Intelligent three-dimensional warehouse for clamping type access to PCB finished products and warehousing method

Abstract

The application discloses a kind of gripper type access PCB finished product's intelligent three-dimensional warehouse machine warehousing method, it relates to warehousing system technical field.It includes: multiple shelves;Setting in the card board buffer rack of one side of shelf;Card board lifting device is set between card board buffer rack;Setting between adjacent shelves and can be moved in horizontal or vertical direction relative to shelf, for the gripper type manipulator for sending goods to be stored to the preset storage location to store, and when goods are taken out, the gripper type manipulator is taken out;Setting in the ground of intelligent three-dimensional warehouse and located in one side of shelf of warehousing operation center;Setting in the ground of intelligent three-dimensional warehouse and located in the warehousing operation center far away from one side of shelf of the warehousing operation center;And, setting in the control center of intelligent three-dimensional warehouse, with shelf, gripper type manipulator, warehousing operation center and warehousing operation center are all connected.Adopting the above technical scheme has the advantages of simple and convenient goods flow process, low economic cost, good flexibility.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse systems, in particular to a clamping type intelligent stereoscopic warehouse for storing and taking PCB finished products and a warehouse method. BACKGROUND

[0002] With the continuous improvement of the level of science and technology, more intelligent and convenient warehouse systems and stereoscopic warehouses have become a new trend for large factories and logistics companies to manage warehouses. The traditional warehouse for storing PCB finished products mainly relies on manual management. The warehouse personnel need to know the empty positions of the shelves at all times in order to store new incoming goods, and also need to know the accurate positions of each goods so as to find out the goods in time when taking out the goods. When the warehouse has a large number of goods and the goods are frequently taken in and out, it will consume a lot of labor cost, and it is difficult to ensure the efficiency of the taking out and putting in of the PCB finished products.

[0003] In order to solve the above problems, the existing intelligent stereoscopic warehouse can store and automatically store and take PCB finished products, but the existing intelligent stereoscopic warehouse is mostly based on pallets for storage and taking, and usually needs to be disassembled, stacked, pallet flow, carton flow and other operations when storing and taking. The intelligent stereoscopic warehouse set in this way has problems such as complicated storage and taking process, high economic cost and poor flexibility, and therefore needs to be improved. SUMMARY

[0004] In view of the defects and deficiencies of the prior art, the first purpose of the present application is to provide a clamping type intelligent stereoscopic warehouse for storing and taking PCB finished products, which can store PCB finished products in boxes. At the same time, the clamping type manipulator can quickly adjust the clamping distance, holding height and clamping position, so that the clamping type manipulator can clamp different size of goods boxes. Not only simplifies the intelligent stereoscopic warehouse, but also reduces the economic cost, and has the advantages of simple storage and taking process, low economic cost and good flexibility.

[0005] To achieve the above object, the technical scheme adopted by the present application is: a clamping type access PCB finished product intelligent three-dimensional warehouse, comprising: a plurality of shelves arranged on the ground of the intelligent three-dimensional warehouse and used for storing or buffering goods; a card board buffer rack arranged on the ground of the intelligent three-dimensional warehouse and located on one side of the shelves and used for storing goods to be shipped out and card boards; a card board lifting device arranged between the card board buffer racks and used for storing card boards and goods placed on the card boards on the card board buffer racks for goods taking personnel to take goods; a clamping type manipulator arranged between adjacent shelves and capable of moving in horizontal or vertical directions relative to the shelves, used for sending goods to be stored to a preset storage position for storage and taking out the goods when the goods are shipped out; an in-warehouse operation center arranged on the ground of the intelligent three-dimensional warehouse and located on one side of the shelves, used for conveying goods to be stored in units of boxes for the clamping type manipulator to store; the in-warehouse center is also used for conveying goods to be shipped out taken out by the clamping type manipulator; an out-warehouse operation center arranged on the ground of the intelligent three-dimensional warehouse and located on a side of the in-warehouse center away from the shelves, used for carrying out out-warehouse operation on the goods to be shipped out conveyed by the in-warehouse center; and a control center arranged in the intelligent three-dimensional warehouse and connected with the shelves, the clamping type manipulator, the in-warehouse operation center and the out-warehouse operation center, used for realizing intelligent in-warehouse and out-warehouse of the intelligent three-dimensional warehouse in units of boxes.

[0006] The clamping type manipulator comprises: a support base capable of sliding relative to the ground to adjust the horizontal clamping position; two parallel guide rails arranged on the support base and extending away from the support base to be slidably assembled with the shelves; telescopic fork supports arranged on mutually close sides of the two guide rails and capable of sliding relative to the guide rails to adjust the clamping height; a clamping type telescopic fork arranged on the telescopic fork supports and capable of sliding relative to the telescopic fork supports to be away from or close to the mounting side of the telescopic fork supports, used for adjusting the clamping spacing according to the size of the goods; a first driving device arranged on the telescopic fork supports and used for driving the telescopic fork supports to slide along the guide rails; a second driving device arranged on the telescopic fork supports and used for driving the clamping type telescopic fork to move to adjust the clamping spacing; a third driving device arranged on the support base and used for driving the support base to slide; and a control box arranged on the support base and connected with the control center, used for controlling the first driving device, the second driving device and the third driving device to work in sequence.

[0007] A guide rod is arranged on the shelves away from the ground, a guide wheel is arranged on the guide rail close to the guide rod, and the guide wheel is matched with the guide rod to guide the sliding of the guide rail.

