the next goods boxes can be put in. A wall body electric control translation warehouse door 20 (see fig. 6) is arranged between the loading interface conveying line 10 and the box measuring mechanism conveying line 30, namely, the loading interface conveying line 10 is arranged at the outer side of the wall body electric control translation warehouse door, the box measuring mechanism conveying line 30 is arranged at the inner side of the wall body electric control translation warehouse door side 22, a translation door driving motor 23 is arranged on the wall body electric control translation warehouse door 20, the translation door driving motor 23 drives the translation movement of the movable door plate 24 to open or close, a translation band-type brake locking structure is arranged at a door opening of the wall body electric control translation warehouse door, the wall body electric control translation warehouse door can be in an open state only when warehouse entering operation is needed, and the wall body electric control translation warehouse door is in a closed state when a warehouse is not normally in a warehouse or is closed at night.

The box measuring mechanism conveying line 30 (see fig. 7) comprises a measuring rack 36, a box measuring roller conveying line 34 and a three-dimensional size detecting device, wherein the three-dimensional size detecting device comprises a length detecting grating 33, a width detecting grating 31 and a height detecting grating 32 for detecting the length, width and height of a cargo box, the measuring rack 36 is provided with a grating detecting support 35 in a mounting connection mode at the tail end of the box measuring roller conveying line 34, the measuring grating rack 35 adopts a door frame-shaped structure, one or two vertical grating upright posts of the measuring grating rack 35 are provided with the height detecting grating 32 (namely, the box vertical detecting measuring grating), the top transverse support arm of the grating detecting support 35 is provided with the width detecting grating 31 (namely, the box transverse detecting measuring grating), and one side edge or two side edges of the conveying line in the length direction (namely, the conveying direction) of the box measuring roller conveying line 34 are provided with the length detecting grating 33 (namely, the box longitudinal detecting measuring grating); the detection and measurement of the length, width and height dimension data of the box in the conveying and moving process of the box on the roller conveying line are realized.

A rotary driving wheel array 41 is distributed at the top end of the loading table sorting machine 40. The rotary driving wheel array 41 can timely judge whether the cargo boxes on the loading swing table sorting machine 40 accord with the bin size range according to the length, width and height data information of the conveyed boxes detected by the automatic bin control center on the front-stage box measuring mechanism conveying line 30, and for the correct boxes accord with the size range, the automatic bin control center automatically feeds back to the rotary driving wheel array 41 to perform sorting to the next-stage conveying line box ascending preparation interface conveying line 60 for conveying; for erroneous boxes that do not fit into the box size range, sorting transport to the recovery transport sorting line 50 of the sorting deck side is performed. The recovery conveying sorting line 50 includes a recovery conveying underframe 53 and a recovery conveying roller line 51, and a U-shaped recovery conveying sorting line fence 52 is provided on the periphery of the recovery conveying roller line 51 except for the conveying inlet opening. The box lifting preparation interface conveying line 60 comprises a box lifting preparation interface conveying frame 64, a second width adjustment push plate 61, a second push plate driving motor, a second push plate driving synchronous belt, a second electric roller conveying line 62 and a two-dimensional code label printer 63, wherein the second electric roller conveying line 62 is arranged on the box lifting preparation interface conveying frame 64, the two-dimensional code label printer 63 is arranged at the outer side of the box lifting preparation interface conveying frame 64, the second push plate driving motor is fixedly arranged at the side of the box lifting preparation interface conveying frame 64, the second push plate driving motor is connected with a second push plate driving long shaft, the length direction of the second push plate driving long shaft is parallel to the conveying direction of the box lifting preparation interface conveying line 60, driving wheels are respectively arranged at two ends of the second push plate driving long shaft, two driven wheels respectively corresponding to the driving wheels are respectively arranged at the other side of the box lifting preparation interface conveying frame 64, the second push plate driving synchronous belt is fixedly connected with a vertical second push plate supporting member 65 on the second push plate driving synchronous belt, the second push plate supporting member 65 passes through the second electric roller conveying line 62 upwards, and the height of the top of the second push plate conveying line is smaller than the height adjustment electric roller conveying line 61, and the top of the second push plate conveying line is smaller than the height adjustment electric roller conveying line 61; when the goods boxes with different sizes and specifications are arranged on the second electric roller conveying line 62, the push plate driving motor drives the push plate driving long shaft to drive the push plate driving synchronous belt to rotate, so that the second push plate supporting piece 65 fixedly connected to the push plate driving synchronous belt and the second width adjusting push plate 61 are driven to synchronously move, the width distance between the second width adjusting push plate 61 and one side of the second electric roller conveying line 62 is adjusted, the actual conveying width of the second electric roller conveying line 62 is adjusted to be a specified width, and the goods boxes are conveniently guided to be conveyed into the second electric roller conveying line 62 in the correct direction for conveying and lifting preparation interfaces; when the goods boxes pass through, the two-dimensional code label printer 63 arranged at the outer side edge of the box lifting preparation interface conveying frame 64 prints and pastes two-dimensional code labels of information related to the goods boxes on the passing goods boxes, and tracking data information is provided for follow-up warehouse management processes.

