Automatic pop-up device, automatic cargo storage and retrieval device and method

Abstract

The present invention provides an automatic storage and retrieval device for goods, including an automatic ejection tray and an automatic pop-up device, wherein the automatic ejection tray is provided with an ejection mechanism, and the ejection mechanism is used to push the goods on the automatic ejection tray onto the automatic pop-up device, and the automatic pop-up device is provided with an ejection mechanism, and the ejection mechanism is used to push the goods on the automatic pop-up device onto the automatic ejection tray. The present invention utilizes the mutual cooperation between the automatic ejection tray and the automatic pop-up device to realize the automatic storage and retrieval of goods, without the need to use a tray as a carrier to store and retrieve goods, thereby eliminating the management and storage process of the tray. The present invention also provides an automatic pop-up device, an automatic storage method for goods, and an automatic retrieval method for goods.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics warehousing, and in particular to an automatic pop-up device, an automatic cargo storing and taking-out device, an automatic cargo storing method and an automatic cargo taking-out method. Background Art

[0002] With the continuous development of logistics and warehousing technology, the storage method of stereoscopic warehouses has gradually been applied to e-commerce warehousing and industrial warehousing, making the storage and retrieval of goods more efficient and more convenient to manage. The traditional storage and retrieval method of stereoscopic warehouses uses pallets as carriers for carrying goods, and pallets are transported by automated storage equipment such as stackers or shuttles to complete the storage and retrieval of goods.

[0003] The storage and retrieval method of goods using pallets as carriers generally includes: first taking out the pallet to be used from the pallet storage, then placing the goods on the pallet, and finally placing the pallet with goods on the shelf through automated equipment; the retrieval process generally includes: first taking out the pallet with goods from the shelf through automated equipment, then taking the goods off the pallet, and finally returning the empty pallet to the pallet storage or storing the next batch of goods. In this process, pallets are used in a mobile manner, and the existence of pallets requires an additional step in the automated management operation process for the storage and handling of empty pallets. In the operation process, not only does it waste the time of automated equipment such as stackers to store and transport empty pallets, but some automated warehouses also require the addition of automated equipment to complete the automated management of pallets, thereby increasing the construction cost of automated warehouses. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic storage and retrieval device for goods, aiming to solve the shortcomings of the above-mentioned background technology, and utilize the mutual cooperation of the automatic ejection tray and the automatic pop-up device to realize the automatic storage and retrieval of goods, without the need to use the pallet as a carrier to store and retrieve the goods, thereby eliminating the management and storage process of the pallet.

[0005] The present invention provides an automatic cargo storage and retrieval device, comprising an automatic ejection tray and an automatic pop-up device, wherein the automatic ejection tray is provided with an ejection mechanism, and the ejection mechanism is used to push the cargo on the automatic ejection tray onto the automatic pop-up device, and the automatic pop-up device is provided with an ejection mechanism, and the ejection mechanism is used to push the cargo on the automatic pop-up device onto the automatic ejection tray.

[0006] Furthermore, the automatic ejection tray is installed on a terminal shaft of an industrial robot, and the automatic pop-up device is installed on a shelf.

[0007] Furthermore, the automatic ejection pallet includes a pallet body for carrying goods, and the ejection mechanism includes a push plate and a driving device, wherein the push plate is located above the pallet body, the push plate is connected to the driving device, and the driving device is used to drive the push plate to move toward the automatic pop-up device so as to push the goods on the pallet body onto the automatic pop-up device through the push plate.

[0008] Furthermore, the automatic pop-up device includes a bottom plate for carrying goods, and the pop-up mechanism includes a pop-up plate and a first elastic member, wherein the pop-up plate is located above the bottom plate and is connected to the first elastic member, and the first elastic member is used to store force when compressed and drive the pop-up plate to move toward the automatic ejection tray after the pop-up plate is released, so as to push the goods on the bottom plate onto the automatic ejection tray through the pop-up plate.

[0009] Furthermore, the automatic ejection tray also includes a push rod, which is located above the tray body and extends along the moving direction of the push plate. The push rod is connected to the driving device, and the driving device is also used to drive the push rod to move toward the automatic pop-up device, so as to push the pop-up plate to move in a direction away from the automatic ejection tray through the push rod and cause the pop-up plate to compress the first elastic member.