[0008] The third driving device comprises a moving slide rail fixedly installed on the shelf near the ground side and serving as a guiding support for the movement of the support base, a roller provided on the support base and assembled with the moving slide rail for realizing the movement of the support base on the moving slide rail, a driving slide rail fixedly installed on the shelf near the ground side and assembled with the support base, a power source provided on the support base for providing power for the movement of the support base, and a driving member installed on a power output shaft of the power source and capable of rotating synchronously with the power output shaft for being assembled with the driving slide rail to drive the movement of the support base.

[0009] The shelf comprises a stereoscopic warehouse shelf for stereoscopic storage of full boxes of goods, and a buffer warehouse shelf provided side by side with the stereoscopic warehouse shelf for temporary buffering of tail number boxes; a first automatic code scanner and a first shape detection device are provided at the entrance of the buffer warehouse shelf, the first automatic code scanner is used for code scanning and identification of the goods entering or taken out, and the identification information is sent to the control center, and the first shape detection device is used for shape and weight detection of the goods entering or taken out.

[0010] The warehousing operation center comprises a warehousing drum conveying line provided on one side of the shelf for transporting the goods to be warehoused to the corresponding shelf and conveying the goods to be taken out to the warehousing operation center during the taking-out operation; a jacking transfer machine provided on the warehousing drum conveying line and corresponding to the end part of the shelf for transferring the goods conveyed on the warehousing drum conveying line to the end of the shelf for clamping by the clamping type mechanical hand; a unpacking mechanical hand provided at the inlet of the warehousing drum conveying line for unpacking the goods to be stored and placing the unpacked goods on the warehousing drum conveying line; a second shape detection device provided on the warehousing drum conveying line near the inlet side for detecting the size and weight of the goods placed on the warehousing drum conveying line; a second automatic code scanner provided on the warehousing drum conveying line for bar code scanning of the goods that have passed the detection of the second shape detection device and sending the scanned information to the control center; a buffer conveying line provided on one side of the drum conveying line for receiving and buffering the goods that have not been scanned and identified by the second automatic code scanner; and a warehousing rotary turntable provided on the warehousing drum conveying line for diverting and conveying the goods that have not been scanned and identified by the second automatic code scanner to the buffer conveying line.

[0011] The warehousing operation center further comprises a belt conveyor line arranged between the delivery operation center and the warehousing drum conveyor line, for manually placing the decimal box and sending the decimal box to the manual workbench; a third shape detection device arranged at the feeding port of the belt conveyor line, for detecting the size and weight of the placed decimal box; a third automatic code scanner arranged on the belt conveyor line, for scanning the code of the decimal box after detection by the third shape detection device and sending the identification information to the control center; and a box buffer area arranged at the side discharge port of the belt conveyor line, for buffering the material box.

[0012] The warehousing operation center comprises a delivery drum conveyor line connected with the warehousing drum conveyor line, for transporting the delivery goods on the warehousing drum conveyor line to the delivery port; a fourth shape detection device arranged at the feeding port of the delivery drum conveyor line, for detecting the shape and weight of the delivery goods; a fourth automatic code scanner arranged on the delivery drum conveyor line, for scanning the code of the delivery goods after detection by the fourth shape detection device and sending the identification information to the control center; a stacking manipulator arranged at the delivery port of the delivery drum conveyor line, for stacking the delivery goods; a manual operation table arranged on the delivery drum conveyor line between the stacking manipulator and the fourth automatic code scanner, for manual delivery operation; and a delivery rotating turntable arranged on the delivery drum conveyor line corresponding to the manual operation table, for changing the transmission direction of the goods.

[0013] The belt conveyor line is a double-layer conveyor line, and the upper layer of the double-layer conveyor line is used for feeding the material into the buffer warehouse rack. When there is a decimal in the delivery quantity, the lower layer of the double-layer conveyor line is used for delivering the decimal box on the buffer warehouse rack.

[0014] The beneficial effects of the present application are as follows: when goods are stored, the whole box or whole stack of goods is first unpacked by the unpacking mechanical hand, and the unpacked goods are placed on the storage drum conveying line, and then the second shape detection device and the second automatic code scanner are used for identification, and then the lifting transfer machine changes the conveying direction to convey the goods to the corresponding entrance of the stereoscopic warehouse rack, and then the clamping mechanical hand stores the goods in the preset storage position according to the control signal of the control center; the last box is placed on the last conveying line by manual operation, and the upper layer of the belt conveying line is conveyed to the manual workbench, and then the first shape detection device and the first automatic code scanner are used for identification, and then the goods are stored on the buffer warehouse rack. When the goods are taken out, the order information of the goods to be taken out is input into the control center, the clamping mechanical hand is controlled by the control center to place the whole box of goods on the storage drum conveying line to the conveying line, and then the fourth shape detection device and the fourth automatic code scanner are used for identification, and then the goods are sent to the palletizing mechanical hand for palletizing operation by the manual operation platform, and the last part is taken out from the buffer warehouse rack, and then the first shape detection device and the first automatic code scanner are used for identification, and then the goods are sent to the palletizing mechanical hand for palletizing operation by the manual operation platform, and then the goods are stored on the pallet buffer rack for taking goods by the code. The intelligent stereoscopic warehouse has the advantages of simple storage and taking process, low economic cost and good flexibility.

[0015] In view of the defects and deficiencies of the prior art, a second object of the present application is to provide a storage method which not only simplifies the storage process but also reduces the economic cost, and has the advantages of simple storage and taking process, low economic cost and good flexibility.