The lower cargo mechanism comprises a box outlet preparation interface conveying line 180 and a box outlet conveying temporary storage line 190, the cargo box is connected with the box outlet preparation interface conveying line 180 after going down the bottom building by a descending continuous lifter 07, the rear stage of the box outlet preparation interface conveying line 180 is connected with the box outlet conveying temporary storage line 190, and box conveying and shipment are realized through the box outlet conveying temporary storage line 190.

The upper frame sorting and conveying mechanism sequentially comprises an upper lifting machine interface conveying line 70, an upper storage box converging and swinging table 80, a belt pushing plate conveying line 90, a sectional power conveying line 100, an error box temporary storage conveying line 110, a correct box conveying line 120 and a storage box roadway vehicle 130, wherein the upper lifting machine interface conveying line 70 is used for connecting a lifting goods box lifted by a continuous lifting machine 06, after the upper lifting machine interface conveying line 70 is connected with the lifted goods box, the lifted goods box passes through the upper storage box converging and swinging table 80 and flows to the belt pushing plate conveying line 90, the belt pushing plate conveying line 90 is used for re-correcting the goods box and conveying the re-corrected goods box to the sectional power conveying line 100, the tail end of the sectional power conveying line 100 is provided with a two-dimensional code reading head and a third pushing plate mechanism 101, the third pushing plate mechanism 101 is arranged on the other opposite side edge of the sectional power conveying line 100 connected with the error box temporary storage conveying line 110, the error box is pushed out towards the error box temporary storage conveying line 110, the two-dimensional code reading head is used for reading the goods box with identification judgment, the correct goods box conveying line 120 is identified and the goods box identification judgment is carried out, and the goods box with the error box identification judgment is pushed onto the error box temporary storage conveying line 110 by the third pushing plate mechanism 101; a fourth push plate mechanism 121 is arranged on the correct box conveying line 120, the goods boxes are relocated and are in butt joint with a box storage roadway vehicle 130 through the fourth push plate mechanism 121, the box storage roadway vehicle 130 comprises a first ground rail, a first day rail, a first frame, a first rotary swing table and a first swing table driving motor, the correct goods boxes are received through the box storage roadway vehicle 130, and the correct goods boxes are transferred to corresponding goods shelf positions through the roadway conveying line; the end of the error box temporary storage conveyor line is provided with a temporary storage fluent line area 111. The loading elevator interface conveyor line 70 adopts the same or similar conveyor line structure scheme as the loading interface conveyor line 10, and the pushing plate structure arranged on the pushing plate conveyor line 90, the fourth pushing plate mechanism 121 arranged on the sectional power conveyor line 100 and adopting the third pushing plate mechanism 101 and the correct box conveyor line 120 are the same or similar to the pushing plate structure technical scheme adopted on the loading interface conveyor line 10.