[0010] Furthermore, the automatic ejection tray also includes a guide support assembly, the push rod is correspondingly located above the guide support assembly and is in contact with the guide support assembly, the guide support assembly is used to support the push rod and the push rod can slide along the guide support assembly.

[0011] Furthermore, the driving device is a rodless cylinder, comprising a driving part and a slide rail, wherein the slide rail is extended along the moving direction of the push plate, and the driving part is sleeved on the slide rail and can move along the slide rail.

[0012] Furthermore, the number of the rodless cylinders is two, and the two rodless cylinders are respectively arranged on both sides of the tray body.

[0013] Furthermore, the automatic ejection tray also includes a connecting plate, the push plate is connected to the connecting plate, and both ends of the connecting plate are respectively connected to the driving parts of the two rodless cylinders.

[0014] Furthermore, there are two push rods, which are respectively located on both sides of the tray body, one end of each push rod is connected to the connecting plate, and the other end of each push rod is used to push the pop-up plate.

[0015] Furthermore, the automatic pop-up device further comprises a self-locking device, and the pop-up plate can be locked in a fixed position or released from the fixed position by the self-locking device.

[0016] Furthermore, the self-locking device includes a hollow fixed shaft and a card bead, the card bead is located inside the fixed shaft, and the side wall of the fixed shaft is provided with a card bead hole, the size of the card bead hole is smaller than the size of the card bead so that the card bead cannot completely pass through the card bead hole but can only be partially exposed from the card bead hole, and the card bead can be driven to change its position between protruding from the outer surface of the fixed shaft and retracting into the interior of the fixed shaft; when the card bead protrudes from the outer surface of the fixed shaft, the pop-up plate is locked in the fixed position by the card bead; when the card bead retracts into the interior of the fixed shaft, the pop-up plate is released from the fixed position and the first elastic member drives the pop-up plate to move toward the automatic ejection tray.

[0017] Furthermore, the self-locking device also includes a second elastic member, a locking shaft and a push shaft, the second elastic member, the locking shaft and the push shaft are all located inside the fixed shaft, the locking shaft is located between the second elastic member and the push shaft, the bottom of the card bead is in contact with the side wall of the locking shaft, the side wall of the locking shaft is provided with an inclined surface, the front end height of the inclined surface is lower than the rear end height of the inclined surface; when the locking shaft is pushed to move inside the fixed shaft, the locking shaft drives the card bead to change its position between protruding from the outer surface of the fixed shaft and retracting into the inside of the fixed shaft through the inclined surface.

[0018] Furthermore, an unlocking drive device is also provided on the automatic ejection tray, and the unlocking drive device is used to act on the end of the push shaft away from the locking shaft and push the push shaft to drive the locking shaft to move toward the second elastic member to compress the second elastic member, and make the card bead gradually retract from the outer surface protruding from the fixed shaft to the inside of the fixed shaft; when the unlocking drive device cancels the force acting on the end of the push shaft away from the locking shaft, the second elastic member pushes the locking shaft to return to its original position through the elastic force and makes the card bead gradually protrude from the inside of the fixed shaft to the outer surface of the fixed shaft.

[0019] Furthermore, the first elastic member is a spring and is sleeved on the fixed shaft. The front and rear ends of the fixed shaft are fixed to the bottom plate through support seats. The two ends of the first elastic member are respectively against the support seat and the pop-up plate at the rear end.

[0020] Furthermore, a sliding block is sleeved on the fixed shaft, and the sliding block is located between the first elastic member and the pop-up plate, and the sliding block is fixed to the pop-up plate.

[0021] The present invention also provides an automatic ejection pallet, comprising a pallet body for carrying goods and a ejection mechanism for pushing the goods, the ejection mechanism comprising a push plate and a driving device, the push plate being located above the pallet body, the push plate being connected to the driving device, the driving device being used to drive the push plate to move toward an automatic pop-up device so as to push the goods on the pallet body onto the automatic pop-up device through the push plate.

[0022] Furthermore, the automatic ejection tray also includes a push rod, which is located above the tray body and extends along the moving direction of the push plate. The push rod is connected to the driving device, and the driving device is also used to drive the push rod to move toward the automatic pop-up device, so as to push the pop-up plate on the automatic pop-up device to move in a direction away from the automatic ejection tray through the push rod.

