A fully automatic storage equipment

Abstract

The present invention relates to a fully automatic storage equipment, including an outer shell and a material storage rack, wherein a material storage and retrieval module, a transfer detection and material distribution module and a flip feed module are arranged in the outer shell, the material storage racks are respectively located on both sides of the material storage and retrieval module, the flip feed module is located at one end of the material storage and retrieval module, and the transfer detection and material distribution module is located between the material storage and retrieval module and the flip feed module; the material storage and retrieval module includes a first XZ axis moving mechanism, the transfer detection and material distribution module includes a second XZ axis moving mechanism, a temporary placement table and a CCD camera, and the second XZ axis moving mechanism and the first XZ axis moving mechanism moving table are both connected with a material grabbing module. The present invention cooperates with a CCD camera to take pictures and record information, that is, to detect whether the material tray information is correct, and fully automatically controls the storage and call of materials, so that the storage is automated and systematized, the personnel participation is reduced, and the work efficiency is improved; the automatic door is used at the inlet and outlet to prevent personnel from contacting the material box and causing damage by rotation.

Description

Technical Field

[0001] The present invention relates to the field of storage equipment, and in particular to a fully automatic storage equipment. Background Art

[0002] Warehousing equipment refers to technical devices and machinery that can meet the needs of storing and keeping items. It does not only refer to equipment with external representations such as houses and locked doors. It can be specifically divided into loading and unloading equipment and storage equipment, measuring equipment, maintenance and inspection equipment, ventilation and lighting equipment, fire safety equipment, labor protection equipment and other purpose equipment and tools.

[0003] The existing shelf-type warehouses are difficult to maintain and cumbersome to check. It is difficult to implement first-in-first-out and tail material priority rules for material preparation. At the same time, the entire process of logistics management is operated by personnel, lacking a communication mechanism, prone to errors, and difficult to ensure that accounts and materials are consistent. At the same time, work efficiency is low, which seriously affects the company's development. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic storage device that can store and call products fully automatically, reduce human involvement, and improve work efficiency.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A fully automatic storage equipment comprises an outer shell and a material storage rack, wherein the outer shell is provided with a material storage and retrieval module, a transfer detection and material separation module and a flipping and feeding module, the material storage racks are respectively located on both sides of the material storage and retrieval module, the flipping and feeding module is located at one end of the material storage and retrieval module, and the transfer detection and material separation module is located between the material storage and retrieval module and the flipping and feeding module; the material storage and retrieval module comprises a first XZ-axis moving mechanism, the transfer detection and material separation module comprises a second XZ-axis moving mechanism, a temporary placement table and a CCD camera, and the second XZ-axis moving mechanism and the moving table of the first XZ-axis moving mechanism are both connected with material grabbing modules.

[0007] Furthermore, the material grabbing module includes a rotating platform and a first gear rack linear module, the first gear rack linear module is connected to the top of the rotating platform, the moving platform of the first gear rack linear module is connected to a vertical plate, the vertical plate is connected to a finger cylinder, and the two jaws of the finger cylinder are respectively connected to clamps.

[0008] Furthermore, object measuring sensors are respectively provided on both sides of the bottom plate of the first gear rack linear module close to one end of the clamping plate; the two object measuring sensors are arranged obliquely and the extension lines of their rays intersect at one point.

[0009] Furthermore, the temporary placement table is located between the material storage and retrieval module and the second XZ axis moving mechanism, and the temporary placement table is within the moving range of the second XZ axis moving mechanism; the CCD camera is located directly above the temporary placement table and is used to take pictures and record and detect whether the stored objects are correct.

[0010] Furthermore, the flipping feeding module includes a temporary material picking rack, a material error rack and a feeding flipping mechanism; the feeding flipping mechanism includes a flipping motor, a flipping frame and a rotating shaft; the rotating shaft is rotatably connected to the outer shell, the rotating shaft and the flipping frame are fixedly connected, the flipping motor is fixed to the outer shell and is drivingly connected to the rotating shaft; a roller assembly is provided at the bottom of the flip frame.

[0011] Furthermore, an inlet and outlet and a temporary outlet are provided at one end of the outer shell. The inlet and outlet are arranged corresponding to the feed turning mechanism, and the temporary outlet is arranged corresponding to the temporary material taking placement rack and the wrong material placement rack.

[0012] Furthermore, an automatic door connected to the outer shell is provided in the inlet and outlet; the automatic door includes a door body, an electric cylinder and two parallel and spaced guide rods; the two ends of the door body can slide on the two guide rods respectively; one end of the electric cylinder is connected to the bottom end of the door body, and the other end is connected to the outer shell.