The storage box roadway vehicle 130 (see fig. 11 and 12) comprises a first ground rail 13G, a first day rail 13A, a first frame, a first lifting chain groove 13B, a first rotary swing table 13X, a first rotary swing table driving motor 13F, a first lifting motor 13L and a first travelling motor 13K, wherein the first frame comprises a first frame bottom frame 13Y and a first lifting rail type column rail 13B which is installed and connected at two side ends of the first frame bottom frame 13Y, the two first lifting rail type column rails 13B are provided with a first day rail 13A and a first lifting chain groove 13C in a mounting manner, a floating connection structure 13D is adopted between the first day rail 13A and the two first lifting rail type column rails 13B, the frame can run more smoothly, the first rotary swing table 13X is installed and connected on the two first lifting rail type column rails 13B, the first rotary swing table driving motor 13F is installed and connected on the first rotary swing table, a first rotary swing table driving motor 13F is connected on the first rotary swing table driving motor shaft end component T is connected with a first rudder carrier 13E, the first rotary swing table driving component E is connected with a first rudder carrier 13E, and the first rudder carrier E is connected with the first rotary swing seat 13E, and the first rudder carrier is connected with the first rotary swing seat 13E, and the first rudder seat 13E is connected with the rotary seat 13B, and the rotary seat 13E is connected with the rotary seat 13; the first rotary swing table driving motor 13F drives the first rotary swing table 13X to rotate, the length direction of the rotation axis of the first rotary swing table 13X is spatially parallel to the length direction of the first track or the first ground track, and the first rotary swing table driving motor 13F can drive the first rotary swing table 13X to rotate within the positive and negative ten-degree range of the driving motor; a photoelectric sensor 13P and a distance sensor 13N are installed and connected on one port side or two port sides of a first rotary swing table box inlet and outlet port 13Z, a swing table baffle 13R is installed and fixed on the other side corresponding to the first rotary swing table box inlet and outlet port 13Z in parallel, a first swing table surface 13S of the first rotary swing table 13X is provided with a plurality of first flow bars (or rollers distributed in a plurality of groups of parallel arrays) distributed in parallel, the rolling direction of the first flow bars is towards the first rotary swing table box inlet and outlet port 13Z direction or away from the first rotary swing table box inlet and outlet port 13Z direction, and a cargo box can move on the first flow bars according to the rotation angle of the first rotary swing table; the top end of the swing table baffle 13R is higher than the top height of the first fluent strip on the first swing table surface, a plurality of cargo boxes can be loaded on the first swing table surface at one time, and a reasonable scheme for loading the cargo boxes on the first swing table surface is calculated according to the outline dimensions of the cargo boxes; the first travelling motor 13K is in driving connection with the first frame bottom frame 13Y and drives the first frame bottom frame 13Y to linearly move on the first ground rail 13G, the first frame bottom frame 13Y drives the two first lifting rail type upright post rails 13B and the first day rail 13A to linearly move on the first ground rail 13G along with the first frame bottom frame 13Y, and the first lifting motor 13L drives the first rotary swing table 13X to lift and move along the two first lifting rail type upright post rails 13B. The box storage roadway vehicle 130 adopts the technical scheme that two box storage roadway vehicles are arranged, after the box storage roadway vehicle 130 is filled with a plurality of goods boxes, the box storage roadway vehicle 130 leaves the butt joint position and moves to the corresponding position of the goods shelf to be stored, and meanwhile, the other box storage roadway vehicle continuously goes to the butt joint position of the conveying line to continuously butt joint and load the goods boxes. The rotation angle range of the first rotary swing table box inlet and outlet port for realizing the first rotary swing table 13X when the first rotary swing table box inlet and outlet port is rotated upwards to be retracted into the box, or rotated downwards to be received into the box or rotated downwards to be discharged out of the box is +/-12 degrees, the surface of the rotation angle center is the horizontal surface of the axis of the rotary transmission shaft arranged in the rotary mechanism of the carrying platform, namely the rotation driving angle range of the first rotary swing table driving motor is +/-12 degrees. That is, the rotation center of the rotation angle takes the rotation axis of the first rotary table 13X as the horizontal plane where the rotation center is located, and the rotation included angle is formed by intersecting the rotation transmission shaft axis with the plane parallel to the platform surface of the first rotary table. The box top lifting mechanism is arranged on the box storage roadway vehicle in a connecting mode, the box top lifting mechanism is arranged at the inner side of the box inlet and outlet port of the first rotary swing table, one side of the box inlet and outlet port 13Z of the first rotary swing table is provided with the roller supporting rotary motor 13J and the roller supporting lifting sliding table 13I in a connecting mode, the roller supporting rotary motor 13J drives the roller supporting lifting sliding table 13I to lift or descend, then the first rotary swing table is connected into the jacking receiving of the box before the box enters the first rotary swing table, or the box is lifted out of the first rotary swing table when the box is outwards discharged, collision damage to the box inlet and outlet port of the first rotary swing table when the box enters and exits the first rotary swing table is effectively prevented, and the safety of the box is effectively protected. The box jacking and lowering mechanism comprises a jacking sliding table of a jacking rod, a jacking supporting rod and a supporting rod rotating motor, wherein a jacking connecting seat is arranged on the jacking sliding table of the jacking rod in a transmission and installation mode, the jacking supporting rod and the supporting rod rotating motor are arranged on the jacking connecting seat in a transmission and connection mode, the jacking supporting rod is connected with the jacking rotating motor in a transmission and connection mode, the jacking sliding table is synchronously jacked or lowered along with the jacking sliding table through the jacking connecting seat, the jacking supporting rod is driven to synchronously jack or descend, the external diameter size of the rod of the jacking supporting rod is smaller than the space width size of the penetrating space at the inner side of the end, and free ascending ejection or free descending return of the jacking supporting rod in the penetrating space at the inner side of the end is ensured. The jacking connecting seat top installation connection is equipped with and holds in the palm the rod installation connecting seat, holds in the palm rod installation connecting seat installation connection and is equipped with the jacking and holds in the palm the rod, and installation connection is equipped with the jacking drive wheel in the jacking and holds in the palm the rod axle center coincidence of drive wheel axle center and jacking of drive wheel and holds in the palm the rod, holds in the palm rod installation connecting seat and jacking and holds in the palm the rod and form the box jacking portion jointly, and the jacking holds in the palm the rod top height and is higher than the top height that holds in the palm the rod installation connecting seat, ensures when the jacking connects the box, only jacking holds in the palm the contact of rod top cylinder cambered surface and box bottom.

The lower frame sorting conveying mechanism sequentially comprises a box taking roadway vehicle 140, an upper box taking port line 150, an upper box taking and distributing swing platform 160, a distributing roller line 161 and a descending elevator joint conveying line 170, wherein the box taking roadway vehicle 140 is used for taking a goods box to be taken out from a goods shelf through the roadway conveying line and converting the goods box to the upper box taking port line 150, the upper box taking port line 150 is used for receiving and conveying the taken out goods box to the upper box taking and distributing swing platform 160, the upper box taking and distributing swing platform 160 and an upper box storing and converging swing platform 80 arranged in the upper frame sorting conveying mechanism are connected, the distributing roller line 161 is arranged, recognition and distributing judgment after box taking is realized through the upper box taking and distributing swing platform 160, the judgment can be normally taken out, the goods box is conveyed to the descending elevator joint conveying line 170, and the normal box to be taken out is transferred to the descending continuous elevator 07 through the descending elevator joint conveying line 170.