[0016] To achieve the above object, the technical scheme adopted by the present application is as follows: a storage method based on the above-mentioned intelligent stereoscopic warehouse, the storage method comprising the following steps:

[0017] S1, the PCB finished product is placed in the storage operation center, and the storage operation center conveys the PCB finished product to the corresponding rack for operation by the clamping mechanical hand;

[0018] S2, the control center controls the clamping mechanical hand to convey the PCB finished product sorted and conveyed by the storage operation center to the corresponding storage position of the corresponding rack for storage of the PCB finished product;

[0019] S3, the order information is input into the control center, so that the control center controls the storage operation center to sort and palletize the goods in the order information according to the order information;

[0020] S4, the pallet and the material are transported to the pallet buffer frame by the pallet lifting device to be buffered, so that the goods taking personnel take goods according to the code.

[0021] After the above method is used: when the goods are accessed, the PCB finished products can be stored in units of boxes, and the warehousing mode is simple and convenient, the warehouse-out mode is fast and accurate, not only simplifies the access process, but also reduces the economic cost, has the advantages of simple goods access process, low economic cost and good flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a schematic diagram of the overall structure of the embodiment;

[0024] Figure 2 is a partial structure schematic diagram corresponding to Figure 1 ;

[0025] Figure 3 is a structure schematic diagram of the shelf and the clamping type manipulator in the embodiment;

[0026] Figure 4 is a left view corresponding to Figure 3 ;

[0027] Figure 5 is a partial enlarged view corresponding to detail A in Figure 4 ;

[0028] Figure 6 is a partial enlarged view corresponding to detail B in Figure 4 ;

[0029] Figure 7 is a structure schematic diagram of the clamping type manipulator in the embodiment;

[0030] Figure 8 is a partial structure schematic diagram of the clamping type manipulator in the embodiment;

[0031] Figure 9 is a flowchart of the whole box goods warehousing process in the embodiment;

[0032] Figure 10 is a flowchart of the tailing box goods warehousing process in the embodiment;

[0033] Figure 11Figure 1 is a flow chart of the goods delivery process in the embodiment.

[0034] Reference signs: 1, shelf; 11, stereoscopic warehouse shelf; 12, buffer warehouse shelf; 13, first automatic code scanner; 14, first shape detection device; 15, manual workbench; 16, guide rod; 2, card board buffer rack; 3, card board lifting device; 4, clamping type manipulator; 41, support seat; 42, guide rail; 43, telescopic fork support; 44, clamping type telescopic fork; 45, first driving device; 46, second driving device; 47, third driving device; 471, movement slide rail; 472, roller; 473, driving slide rail; 474, power source; 475, driving piece; 476, fixed part; 477, support part; 478, assembly part; 479, guide wheel; 48, control box; 5, delivery work center; 51, delivery drum conveying line; 52, jacking transfer machine; 53, unpacking manipulator; 54, second shape detection device; 55, second automatic code scanner; 56, buffer conveying line; 57, delivery rotary turntable; 58, belt conveying line; 59, third shape detection device; 50, third scanner; 501, material box buffer area; 6, delivery work center; 61, delivery drum conveying line; 62, fourth shape detection device; 63, fourth automatic code scanner; 64, stacking manipulator; 65, manual operation platform; 66, delivery rotary turntable; 67, automatic labeling machine; 7, control center. DETAILED DESCRIPTION

[0035] The application will be further described in detail below with reference to the drawings.

[0036] The specific embodiment is only an explanation of the application, which is not a limitation of the application. Those skilled in the art can make modifications to the embodiment without creative contribution after reading the specification, as long as the modifications are within the scope of the claims of the application and are protected by the patent law.

[0037] The embodiment relates to an intelligent stereoscopic warehouse for storing and taking PCB finished products, as shown in the figure, which comprises a shelf 1, a card board buffer rack 2, a card board lifting device 3, a clamping type manipulator 4, a delivery work center 5, a delivery work center 6 and a control center 7. Figures 1-8

[0038] The clamping type manipulator 4 comprises a support seat 41, a guide rail 42, a telescopic fork support 43, a clamping type telescopic fork 44, a first driving device 45, a second driving device 46, a third driving device 47, a movement slide rail 471, a roller 472, a driving slide rail 473, a power source 474, a driving piece 475, a fixed part 476, a support part 477, an assembly part 478 and a guide wheel 479. Figures 1-8 ​As shown, the shelves 1 are provided in plurality. The shelves 1 are arranged on the ground of the intelligent stereoscopic warehouse, and are used for storing or buffering goods. The pallet buffering shelves 2 are arranged on the ground of the intelligent stereoscopic warehouse, and are located at one side of the shelves 1. The pallet buffering shelves 2 are used for storing goods to be taken out and pallets. The pallet lifting devices 3 are arranged between the pallet buffering shelves 2. The pallet lifting devices 3 are used for storing the goods placed on the pallets into the pallet buffering shelves 2, so as to be taken by the taking personnel. The clamping type mechanical hands 4 are arranged between the adjacent shelves 1, and can move in horizontal or vertical direction relative to the shelves 1. The clamping type mechanical hands 4 are used for sending the goods to be stored to the preset storage positions for storage. When the goods are taken out, the clamping type mechanical hands 4 are used for taking out the goods.

[0039] The in-warehouse operation center 5 is arranged on the ground of the intelligent stereoscopic warehouse, and is located at one side of the shelves 1. The in-warehouse operation center 5 is used for conveying the goods to be stored in units of boxes, so as to be stored by the clamping type mechanical hands 4. When the goods are taken out, the in-warehouse operation center 5 is also used for conveying the goods to be taken out taken out by the clamping type mechanical hands 4. The out-warehouse operation center 6 is arranged on the ground of the intelligent stereoscopic warehouse, and is located at one side of the in-warehouse operation center 5 away from the shelves 1. The out-warehouse operation center 6 is used for taking out the goods to be taken out conveyed by the in-warehouse operation center 5. The control center 7 is arranged in the intelligent stereoscopic warehouse. The control center 7 is connected with the shelves 1, the clamping type mechanical hands 4, the in-warehouse operation center 5 and the out-warehouse operation center 6, and is used for realizing the intelligent in-out warehouse of the intelligent stereoscopic warehouse in units of boxes.