[0013] Furthermore, the storage rack is composed of a plurality of U-shaped plates in a rectangular array.

[0014] The beneficial effects of the present invention are as follows: the present invention is a fully automatic storage equipment, which cooperates with a CCD camera to take pictures and record information, that is, to detect whether the material tray information is correct, and fully automatically controls the storage and call of materials, so as to automate and systematize the storage, reduce the participation of personnel, and improve work efficiency; automatic doors are used at the inlets and outlets to prevent personnel from contacting the material boxes and causing damage during flipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an overall axonometric diagram of a fully automatic storage device of the present invention;

[0016] Figure 2 It is a partial structural diagram of a fully automatic storage equipment of the present invention;

[0017] Figure 3 Another partial structural diagram of a fully automatic storage device of the present invention;

[0018] Figure 4 This is a structural view of the material storage rack of the present invention;

[0019] Figure 5 This is a structural view of the material storage and access module of the present invention;

[0020] Figure 6This is a structural view of the transfer detection and material distribution module of the present invention;

[0021] Figure 7 This is a first state view of the flip feed module according to the present invention;

[0022] Figure 8 This is a first state view of the flip feed module according to the present invention;

[0023] Fig. 9 This is a first angle view of the feeding turning mechanism of the present invention;

[0024] Fig.10 A second angle view of the feeding turning mechanism of the present invention;

[0025] Fig.11 This is a structural view of the material grabbing module of the present invention;

[0026] In the figure: 1. outer shell; 11. inlet and outlet; 12. temporary outlet; 2. storage rack; 21. U-shaped plate; 3. storage and retrieval module; 31. first XZ axis moving mechanism; 4. transfer detection and material distribution module; 41. second XZ axis moving mechanism; 42. temporary placement table; 43. CCD camera; 5. flip feeding module; 51. temporary material retrieval placement rack; 52. wrong material placement rack; 53. flip motor; 54. flip frame; 541. roller assembly; 55. rotating shaft; 6. material grabbing module; 61. rotating platform; 62. first gear rack linear module; 63. vertical plate; 64. finger cylinder; 65. clamping plate; 66. object measuring sensor; 7. automatic door; 71. guide rod; 72. door body; 73. electric cylinder. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] refer to Figures 1 to 11A fully automatic storage equipment comprises an outer shell 1 and a material storage rack 2, wherein the outer shell 1 is provided with a material storage and retrieval module 3, a transfer detection and material distribution module 4 and a flipping and feeding module 5, the material storage rack 2 is respectively located on both sides of the material storage and retrieval module 3, the flipping and feeding module 5 is located at one end of the material storage and retrieval module 3, and the transfer detection and material distribution module 4 is located between the material storage and retrieval module 3 and the flipping and feeding module 5; the material storage and retrieval module 3 comprises a first XZ-axis moving mechanism 31, the transfer detection and material distribution module 4 comprises a second XZ-axis moving mechanism 41, a temporary placement table 42 and a CCD camera 43, and the second XZ-axis moving mechanism 41 and the first XZ-axis moving mechanism 31 moving table are both connected with a material grabbing module 6. The material storage and retrieval module 3 is used to place products into the storage rack 2 or to retrieve materials from the discharge rack 2; the transit detection and material separation module 4 is used to reverse the material transfer between the feeding module 5 and the material storage and retrieval module 3, take photos to record information and detect and verify whether the stored objects are the same as the system's predetermined objects when storing materials, and screen out unqualified stored objects; the flipping feeding module 5 is used to flip the material box to a state that is convenient for the material grabbing module 6 to grab.

[0029] The material grabbing module 6 includes a rotating platform 61 and a first gear rack linear module 62, the first gear rack linear module 62 is connected to the top of the rotating platform 61, a vertical plate 63 is connected to the moving platform of the first gear rack linear module 62, a finger cylinder 64 is connected to the vertical plate 63, and two clamping claws of the finger cylinder 64 are respectively connected to the clamping plate 65. The rotating platform 61 is used to drive the first gear rack linear module 62 to rotate to different positions, the first gear rack linear module 62 is used to drive the finger cylinder 64 and the clamping plate 65 to extend to grab and retract to make way; the finger cylinder 64 is used to drive the clamping plate 65 to clamp the material.

[0030] Object measuring sensors 66 are respectively provided on both sides of the bottom plate of the first gear rack linear module 62 near one end of the clamping plate 65; the two object measuring sensors 66 are arranged obliquely and the extension lines of their rays intersect at one point, and the two object measuring sensors 66 are used to detect whether there is material in front of the material grabbing module 6.