The box taking roadway vehicle 140 comprises a second ground rail 14J, a second overhead rail 14A, a second frame, a second lifting drag chain groove 14K, a box taking storage swing table 14F, a second lifting motor 14M and a portal frame 150, wherein the portal frame 150 is installed and connected on the upper position of the box taking storage swing table 14F through four vertical upright posts 15X, and the bottom end of the portal frame 150 is higher than the top end surface of a box on the box taking storage swing table 14F after a cargo box is taken out and placed; the second frame comprises a second frame underframe 14D and second lifting rail type upright rails 14B arranged at two side ends of the second frame underframe, a second overhead rail 14A and a second lifting drag chain groove 14K are arranged on the two second lifting rail type upright rails 14B in a mounting connection mode, a floating connection structure 14N is adopted between the second overhead rail 14A and the two second lifting rail type upright rails 14B, a box taking storage swing table 14F is arranged on the two second lifting rail type upright rails 14B in a lifting connection mode, a second swing table surface of the box taking storage swing table 14F is provided with a plurality of second fluent strips 14L distributed in parallel arrays, the rolling direction of the second fluent strips 14L faces the box taking storage swing table box inlet and outlet end direction or is far away from the box taking storage swing table box inlet and outlet end direction, the top height of a swing table baffle is higher than that of the second fluent strip on the second swing table surface, and a second swing table baffle is arranged at the other side corresponding to the box taking storage swing table inlet and outlet end parallel; the second travelling motor 14G is in driving connection with the second frame underframe 14D and drives the second frame underframe 14D to linearly slide and move on the second ground rail 14J, the second frame underframe 14D drives the two second lifting rail type upright rails 14B and the second overhead rail 14A to linearly move on the second ground rail 14J along with the second frame underframe 14D, and the second lifting motor 14 drives the box taking and storing swing table 14L and the gantry 150 above the box taking and storing swing table to lift and move along the two second lifting rail type upright rails 14B; the portal frame 150 is provided with a box taking and grabbing three-dimensional moving device in a mounting connection manner, the box taking and grabbing three-dimensional moving device is used for grabbing and transferring the goods boxes to the box taking and storing swing table, the box taking and grabbing translation device is provided with a box grabbing hand 15S and a three-dimensional moving driving mechanism which drives the box grabbing hand to move back and forth, move up and down and move left and right correspondingly, and the three-dimensional moving driving mechanism is used for grabbing and moving the goods boxes to be placed at the appointed position on the box taking and storing swing table 14F. The box taking and grabbing three-dimensional moving device comprises a front-back movement driving mechanism, a lifting movement driving mechanism and a left-right movement driving mechanism; the front-back movement driving mechanism comprises a front-back movement motor 15C, a front-back movement driving transmission shaft 15D, a front-back movement driving synchronous belt 15H, a front-back movement driving sliding rail 15G and a front-back movement sliding block assembly, the front-back movement motor 15C is in driving connection with the front-back movement driving transmission shaft 15D, the length direction of the front-back movement driving transmission shaft 15D is spatially parallel to the length direction of the box taking storage swing table 14L, a front-back movement sliding block 15P is fixedly connected with the lower end part of the front-back movement fixing seat 15N in a mounting manner, a front-back movement sliding block 15P is respectively arranged at the near end and the far end part of the front-back movement driving transmission shaft 15D connected with the front-back movement motor 15C, the front-back sliding rail which is spatially perpendicular to the front-back movement driving transmission shaft 15D and the front-back synchronous belt transmission assembly are respectively arranged, the front-back synchronous belt transmission assembly comprises a front-back movement driving synchronous belt 15H, the front-back movement sliding block assembly is fixedly connected with the front-back movement driving synchronous belt 15H, the front-back movement fixing seat 15N is fixedly connected with the front-back synchronous belt 15H, the front-back sliding block assembly is fixedly connected with the front-back synchronous belt 15P, the front-back sliding synchronous belt 15P is arranged in parallel to the front-back synchronous belt 15G; the upper end parts of the two front and back movement fixing seats 15N are provided with a left and right movement driving mechanism in a mounting connection manner, the left and right movement driving mechanism comprises a left and right translation driving motor 15B, a left and right translation driving sliding rail 15J, a left and right movement driving synchronous belt 15S and a left and right movement sliding block assembly, the left and right movement sliding block assembly comprises a left and right movement sliding block 15U (only the right movement sliding block is numbered in fig. 12, the left movement sliding block structure adopting the same structure is influenced by the visual observation effect of the drawing, the left and right movement sliding block structure is not marked, other left movement related components are not marked too much in the same way), a left and right movement sliding block fixing seat 15W, a sliding block fixing seat connecting bridge seat 15T and a synchronous belt fixing seat 15V are fixedly connected with the sliding block fixing seat connecting bridge seat 15T, and the upper end and the lower end of the sliding block fixing seat connecting bridge seat 15T are fixedly connected with the left and right movement sliding block fixing seat 15W respectively; a left translation driving motor 15B and a right translation driving motor are installed and connected on one of the left and right front and rear movement fixing seats 15N in the front and rear movement driving mechanism (see the left and right front and rear movement fixing seat 15N in fig. 12), a synchronous belt driving wheel is installed and connected on the output shaft of the left and right translation driving motor 15B, a synchronous belt driven wheel is installed and connected on one end side of the other front and rear movement fixing seat 15N in the front and rear movement driving mechanism, a left and right movement driving synchronous belt 15S is installed and connected on the synchronous belt driving wheel and the synchronous belt driven wheel, an up and down parallel movement synchronous belt formed on the synchronous belt driving wheel and the synchronous belt driven wheel is installed on the left and right translation driving synchronous belt 15S, the up and down two right movement sliding blocks 15U are respectively in sliding connection with the left and right translation driving sliding rails 15J which are arranged up and down in parallel, the left and right translation driving motor 15B drives the synchronous belt driving wheel, the left and right movement driving synchronous belt 15S rotates in the horizontal direction, the left and right movement driving synchronous belt 15S is fixedly connected on the left and right movement driving seat 15S, and the left and right sliding blocks are fixedly connected on the left and right sliding seats 15U of the left and right sliding blocks are fixedly connected on the left and right sliding seats through the left and right sliding seats. The lifting and moving driving mechanism comprises a manipulator lifting motor 15M, a manipulator gripping jaw 15S, a manipulator lifting rack rail and a lifting and meshing gear assembly, wherein the manipulator lifting rack rail comprises a vertical lifting slide rail 15A and a vertical straight rack 15, the opposite inward sides of the two vertical lifting slide rails 15A which are arranged in parallel are respectively and fixedly connected with the vertical straight rack 15, the rack surfaces of the two vertical straight racks 15 are correspondingly arranged in opposite directions, the lower section part of the outer side surface of the two vertical straight racks 15 facing the box taking and storing swing table 14F at one side of a box inlet and outlet port is respectively and fixedly connected with the manipulator gripping jaw 15S, the lifting and meshing gear assembly comprises a lifting and meshing gear 15Y, a left and right moving slide block fixing seat 15W, a lifting slide block 15Z and a slide block fixing seat connecting bridge seat 15T, the left and right moving slide block fixing seat 15W is fixedly connected with the manipulator lifting motor 15M (or the manipulator lifting motor 15M is fixedly connected to the left and right moving slide block fixing seat 15W), the left and right manipulator lifting motors 15M are respectively connected with the left and right lifting meshing gears 15Y corresponding to the left and right manipulator lifting motors in a driving way, the left and right lifting slide blocks 15Z are respectively connected with the left and right vertical lifting slide rails 15A in a lifting sliding way, the left and right lifting meshing gears 15Y are respectively meshed with the left and right vertical straight racks 15, when the manipulator lifting motor 15M works, the manipulator lifting motor 15M conveying transmission shaft is connected with the lifting meshing gears 15Y to mesh on the vertical straight racks 15, so that the driving of the vertical straight racks 15 is realized, the vertical lifting slide rails 15A fixedly connected with the vertical straight racks 15 are driven to do synchronous lifting movement under the sliding limiting effect of the lifting slide blocks 15Z, finally, the manipulator grabbing clamp 15S is driven to do lifting movement after grabbing the cargo box. On the basis of the connection motion relationship, the manipulator clamping piece 15S moves left and right along with the left and right movement driving mechanism to grab the goods box, and moves back and forth along with the front and back movement driving mechanism to grab the goods box. Photoelectric sensors 14P are arranged at two sides of the inlet end and the outlet end of the box taking and storing swing table 14F, the box taking and sensing is detected, distance sensors 14R are arranged at two sides of the inner end of the box taking and storing swing table 14F, and the box taking and sensing degree is detected.