[0040] Further, as shown in Figure 1 、 2 , the shelves 1 include the stereoscopic warehouse shelves 11 and the buffering warehouse shelves 12. The stereoscopic warehouse shelves 11 are used for storing the goods in units of boxes. The buffering warehouse shelves 12 are arranged side by side with the stereoscopic warehouse shelves 11, and are used for temporarily buffering the tail number boxes, so as to facilitate the storage and taking of the tail number boxes. In the embodiment, one group of the pallet buffering shelves 2 is arranged, 11 groups of the stereoscopic warehouse shelves 11 are arranged, and 1 group of the buffering warehouse shelves 12 is arranged. The stereoscopic warehouse shelves 11 are arranged with four different sizes and storage compartments, and can store 24156 boxes in total. The size of the stereoscopic warehouse shelves 11 is 24800x2500x2680mm. The design length of the pallet buffering shelves 2 is 24.8m, and 13 columns, 2 rows and 2 layers of 52 compartments are provided, and the size of the compartments is 1500x800x890mm.

[0041] Further, as shown in Figure 1 、 2As shown, the first automatic code scanner 13 and the first shape detection device 14 are arranged at the entrance of the buffer warehouse shelf 12. The first automatic code scanner 13 is used for code recognition of the entering or exiting goods, and the recognition information is sent to the control center 7. The first shape detection device 14 is used for shape and weight detection of the entering or exiting goods.

[0042] Further, as shown, Figures 1-8 The clamping manipulator 4 includes a support seat 41, a guide rail 42, a telescopic fork support 43, a telescopic clamping fork 44, a first driving device 45, a second driving device 46, a third driving device 47, and a control box 48.

[0043] The support seat 41 can slide relative to the ground to adjust the horizontal clamping position. The guide rail 42 is arranged on the support seat 41 and extends away from the support seat 41 to be slidably assembled with the shelf 1. The guide rail 42 is provided with two parallel guide rails 42. The telescopic fork support 43 is arranged on the side of the two guide rails 42 close to each other, and the telescopic fork support 43 can slide relative to the guide rail 42 to adjust the clamping height. The telescopic clamping fork 44 is arranged on the telescopic fork support 43, and the telescopic clamping fork 44 can slide relative to the telescopic fork support 43 to move away from or close to the mounting side of the telescopic fork support 43. The telescopic clamping fork 44 is used to adjust the clamping distance according to the size of the goods to adapt to different sizes of the material box. The first driving device 45 is arranged on the telescopic fork support 43, and the first driving device 45 is located between the telescopic fork support 43 and the guide rail 42. The first driving device 45 is used to drive the telescopic fork support 43 to slide along the guide rail 42. The second driving device 46 is arranged on the telescopic fork support 43, and the second driving device 46 is used to drive the telescopic clamping fork 44 to move to adjust the clamping distance. The third driving device 47 is arranged on the support seat 41 and is used to drive the support seat 41 to slide. The control box 48 is arranged on the support seat 41 and connected with the control center, and the control box 48 is used to control the first driving device 45, the second driving device 46 and the third driving device 47 to work in sequence.

[0044] Further, as shown, Figures 1-8As shown, the third driving device 47 comprises a moving slide rail 471, a roller 472, a driving slide rail 473, a power source 474 and a driving member 475. The moving slide rail 471 is fixedly installed on the shelf 1 near the ground side, and the moving slide rail 471 plays a guiding and supporting role for the movement of the support base 41. The roller 472 is arranged on the support base 41 and is assembled with the moving slide rail 471. The roller 472 is used to realize the movement of the support base 41 on the moving slide rail 471. The driving slide rail 473 is fixedly installed on the shelf 1 near the ground side, and the driving slide rail 473 is used to be assembled with the support base 41. The power source 474 is arranged on the support base 41, and the power source 474 is used to provide power for the movement of the support base 41. The driving member 475 is installed on the power output shaft of the power source 474, and the driving member 475 can rotate synchronously with the power output shaft. The driving member 475 is used to be assembled with the driving slide rail 473, so as to drive the movement of the support base 41.

[0045] Preferably, the driving slide rail 473 is a rack protruding on the shelf 1, and the driving member 475 is a driving gear protruding on the support base 41, and the driving gear is engaged with the rack. After the clamping manipulator 4 is opened, the driving gear is driven to rotate by the power source 474, so that the driving gear moves on the rack, thereby providing power for the movement of the clamping manipulator 4.

[0046] Specifically, as shown in the figure, Figures 1-8 The moving slide rail 471 comprises a fixed part 476, a supporting part 477 and an assembling part 478. The fixed part 476 is fixedly installed on the shelf 1. The supporting part 477 is arranged on the fixed part 476 near the support base 41 side. The assembling part 478 is arranged on the supporting part 477, and the transverse dimension of the assembling part 478 is greater than that of the supporting part 477. The assembling part 478 is used to be assembled with the roller 472. In this embodiment, the fixed part 476 is fixedly assembled with the support base through fastening screws. The supporting part 477 and the assembling part 478 are integrally formed with the fixed part 476.

[0047] Preferably, the moving slide rail 471 is provided in parallel with two, so as to ensure the stability of the movement of the clamping manipulator 4, and the driving slide rail 473 is arranged between the two moving slide rails 471.