[0031] The temporary placement table 42 is located between the material storage and retrieval module 3 and the second XZ axis moving mechanism 41, and the temporary placement table 42 is within the moving range of the second XZ axis moving mechanism 41; the CCD camera 43 is located directly above the temporary placement table 42, and is used for taking pictures and recording and detecting whether the stored objects are correct.

[0032] The flipping feeding module 5 includes a temporary material taking and placing rack 51, a wrong material placing rack 52 and a feeding flipping mechanism; the feeding flipping mechanism includes a flipping motor 53, a flipping frame 54 and a rotating shaft 55; the rotating shaft 55 is rotatably connected to the outer shell 1, the rotating shaft 55 and the flipping frame 54 are fixedly connected, the flipping motor 53 is fixed to the outer shell 1 and is drivingly connected to the rotating shaft 55; a roller assembly 541 is provided at the bottom of the flipping frame 54. The flipping motor 53 drives the rotating shaft 55, i.e., the flipping frame 54, to flip from a horizontal state to a vertical state; the flipping frame 54 is used to place a material box to prevent the material box from jumping out when flipping.

[0033] An inlet and outlet 11 and a temporary outlet 12 are provided at one end of the outer shell 1. The inlet and outlet 11 is arranged corresponding to the feed turning mechanism, and the temporary outlet 12 is arranged corresponding to the temporary material taking and placing rack 51 and the wrong material placing rack 52.

[0034] An automatic door 7 connected to the outer shell 1 is provided in the inlet and outlet 11, and the automatic door 7 can prevent people from touching the material box and causing damage when it is turned over; the automatic door 7 includes a door body 72, an electric cylinder 73 and two parallel and spaced guide rods 71; the two ends of the door body 72 can slide on the two guide rods 71 ​​respectively; one end of the electric cylinder 73 is connected to the bottom end of the door body 72, and the other end is connected to the outer shell 1.

[0035] The storage rack 2 is composed of a plurality of U-shaped plates 21 in a rectangular array.

[0036] The second XZ-axis moving mechanism 41 and the first XZ-axis moving mechanism 31 both specifically adopt XY-axis servo linear modules, which are existing technologies and are used for lateral and vertical movement.

[0037] The dual-channel fully automatic storage equipment used in this embodiment (multi-channel can also be used) is equipped with two parallel storage and retrieval modules 3, a transfer detection and sorting module 4 and a flip feeding module 5. Each storage and retrieval module 3 is provided with storage racks 2 on both sides. Dual channels or multiple channels are used to improve the storage and retrieval capacity.

[0038] Working principle:

[0039] When storing materials:

[0040] The material box is carried to the inlet and outlet 11 by the external VGA trolley, and is pushed into the flip frame 54 along the roller assembly 541 through the inlet and outlet 11 (the flip frame 54 is in a horizontal state at this time), and then the electric cylinder 73 extends to drive the door body 72 to extend and seal the inlet and outlet 11, and then the flip motor 53 drives the flip frame 54 to flip to a vertical state; the second XZ axis moving mechanism 41 drives the material grabbing module 6 thereon to take out the materials in the material box in the flip frame 54 in the vertical state in turn, and place them on the temporary placement table 42, and the CCD camera 43 takes pictures of the materials on the temporary placement table 42 to record the storage information and detect whether the stored objects are consistent with the predetermined stored objects (the materials may be damaged or the QR code may be lost, the QR code may be wrongly pasted, and many other undesirable situations may occur);

[0041] If they are inconsistent, the second XZ-axis moving mechanism 41 drives the material grabbing module 6 thereon to take out the material on the temporary placement table 42 and move it to the wrong material placement rack 52, and then the material is taken out manually by an outside person through the temporary discharge port 12.

[0042] If they are consistent, the first XZ axis moving mechanism 31 drives the material grabbing module 6 thereon to move to the U-shaped plate 21 in the predetermined material storage rack 2 .

[0043] After all the materials in the material box are taken out, the automatic door 7 is opened, the flip frame 54 is flipped to a horizontal state again, and the empty material frame is taken out by the external VGA trolley.

[0044] When taking materials: the first XZ-axis moving mechanism 31 drives the material grabbing module 6 thereon to take out the materials from the storage rack 2 and move them to the temporary placement table 42 according to the system instructions, and the CCD camera 43 takes pictures of the materials on the temporary placement table 42 to record the outbound information; if the materials are temporarily discharged, the second XZ-axis moving mechanism 41 drives the material grabbing module 6 thereon to grab the materials on the temporary placement table 42 and place them in the temporary material taking placement rack 51, and then they are taken out manually by the outside; if the materials are discharged in batches, the second XZ-axis moving mechanism 41 drives the material grabbing module 6 thereon to grab the materials on the temporary placement table 42 and place them in the material frame of the flipping feeding module 5, and then flip them to a horizontal state, and take them out from the inlet and outlet 11.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The above embodiments are used to further illustrate the present invention, but the present invention is not limited to these specific embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.