Example 2:

in the embodiments shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, and fig. 12, all the directions of the hollow arrows in the drawings point to the directions of the conveying flow directions of boxes with different sizes, and an automatic warehouse management method for stereoscopic automatic warehouses for boxes with different sizes includes the following warehouse management methods:

A1. when boxes with different sizes are required to be stored into the stereoscopic automatic warehouse, the boxes with different sizes are loaded from the loading port of the bottom building of the automatic warehouse into the loading mechanism of the stereoscopic automatic warehouse with boxes with different sizes in the embodiment 1;

A4. The boxes with different sizes and specifications are conveyed into a loading platform sorting machine after passing through a box measuring mechanism conveying line, and the loading platform sorting machine continuously conveys and conveys the correct boxes forward into a box lifting preparation interface conveying line according to the size data information of the boxes obtained by an automatic warehouse management control center, sorts out the wrong boxes sideways and conveys the boxes to a recycling conveying sorting line;

A9. when the box storage roadway vehicle of the stereoscopic automatic warehouse with boxes of different sizes conveys and moves the horizontal state of the goods boxes to the roadway conveying line end between the goods shelves in the warehouse with the same floor, the height position of the first rotary swinging table is adjusted according to the horizontal direction position and the height direction position of the required storage roadway conveying line end, so that when the height of the first swinging table surface on the first rotary swinging table is larger than the height position of the roadway conveying line corresponding to the goods shelf appointed layer, the goods boxes on the first rotary swinging table are obliquely and downwards slid and stored in the roadway conveying line, and are transferred and conveyed to the goods shelf appointed position through the roadway conveying line, and the stereoscopic automatic warehouse storage warehouse pipe for the goods boxes is completed;