[0048] Preferably, as shown in the figure, Figures 1-8 The shelf 1 is provided with a guide rod 16 away from the ground side, and the guide rail 42 is provided with a guide wheel 479 near the guide rod 16 side, and the guide wheel 479 is matched with the guide rod 16 to guide the sliding of the guide rail 42. The guide wheel 479 is provided with two groups and is located on both sides of the guide rod 16. When the clamping manipulator 4 moves, the guide wheel 479 rolls along the side wall of the guide rod 16, thereby stabilizing the upper end of the clamping manipulator 4, and further ensuring the stability of the operation of the clamping manipulator 4.

[0049] As Figures 1-2 shown, the warehousing operation center 5 includes: a warehousing drum conveying line 51, a jacking transfer machine 52, a unpacking manipulator 53, a second shape detection device 54, a second automatic code scanner 55, a buffer conveying line 56, and a warehousing rotary turntable 57.

[0050] The warehousing drum conveying line 51 is arranged at one side of the shelf 1. The warehousing drum conveying line 51 is used to transport the goods to be warehoused to the corresponding shelf 1; during the unloading operation, the warehousing drum conveying line 51 is also used to transport the goods to be unloaded to the unloading operation center 6. The jacking transfer machine 52 is arranged on the warehousing drum conveying line 51 and corresponds to the end of the shelf 1. The jacking transfer machine 52 is used to transfer the goods conveyed on the warehousing drum conveying line 51 to the entrance of the shelf 1 for clamping by the clamping manipulator 4. The unpacking manipulator 53 is arranged at the inlet of the warehousing drum conveying line 51. The unpacking manipulator 53 is used to unpack the goods to be stored and place the unpacked goods on the warehousing drum conveying line 51.

[0051] The second shape detection device 54 is arranged on the warehousing drum conveying line 51 near the inlet. The second shape detection device 54 is used to detect the size and weight of the goods placed on the warehousing drum conveying line 51. The second automatic code scanner 55 is arranged on the warehousing drum conveying line 51. The second automatic code scanner 55 is used to scan the bar code of the goods that have passed the detection of the second shape detection device 54, and then send the scanned information to the control center 7. The buffer conveying line 56 is arranged on one side of the drum conveying line. The buffer conveying line 56 is used to receive and buffer the goods that have not been scanned and recognized by the second automatic code scanner 55. The warehousing rotary turntable 57 is arranged on the warehousing drum conveying line 51. The warehousing rotary turntable 57 is used to divert the goods that have not been scanned and recognized by the second automatic code scanner 55 to the buffer conveying line 56.

[0052] Further, as Figures 1-2 shown, the warehousing operation center 5 also includes: a belt conveying line 58, a third shape detection device 59, a third scanner 50, and a box buffer area 501. The belt conveying line 58 is arranged between the unloading operation center 6 and the warehousing drum conveying line 51. The belt conveying line 58 is used to place the decimal boxes by hand and send the decimal boxes to the manual workbench 15. The third shape detection device 59 is arranged at the inlet of the belt conveying line 58, and the third shape detection device 59 is used to detect the size and weight of the placed decimal boxes. The third automatic code scanner is arranged on the belt conveying line 58, and the third automatic code scanner is used to scan and recognize the decimal boxes that have passed the detection of the third shape detection device 59, and send the recognition information to the control center 7. The box buffer area 501 is arranged at the outlet of the belt conveying line 58, and the box buffer area 501 is used to buffer the boxes.

[0053] Further, as Figures 1-2 The out-warehouse roller conveying line 61, the fourth shape detection device 62, the fourth automatic code scanner 63, the stacking manipulator 64, the manual operation table 65, and the out-warehouse rotary turntable 66.

[0054] Specifically, the out-warehouse roller conveying line 61 is connected with the in-warehouse roller conveying line 51, and the out-warehouse roller conveying line 61 is used to transport the goods to be out-warehouse on the in-warehouse roller conveying line 51 to the out-warehouse port. The fourth shape detection device 62 is arranged at the material inlet of the out-warehouse roller conveying line 61. The fourth shape detection device 62 is used to detect the shape and weight of the goods to be out-warehouse. The fourth automatic code scanner 63 is arranged on the out-warehouse roller conveying line 61. The fourth automatic code scanner 63 is used to scan and identify the goods passing through the fourth shape detection device 62, and send the identified information to the control center 7. The stacking manipulator 64 is arranged at the out-warehouse port of the out-warehouse roller conveying line 61. The stacking manipulator 64 is used to stack the goods to be out-warehouse. The manual operation table 65 is arranged on the out-warehouse roller conveying line 61, and the manual operation table 65 is located between the stacking manipulator 64 and the fourth automatic code scanner 63. The manual operation table 65 is used for workers to perform out-warehouse operation. The out-warehouse rotary turntable 66 is arranged on the out-warehouse roller conveying line 61, and the out-warehouse rotary turntable 66 corresponds to the manual operation table 65. The out-warehouse rotary turntable 66 is used to change the transmission direction of the goods.

[0055] Preferably, as Figures 1-2 The manual operation table 65 includes a packing and marking operation table, a sealing and packaging operation table, a vacuum packaging operation table, a boxing operation table, a quality detection operation table, etc. The packing and marking operation table is provided with four, and the four packing and marking operation tables correspond to the four out-warehouse rotary turntables 66 provided on the out-warehouse roller conveying line 61. The automatic labeling machine 67 is arranged on the out-warehouse roller conveying line 61, and the automatic labeling machine 67 is arranged at the rear of the quality detection operation table.