Claims

1. A fully automatic storage device, comprising an outer shell (1) and a storage rack (2), characterized in that: The outer shell (1) is provided with a material storage and retrieval module (3), a transfer detection and material distribution module (4) and a flip feed module (5); the material storage racks (2) are respectively located on both sides of the material storage and retrieval module (3); the flip feed module (5) is located at one end of the material storage and retrieval module (3); the transfer detection and material distribution module (4) is located between the material storage and retrieval module (3) and the flip feed module (5); the material storage and retrieval module (3) comprises a first XZ axis moving mechanism (31); the transfer detection and material distribution module (4) comprises a second XZ axis moving mechanism (41), a temporary placement table (42) and a CCD camera (43); the second XZ axis moving mechanism (41) and the first XZ axis moving mechanism (31) are both connected to a material grabbing module (6); The temporary placement table (42) is located between the material storage and retrieval module (3) and the second XZ axis moving mechanism (41), and the temporary placement table (42) is within the moving range of the second XZ axis moving mechanism (41); the CCD camera (43) is located directly above the temporary placement table (42) and is used to take photos and record and detect whether the stored objects are correct; the flipping feeding module (5) comprises a temporary material retrieval placement rack (51), a wrong material placement rack (52) and a feeding flipping mechanism; the feeding flipping mechanism comprises a flipping motor (53), a flipping frame (54) and a rotating shaft (55); the rotating shaft (55) is rotatably connected to the outer shell (1), the rotating shaft (55) and the flipping frame (54) are fixedly connected, and the flipping motor (53) is fixed to the outer shell (1). ) and is drivingly connected to the rotating shaft (55); a roller assembly (541) is provided at the bottom of the flip frame (54); an inlet and outlet (11) and a temporary outlet (12) are provided at one end of the outer shell (1); the inlet and outlet (11) is arranged corresponding to the feeding flip mechanism; the temporary outlet (12) is arranged corresponding to the temporary material taking placement rack (51) and the wrong material placement rack (52); the storage rack (2) is composed of a plurality of U-shaped plates (21) in a rectangular array; the material box is pushed into the flip frame (54) along the roller assembly (541) through the inlet and outlet (11); at this time, the flip frame (54) is in a horizontal state, and the flip motor (53) drives the flip frame (54) to flip to a vertical state; the second XZ axis moving mechanism (41) The material grabbing module (6) thereon is driven to sequentially take out the materials in the material box in the vertical flip frame (54) and place them on the temporary placement table (42). The CCD camera (43) takes photos of the materials on the temporary placement table (42) to record the storage information and detect whether the stored materials are consistent with the predetermined stored materials. If they are consistent, the first XZ axis moving mechanism (31) drives the material grabbing module (6) thereon to move to the U-shaped plate (21) in the predetermined material storage rack (2). If they are inconsistent, the second XZ axis moving mechanism (41) drives the material grabbing module (6) thereon to take out the materials on the temporary placement table (42) and move them to the wrong material placement rack (52), and then the materials are taken out manually by an external person through the temporary discharge port (12).

2. The fully automatic storage equipment according to claim 1, characterized in that: The material grabbing module (6) comprises a rotating platform (61) and a first gear rack linear module (62), wherein the first gear rack linear module (62) is connected to the top of the rotating platform (61), a vertical plate (63) is connected to the moving platform of the first gear rack linear module (62), a finger cylinder (64) is connected to the vertical plate (63), and two clamping claws of the finger cylinder (64) are respectively connected to clamping plates (65).

3. The fully automatic storage equipment according to claim 2, characterized in that: Object measuring sensors (66) are respectively provided on both sides of the bottom plate of the first gear rack linear module (62) close to one end of the clamping plate (65); the two object measuring sensors (66) are arranged obliquely and the extended lines of their rays intersect at one point.

4. The fully automatic storage equipment according to claim 1, characterized in that: An automatic door (7) connected to the outer shell (1) is provided in the material inlet and outlet (11); the automatic door (7) comprises a door body (72), an electric cylinder (73) and two parallel guide rods (71) arranged at intervals; two ends of the door body (72) can slide on the two guide rods (71) respectively; one end of the electric cylinder (73) is connected to the bottom end of the door body (72), and the other end is connected to the outer shell (1).

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