A10. When a cargo box needs to be taken out of the stereoscopic automatic warehouse, the box taking roadway vehicle of the stereoscopic automatic warehouse with the different sizes moves to the front of a roadway conveying line end between corresponding cargo frames of the cargo box to be taken, and the cargo box is transferred and conveyed from the roadway conveying line to be butted with the box taking roadway vehicle, the box taking roadway vehicle grabs and moves the cargo box on a second swinging table surface of a second rotary swinging table arranged on the box taking roadway vehicle through a box grabbing clamp arranged in a box taking grabbing translation device on a portal frame above the first rotary swinging table;

A12. The goods boxes taken out in the step A11 are automatically detected, identified and judged on the upper box taking and distributing swing table to judge whether the date is out of date, for the goods boxes with normal date or the date which is not out of date, the goods boxes are distributed from the upper box taking and distributing swing table to the descending elevator joint conveying line, and for the goods boxes with the date which is out of date, the goods boxes are distributed from the upper box taking and distributing swing table to the distributing roller line;

A14. the goods boxes with the expiration date in the step A13 are converged on an upper storage box converging swing table, then are sequentially conveyed to a push plate conveying line and a sectional power conveying line, are automatically detected, identified and judged on the sectional power conveying line through the data information of the adhered two-dimensional code and are conveyed to an error box temporary storage conveying line, and are transferred to a temporary storage fluent line area through the error box temporary storage conveying line when the error box quantity is large;

In the description of the positional relationship of the present invention, the terms such as "inner", "outer", "upper", "lower", "left", "right", "front", "rear", and the like, are presented with respect to the orientation or positional relationship shown in the drawings, merely for convenience of description of the embodiments and simplification of the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus are not to be construed as limiting the present invention.

The foregoing and construction describes the basic principles, principal features and advantages of the present invention product, as will be appreciated by those skilled in the art. The foregoing examples and description are provided to illustrate the principles of the invention and to provide various changes and modifications without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a three-dimensional automatic warehouse of different size specification size cases, includes the three-dimensional storehouse of two-layer or more than two-layer and locates the goods shelves in the storehouse, its characterized in that: the system comprises a continuous lifter, a loading mechanism, a unloading mechanism, an loading sorting conveying mechanism and a unloading sorting conveying mechanism, wherein the continuous lifter comprises a continuous lifter for lifting and a continuous lifter for descending, the continuous lifter is communicated and penetrated between different floors and is used for loading and conveying cargoes upstairs and unloading cargoes downstairs, the loading mechanism and the unloading mechanism are arranged at a bottom floor, the loading mechanism is used for lifting and lifting the loading sorting conveying of cargo boxes, and a long, wide and high three-dimensional size detection sorting conveying line of the cargo boxes is arranged in the loading mechanism; the lower goods mechanism is used for delivering goods to a delivery outlet of the descending goods boxes, each layer in the three-dimensional storehouse with more than two layers is provided with an upper shelf sorting and conveying mechanism and a lower shelf sorting and conveying mechanism, the upper shelf sorting and conveying mechanism is used for sorting, conveying and storing the goods boxes lifted up by the continuous lifter for lifting up into a goods shelf, and the lower shelf sorting and conveying mechanism is used for taking out, sorting and conveying the goods boxes on the goods shelf to the continuous lifter for descending; the upper frame sorting and conveying mechanism comprises an upper box storage swing table sorting machine and a box storage roadway vehicle, sorting, conveying and storing the lifted goods boxes into a goods shelf through the upper frame sorting and conveying mechanism, the lower frame sorting and conveying mechanism comprises a box taking roadway vehicle and an upper box taking and splitting swing table, and the goods boxes are taken out from the goods shelf and conveyed and sorted through the lower frame sorting and conveying mechanism and then conveyed to a continuous lifting machine for descending, so that the taken goods boxes are lowered to the lower goods mechanism to finish goods delivery; the box storage roadway vehicle and the box taking roadway vehicle respectively realize box butt joint or box taking butt joint from two ends of a roadway conveying line between adjacent shelves, and the roadway conveying line is arranged between the adjacent shelves.

2. The stereoscopic automatic warehouse for boxes of different sizes according to claim 1, wherein: the loading mechanism sequentially comprises a loading interface conveying line, a box measuring mechanism conveying line, a loading swing table sorting machine, a recovery conveying sorting line and a box lifting preparation interface conveying line, boxes with different sizes are loaded through the loading interface conveying line and conveyed to the box measuring mechanism conveying line, a three-dimensional size detecting device for detecting the length, width, height and three-dimensional size of the boxes is arranged on the box measuring mechanism conveying line, correct or incorrect box sizes are sorted through the loading swing table sorting machine, and the boxes with correct sizes are conveyed to the box lifting preparation interface conveying line and the boxes with incorrect sizes are conveyed to the recovery conveying sorting line; the loading interface conveying line is provided with a loading detection adjustment alignment device for detecting and aligning the cargo boxes, and the loading detection adjustment alignment device comprises an opposite-shooting detection grating, a width adjustment push plate and a push plate driving motor, wherein the push plate driving motor drives the width adjustment push plate to push the cargo boxes to one side for alignment transportation.