[0056] Further, as Figures 1-2 The belt conveying line 58 is a double-layer conveying line, and the upper layer of the double-layer conveying line is used for the material to enter the buffer warehouse shelf 12. When there is a remainder in the out-warehouse quantity, the lower layer of the double-layer conveying line is used for the remainder box on the buffer warehouse shelf 12 to be out-warehouse. When the remainder box is out-warehouse, the remainder box on the lower layer conveying line can be conveyed to the manual workbench 15 for manual operation.

[0057] The working principle of the embodiment is roughly as follows: when the goods are stored, the whole box or whole stack of goods is first unpacked by the unpacking mechanical hand 53, and the unpacked goods are placed on the storage drum conveying line 51, and then the second shape detection device 54 and the second automatic code scanner 55 are used for scanning and identifying, and then the lifting and moving machine 52 changes the conveying direction to convey the goods to the entrance of the corresponding stereoscopic warehouse rack 11, and then the clamping mechanical hand 4 stores the goods in the preset storage position according to the control signal of the control center 7; the last box is placed on the last conveying line by manual operation, and the upper layer of the belt conveying line 58 is conveyed to the manual workbench 15, and then the first shape detection device 14 and the first automatic code scanner 13 are used for scanning and identifying, and then the goods are stored in the buffer warehouse rack 12. When the goods are taken out, the order information of the goods to be taken out is input into the control center 7, the clamping mechanical hand 4 is controlled by the control center 7 to place the whole box of goods on the storage drum conveying line 51 and convey it to the take-out drum conveying line 61, and then the fourth shape detection device 62 and the fourth automatic code scanner 63 are used for scanning and identifying, and then the manual operation table 65 is operated, and then the goods are sent to the palletizing mechanical hand 64 for palletizing operation, and the last part is taken out from the buffer warehouse rack 12, and then the first shape detection device and the first automatic code scanner 13 are used for scanning and identifying, and then the manual operation table 65 is operated, and then the goods are sent to the palletizing mechanical hand 64 for palletizing operation, and then the goods are sent to the palletizing mechanical hand 64 for palletizing operation. After the palletizing is completed, the palletizing is completed by the card board lifting device 3, and the palletizing is completed by the card board lifting device 3. The goods are stored in the card board buffer rack 2 for taking goods by code. The intelligent stereoscopic warehouse thus arranged has the advantages of simple goods storage and taking process, low economic cost and good flexibility.

[0058] Based on the above scheme, the embodiment also provides a storage method, as shown in the figure, which comprises the following steps: Figures 9-11

[0059] S1, the PCB finished product is placed in the storage operation center 5, and the storage operation center 5 conveys the PCB finished product to the corresponding rack 1 for the clamping mechanical hand 4 to operate;

[0060] S2, the control center 7 controls the clamping mechanical hand 4 to convey the PCB finished product conveyed by the storage operation center 5 to the corresponding storage position of the corresponding rack 1 for storage of the PCB finished product;

[0061] S3, the order information is input into the control center 7, so that the control center 7 controls the take-out operation center 6 to sort and palletize the goods in the order information according to the order information;

[0062] S4, the palletizing completed card board and material are conveyed to the card board buffer rack 2 by the card board lifting device 3 for buffering, so that the goods are taken by code by the taking personnel.

[0063] Specifically, when the goods are stored, as shown in​Figure 9 As shown, step S1 includes the following steps:

[0064] S11, manually place the whole stack or whole box of PCB finished products to be stored in the warehouse at the unpacking manipulator 53, unpack and grab through the unpacking manipulator 53, so as to place the PCB finished products in the warehouse in units of boxes on the storage drum conveying line 51 for conveying;

[0065] S12, detect the shape and weight of the goods to be stored by the second shape detection device 54, and send the shape and weight detection data to the control center 7, so as to facilitate the control center 7 to control the storage drum conveying line 51 to convey it to the corresponding rack 1 entrance;

[0066] S13, scan and identify the bar code through the second bar code scanner, so as to obtain the basic information of the incoming goods, and send the identification information to the control center 7 after identification for the control center 7 to record; if the goods not scanned are conveyed to the buffer conveying line 56 by the storage rotary turntable 57 for manual processing and then enter the storage conveying line for storage operation again;

[0067] S14, the control center 7 controls the storage conveying line to convey the goods to be stored to the corresponding stereoscopic warehouse rack 11 according to the detection data of the second shape detection device 54 and the information identified by the second bar code scanner, and then moves it into the material inlet of the corresponding stereoscopic warehouse rack 11 by the corresponding jacking transfer machine 52;

[0068] S15, the control center 7 controls the clamping manipulator 4 to send the goods at the material inlet of the stereoscopic warehouse rack 11 to the corresponding storage compartment for storage.

[0069] When there are tail numbers in the goods of the storage batch, such as Figure 10 As shown, step S1 also includes:

[0070] S16, manually place the tail number box on the tail number conveying line, and sequentially detect the shape and size and weight through the third shape detection device 59, scan and identify through the third bar code scanner, and send the information identified by the bar code to the control center 7 for recording;

[0071] S17, send the tail number box to the material box buffer area 501 through the tail number conveying line for buffering, so as to be operated by the manual operation table 15;

[0072] S18, after the manual operation table 65, the tail number box is sent to the material inlet of the buffer warehouse rack 12, and the shape is detected by the first shape detection device 14, and the bar code is scanned and identified by the first bar code scanner, and then stored in the corresponding compartment of the buffer warehouse rack 12 by the clamping manipulator 4.