3. The stereoscopic automatic warehouse for boxes of different sizes according to claim 1, wherein: the lower cargo handling mechanism comprises a box outlet preparation interface conveying line and a box conveying outlet conveying temporary storage line, the box is connected with the box outlet preparation interface conveying line after the bottom building is arranged under the descending continuous lifter, the rear stage of the box outlet preparation interface conveying line is connected with the box conveying outlet conveying temporary storage line, and box conveying shipment is realized through the box conveying outlet conveying temporary storage line.

4. The stereoscopic automatic warehouse for boxes of different sizes according to claim 1, wherein: a wall body electric control translation warehouse door is arranged between the loading interface conveying line and the box measuring mechanism conveying line, and a translation band-type brake locking structure is arranged at a door opening of the wall body electric control translation warehouse door; when boxes with different sizes and specifications need to be put in storage, the wall body electric control translation warehouse door is in an open state, and when the warehouse is closed at night, the wall body electric control translation warehouse door is in a closed state.

5. A stereoscopic automatic warehouse for boxes of different sizes according to claim 1 or 2 or 4, characterized in that: the box measuring mechanism conveying line comprises a roller conveying line and three direction detection measuring gratings for detecting the length, width, height and dimension of the box, wherein grating detection supports are arranged on two sides of the roller conveying line, vertical detection measuring gratings of the box are arranged on vertical struts of the grating detection supports, transverse detection measuring gratings of the box are arranged on transverse support arms of the grating detection supports, longitudinal detection measuring gratings of the box are arranged on the side edges of the conveying direction of the roller conveying line, and detection and measurement of length, width and height dimension data of the box in the conveying and moving process of the roller conveying line are realized.

6. The stereoscopic automatic warehouse for boxes of different sizes according to claim 1, wherein: the upper frame sorting and conveying mechanism sequentially comprises an upper lifting machine interface conveying line, an upper box storage confluence swinging table, a belt pushing plate conveying line, a sectional power conveying line, an error box temporary storage conveying line, a correct box conveying line and a box storage roadway vehicle, wherein the upper lifting machine interface conveying line is used for being connected with a cargo box lifted by a continuous lifting machine, after the upper lifting machine interface conveying line is connected with the lifted cargo box, the lifted cargo box flows to the belt pushing plate conveying line through the upper box storage confluence swinging table, the belt pushing plate conveying line is used for carrying out recalibration on the cargo box and conveying the recalibrated cargo box to the sectional power conveying line, the tail end of the sectional power conveying line is provided with a two-dimensional code reading head and a third pushing plate mechanism, the third pushing plate mechanism is arranged on the other opposite side edge of the sectional power conveying line connected with the error box temporary storage conveying line, the error box is pushed out towards the error box temporary storage conveying line through the third pushing plate mechanism, the two-dimensional code reading head is used for reading and identifying and judging the cargo box which passes through, the correct cargo box is conveyed into the correct box conveying line, and the error box is pushed onto the error box temporary storage conveying line by the third pushing plate mechanism; a fourth push plate mechanism is arranged on the correct box conveying line, the goods boxes are repositioned and are in butt joint with a box storage roadway vehicle through the fourth push plate mechanism, the box storage roadway vehicle comprises a ground rail, a top rail, a frame, a rotary swing table and a swing table driving motor, the correct goods boxes are received through the box storage roadway vehicle, and the correct goods boxes are stored in corresponding goods shelf positions through roadway conveying lines; the end of the error box temporary storage conveying line is provided with a temporary storage fluent line area.

7. The stereoscopic automatic warehouse for boxes of different sizes according to claim 1, wherein: the lower frame sorting conveying mechanism sequentially comprises a box taking roadway vehicle, an upper box taking port line, an upper box taking and distributing swing table, a split flow roller line and a descending elevator joint conveying line, wherein the box taking roadway vehicle is used for taking out a goods box to be taken out from a goods shelf through the roadway conveying line and converting the goods box to the upper box taking port line, the upper box taking port line is used for receiving and conveying the taken out goods box to the upper box taking and distributing swing table, a split flow roller line is arranged between the upper box taking and distributing swing table and the upper box storing and converging swing table arranged in the upper frame sorting conveying mechanism, recognition split flow judgment after box taking is realized through the upper box taking and distributing swing table, the judgment can be normally taken out, and the normal box to be taken out is conveyed to the descending elevator joint conveying line through the descending elevator joint conveying line.

8. The stereoscopic automatic warehouse for boxes of different sizes according to claim 1, wherein: the storage box roadway vehicle comprises a first ground rail, a first day rail, a first frame, a first lifting drag chain groove, a first rotary swing table driving motor, a first lifting motor and a first traveling motor, wherein the first frame comprises a first frame underframe and first lifting rail type upright column rails arranged at two sides of the first frame underframe, the first day rail and the first lifting drag chain groove are connected to the two first lifting rail type upright column rails, a floating connection structure is adopted between the first day rail and the two first lifting rail type upright column rails, the two first lifting rail type upright column rails are connected to the first rotary swing table, a first rotary swing table driving motor is arranged on the first rotary swing table, the first rotary swing table driving motor drives the first rotary swing table to rotate, the length direction of the rotary axis of the first rotary swing table is parallel to the length direction of the first day rail or the first ground rail, a photoelectric sensor and a distance sensor are arranged at one end opening side or two end sides of an outlet port of the first rotary swing table, the photoelectric sensor and a plurality of rolling swing tables are arranged at the opposite sides of the outlet port side of the first rotary swing table, the rolling table is parallel to the first swing table top of the first swing table, and the rolling table is parallel to the first swing table top of the first swing table top is arranged at the opposite to the first swing table top, and the first swing table top is far from the first swing top is parallel to the first swing table top and has a high-running top and a high-running table top and is opposite to the first swing table top; the first travelling motor is in driving connection with the first frame underframe and drives the first frame underframe to linearly move on the first ground rail, the first frame underframe drives the two first lifting rail type stand column rails and the first day rail to linearly move on the ground rail along with the first frame underframe, and the first lifting motor drives the first rotary swing table to lift and move along the two first lifting rail type stand column rails.

9. The stereoscopic automatic warehouse for boxes of different sizes according to claim 1, wherein: the box taking roadway vehicle comprises a second ground rail, a second overhead rail, a second frame, a second lifting drag chain groove, a box taking storage swing table, a second lifting motor and a portal frame, wherein the portal frame is arranged above the box taking storage swing table, and the bottom end of the portal frame is higher than the top end surface of the box, which is used for placing a goods box after the goods box is taken out from the box taking storage swing table; the second frame comprises a second frame underframe and second lifting rail type upright post rails arranged at two side ends of the second frame underframe, a second overhead rail and a second lifting drag chain are connected to the two second lifting rail type upright post rails, a floating connection structure is adopted between the second overhead rail and the two second lifting rail type upright post rails, a box taking and storing swing table is connected to the two second lifting rail type upright post rails, a second swing table surface of the box taking and storing swing table is provided with a plurality of second fluent strips distributed in parallel array, the rolling direction of the second fluent strips faces the box taking and storing swing table box inlet and outlet end direction or is far away from the box taking and storing swing table box inlet and outlet end direction, the top height of a swing table baffle is higher than the top height of the second fluent strips on the second swing table surface, and the other side corresponding to the box taking and storing swing table inlet and outlet end is provided with a second swing table baffle; the second travelling motor is in driving connection with the second frame underframe and drives the second frame underframe to linearly move on the second ground rail, the second frame underframe drives the two second lifting rail type upright post rails and the second overhead rail to linearly move on the second ground rail along with the second frame underframe, and the second lifting motor drives the box taking storage swing table and the portal frame above the box taking storage swing table to lift along the two second lifting rail type upright post rails; be equipped with on the portal frame and get the case and snatch three-dimensional mobile device, snatch three-dimensional mobile device through getting the case and snatch the transfer and put to getting the case and deposit the pendulum platform, get the case and snatch the translation device and be equipped with the case and snatch the tong and do back-and-forth movement, lift removal and control the corresponding three-dimensional removal actuating mechanism of removal, snatch the removal of realizing the case to the goods through three-dimensional removal actuating mechanism and place to get the case and deposit the pendulum bench assigned position.

10. An automatic pipe warehouse method for stereoscopic automatic warehouses of boxes with different sizes and dimensions is characterized in that: comprising the following bin management method

A1. When the boxes with different sizes are required to be stored into the stereoscopic automatic warehouse, the boxes with different sizes are loaded from the loading port of the bottom building of the automatic warehouse into the loading mechanism of the stereoscopic automatic warehouse with boxes with different sizes according to one of claims 1 to 9;

A9. when the box storage roadway vehicle of the stereoscopic automatic warehouse with boxes of different sizes and specifications transports and moves the goods boxes to the roadway conveying line end between goods shelves in the warehouse with the same floor in a horizontal state, according to the horizontal direction position and the height direction position of the required storage roadway conveying line end, the height position of the first rotary swinging table is adjusted, so that when the height of the first swinging table surface on the first rotary swinging table is larger than the height position of the roadway conveying line corresponding to the goods shelf appointed layer, the goods boxes on the first rotary swinging table are obliquely and downwards slipped and stored in the roadway conveying line through rotating the first rotary swinging table, and are conveyed to the goods shelf appointed position through the roadway conveying line, and the stereoscopic automatic warehouse storage warehouse tube of the goods boxes is completed;

A10. When a cargo box needs to be taken out of the stereoscopic automatic warehouse, the box taking roadway vehicle of the stereoscopic automatic warehouse with the different size specifications moves to the front of a roadway conveying line end between corresponding cargo frames of the cargo box to be taken, and when the cargo box is conveyed from the roadway conveying line to be butted with the box taking roadway vehicle, the box taking roadway vehicle grabs and moves the cargo box on a second swinging table surface of a second rotary swinging table on the box taking roadway vehicle through a box grabbing clamp arranged in a box taking grabbing translation device on a portal frame above the first rotary swinging table;