[0073] Specifically, when the goods are out of the warehouse, asFigure 11 As shown, step S3 includes:

[0074] S31. Input the outbound order information into the control center 7, and the control center 7 determines whether there is a decimal part in the order quantity;

[0075] S32. The integer part is controlled by the control center 7 according to the outbound order information, which controls the gripping robot 4 to pick up the corresponding order goods and place the order goods on the inbound roller conveyor line 51, which then transports them to the outbound roller conveyor line 61.

[0076] S33, the outbound roller conveyor line 61 transports the ordered goods to the fourth shape detection device 62 for shape and weight detection to obtain the size and weight information of the ordered goods;

[0077] S34, the outbound roller conveyor 61 transports the order goods to the fourth barcode scanner for barcode scanning and identification, in order to identify the information of the order goods and record the quantity, and then sends it to the control center 7;

[0078] S35, the outbound roller conveyor 61 sends the ordered goods to the manual operation table 65 via the outbound rotary table 66 for manual operation, and then the outbound roller conveyor 61 transports them to the palletizing robot 64, where the palletizing robot 64 loads them onto pallets.

[0079] S36. The loaded pallets and goods are sent to the pallet buffer rack 2 for outbound buffering by the pallet lifting device 3, so that the picking personnel can pick up the order goods according to the picking code.

[0080] S37. The control center 7 controls the gripping robot 4 to take the corresponding tail box from the buffer warehouse shelf 12 according to the tail box in the order goods. After the tail box is scanned by the first automatic barcode scanner 13 and the size and weight are detected by the first shape detection device 14, it is sent to the manual workbench 15 for tail box processing.

[0081] S39. Place the finished quantity box on the lower layer of the double-layer conveyor line. The lower layer conveyor will transport it to the manual operation table 65 for manual outbound sorting. After the outbound sorting is completed, send it to the palletizing robot 64 for outbound processing.

[0082] After adopting the above method, PCB finished products can be stored in boxes when storing and retrieving goods. At the same time, the warehousing method is simple and convenient, and the retrieval method is fast and accurate. It not only simplifies the storage and retrieval process, but also reduces economic costs. It has the advantages of simple storage and retrieval process, low economic cost and good flexibility.

[0083] The above is only used to illustrate the technical solution of the present invention and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention, as long as they do not depart from the spirit and scope of the technical solution of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A smart automated warehouse for clamping and retrieving finished PCB products, characterized in that, include: Multiple shelves (1) set on the floor of the intelligent automated warehouse for storing or caching goods; a pallet cache rack (2) set on the floor of the intelligent automated warehouse and located on one side of the shelves (1) for storing goods to be shipped and pallets; A pallet lifting device (3) is installed between the pallet buffer racks (2) for storing pallets and goods placed on the pallets onto the pallet buffer racks (2) for pickup by personnel. A gripping robot (4) is installed between adjacent shelves (1) and can move horizontally or vertically relative to the shelves (1) to deliver the goods into the warehouse to a preset storage location for storage and to take out the goods when they leave the warehouse. An inbound operation center (5) is set on the floor of the intelligent automated warehouse and located on one side of the shelf (1) for transporting goods to be stored in boxes for storage by the gripping robot (4). The inbound operation center (5) is also used to transport goods to be taken out of the warehouse by the gripping robot (4). An outbound operation center (6) is set on the ground of the intelligent automated warehouse and located on the side of the inbound operation center (5) away from the shelf (1), for carrying out outbound operations of the goods to be transported by the inbound operation center (5). In addition, a control center (7) is set up in the intelligent automated warehouse and is connected to the shelf (1), the gripping robot (4), the inbound operation center (5) and the outbound operation center (6) to realize the intelligent automated warehouse's intelligent inbound and outbound operations in units of boxes.

2. The intelligent automated warehouse for storing and retrieving finished PCB products using a clamping mechanism as described in claim 1, characterized in that, The gripping manipulator (4) includes: A support base (41) that can slide relative to the ground to adjust the horizontal clamping position; Two parallel guide rails (42) are provided on the support base (41) and extend away from the support base (41) to be slidably assembled with the shelf (1); Telescopic fork brackets (43) are respectively set on one side of the two guide rails (42) that are close to each other, and can slide relative to the guide rails (42) to adjust the clamping height; A clamping telescopic fork (44) mounted on the telescopic fork bracket (43) and slidable relative to the telescopic fork bracket (43) to move away from or closer to the mounting side of the telescopic fork bracket (43), for adjusting the clamping distance according to the size of the goods. A first driving device (45) disposed on the telescopic fork bracket (43) and located between the telescopic fork bracket (43) and the guide rail (42) for driving the telescopic fork bracket (43) to slide along the guide rail (42); A second drive device (46) is provided on the telescopic fork bracket (43) for driving the clamping telescopic fork (44) to move to adjust the clamping distance; A third driving device (47) disposed on the support base (41) for driving the support base (41) to slide; and, A control box (48) is mounted on the support base (41) and connected to the control unit for controlling the sequential operation of the first drive device (45), the second drive device (46) and the third drive device (47).

3. The intelligent automated warehouse for clamping and retrieving finished PCB products according to claim 2, characterized in that, A guide rod (16) is provided on the side of the shelf (1) away from the ground, and a guide wheel (479) is provided on the side of the guide rail (42) near the guide rod (16). The guide wheel (479) is adapted to the guide rod (16) to provide sliding guidance for the guide rail (42).

4. The intelligent automated warehouse for clamping and retrieving finished PCB products according to claim 3, characterized in that, The third drive unit (47) includes: A motion slide rail (471) is fixedly installed on the shelf (1) near the ground and serves to guide and support the movement of the support base (41); Rollers (472) are mounted on the support base (41) and assembled with the motion slide rail (471) for realizing the movement of the support base (41) on the motion slide rail (471); A drive slide rail (473) is fixedly installed on the shelf (1) near the ground and is used to assemble with the support base (41); A power source (474) disposed on the support base (41) for providing power for the movement of the support base (41); and, A drive component (475) mounted on the power output shaft of the power source (474) and capable of rotating synchronously with the power output shaft, used to be assembled with the drive slide rail (473) to drive the support base (41) to move.

5. The intelligent automated warehouse for clamping and retrieving finished PCB products according to any one of claims 1-4, characterized in that, The shelf (1) includes: Automated storage racks (11) for storing entire boxes of goods in a three-dimensional manner; and, A buffer rack (12) for temporarily buffering leftover boxes is arranged side by side with the automated storage rack (11); the entrance of the buffer rack (12) is equipped with a first automatic barcode scanner (13) and a first shape detection device (14). The first automatic barcode scanner (13) is used to scan and identify the goods that enter or are taken out and send the identification information to the control center (7). The first shape detection device (14) is used to detect the shape and weight of the goods that enter or are taken out.

6. The intelligent automated warehouse for clamping and retrieving finished PCB products according to claim 5, characterized in that, The inbound operation center (5) includes: An inbound roller conveyor line (51) is installed on one side of the shelf (1) to transport goods to be stored to the corresponding shelf (1) and to transport goods to be shipped out to the outbound operation center (6) during outbound operations. A lifting transfer machine (52) is installed on the inbound roller conveyor line (51) and correspondingly installed at the end of the shelf (1) for transferring the goods conveyed on the inbound roller conveyor line (51) to the end of the shelf (1) for clamping by the gripping robot (4). A packaging robot (53) is installed at the feed inlet of the inbound roller conveyor (51) for unpacking the goods to be stored and placing the unpacked goods on the inbound roller conveyor (51); a second shape detection device (54) is installed on the inbound roller conveyor (51) and near the feed inlet for detecting the size and weight of the goods placed on the inbound roller conveyor (51); The second automatic barcode scanner (55) installed on the inbound roller conveyor line (51) is used to scan the barcodes of goods that have passed the inspection by the second shape detection device (54) and send the scanned information to the control center (7); A buffer conveyor (56) disposed on one side of the roller conveyor for receiving and buffering goods that have not been scanned and identified by the second automatic barcode scanner (55); and, The inbound rotary table (57) located on the inbound roller conveyor line (51) is used to turn and transport goods that have not been scanned and identified by the second automatic barcode scanner (55) to the inbound rotary table (57) on the buffer conveyor line (56).

7. The intelligent automated warehouse for clamping and retrieving finished PCB products according to claim 6, characterized in that, The inbound operation center (5) also includes: A belt conveyor (58) is installed between the outbound operation center (6) and the inbound roller conveyor line (51) for manual placement of the last number boxes and delivery of the last number boxes to the manual workbench (15); A third shape detection device (59) is installed at the inlet of the belt conveyor (58) for detecting the size and weight of the goods in the unfilled boxes; A third automatic barcode scanner, installed on the belt conveyor (58), is used to scan and identify the last few boxes after they have been inspected by the third shape inspection device (59) and send the identification information to the control center (7); and, A material box buffer area (501) is provided at the material outlet on the side of the belt conveyor (58) for buffering the material box.

8. The intelligent automated warehouse for clamping and retrieving finished PCB products according to claim 7, characterized in that, The inbound operation center (5) includes: An outbound roller conveyor (61) that is connected to the inbound roller conveyor (51) and is used to transport the goods to be shipped out on the inbound roller conveyor (51) to the outbound port; A fourth shape detection device (62) is installed at the inlet of the outbound roller conveyor line (61) for detecting the shape and weight of the goods to be outbound. The fourth automatic barcode scanner (63) is installed on the outbound roller conveyor line (61) for scanning and identifying the barcodes passed by the fourth shape detection device (62) and sending the identified information to the control center (7); the palletizing robot (64) is installed at the outbound outlet of the outbound roller conveyor line (61) for palletizing the goods to be outbound. A manual operating table (65) for workers to perform outbound operations, set on the outbound roller conveyor line (61) and located between the palletizing robot (64) and the fourth automatic barcode scanner (63); and an outbound rotary table (66) set on the outbound roller conveyor line (61) and corresponding to the manual operating table (65) for changing the direction of goods transport.

9. The intelligent automated warehouse for clamping and retrieving finished PCB products according to claim 8, characterized in that, The belt conveyor line (58) is a double-layer conveyor line, and the upper conveyor line of the double-layer conveyor line is used to supply materials to the buffer warehouse shelf (12). When there are unfilled quantities in the outbound quantity, the lower conveyor line of the double-layer conveyor line is used to supply the unfilled boxes on the buffer warehouse shelf (12) for outbound.

10. A warehousing method, characterized in that, The warehousing method is based on the intelligent automated warehouse as described in claim 9, and the warehousing method includes the following steps: S1. Place the finished PCB product into the warehousing operation center (5), and the warehousing operation center (5) will transport the finished PCB product to the corresponding shelf (1) so that the gripping robot (4) can operate. S2. The control center (7) controls the clamping robot (4) to transport the PCB finished goods sorted and transported by the warehousing operation center (5) to the corresponding storage location of the corresponding shelf (1) for PCB finished goods storage. S3. Input order information into the control center (7), so that the control center (7) controls the outbound operation center (6) to sort the goods in the order information and perform palletizing operation according to the order information; S4. The pallet and materials that have been stacked are transported to the pallet buffer rack (2) by the pallet lifting device (3) for buffering, so that the picking personnel can pick up the goods by the code.

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