[0023] Furthermore, the driving device is a rodless cylinder, comprising a driving part and a slide rail, wherein the slide rail is extended along the moving direction of the push plate, and the driving part is sleeved on the slide rail and can move along the slide rail.

[0024] Furthermore, the number of the rodless cylinders is two, and the two rodless cylinders are respectively arranged on both sides of the tray body.

[0025] Furthermore, the automatic ejection tray also includes a connecting plate, the push plate is connected to the connecting plate, and both ends of the connecting plate are respectively connected to the driving parts of the two rodless cylinders.

[0026] Furthermore, there are two push rods, which are respectively located on both sides of the tray body, one end of each push rod is connected to the connecting plate, and the other end of each push rod is used to push the pop-up plate.

[0027] Furthermore, the automatic ejection tray also includes a guide support assembly, the push rod is correspondingly located above the guide support assembly and is in contact with the guide support assembly, the guide support assembly is used to support the push rod and the push rod can slide along the guide support assembly.

[0028] Furthermore, the automatic ejection tray is mounted on a terminal shaft of an industrial robot.

[0029] The present invention also provides an automatic pop-up device, comprising a bottom plate for carrying goods and a pop-up mechanism for pushing goods, the pop-up mechanism comprising a pop-up plate and a first elastic member, the pop-up plate is located above the bottom plate, the pop-up plate is connected to the first elastic member, the first elastic member is used to store force when compressed and drive the pop-up plate to move toward an automatic ejection tray after the pop-up plate is released, so as to push the goods on the bottom plate onto the automatic ejection tray through the pop-up plate.

[0030] Furthermore, the automatic pop-up device further comprises a self-locking device, and the pop-up plate can be locked in a fixed position or released from the fixed position by the self-locking device.

[0031] Furthermore, the self-locking device includes a hollow fixed shaft and a card bead, the card bead is located inside the fixed shaft, and the side wall of the fixed shaft is provided with a card bead hole, the size of the card bead hole is smaller than the size of the card bead so that the card bead cannot completely pass through the card bead hole but can only be partially exposed from the card bead hole, and the card bead can be driven to change its position between protruding from the outer surface of the fixed shaft and retracting into the interior of the fixed shaft; when the card bead protrudes from the outer surface of the fixed shaft, the pop-up plate is locked in the fixed position by the card bead; when the card bead retracts into the interior of the fixed shaft, the pop-up plate is released from the fixed position and the first elastic member drives the pop-up plate to move toward the automatic ejection tray.

[0032] Furthermore, the self-locking device also includes a second elastic member, a locking shaft and a push shaft, the second elastic member, the locking shaft and the push shaft are all located inside the fixed shaft, the locking shaft is located between the second elastic member and the push shaft, the bottom of the card bead is in contact with the side wall of the locking shaft, the side wall of the locking shaft is provided with an inclined surface, the front end height of the inclined surface is lower than the rear end height of the inclined surface; when the locking shaft is pushed to move inside the fixed shaft, the locking shaft drives the card bead to change its position between protruding from the outer surface of the fixed shaft and retracting into the inside of the fixed shaft through the inclined surface.

[0033] Furthermore, the first elastic member is a spring and is sleeved on the fixed shaft. The front and rear ends of the fixed shaft are fixed to the bottom plate through support seats. The two ends of the first elastic member are respectively against the support seat and the pop-up plate at the rear end.

[0034] Furthermore, a sliding block is sleeved on the fixed shaft, and the sliding block is located between the first elastic member and the pop-up plate, and the sliding block is fixed to the pop-up plate.

[0035] Furthermore, the automatic pop-up device is installed on a shelf.

[0036] The present invention also provides a method for automatic storage of goods, comprising:

[0037] Move the automatic ejection tray to align with the automatic ejection device;

[0038] The unlocking drive device on the automatic ejection tray extends to unlock the self-locking device on the automatic ejection device;

[0039] The driving device on the automatic ejection tray drives the push rod and the push plate on the automatic ejection tray to move synchronously toward the automatic ejection device, and the push rod pushes the ejection plate on the automatic ejection device to move backward while the push plate pushes the goods on the automatic ejection tray onto the automatic ejection device;

[0040] The unlocking drive on the automatic ejection tray retracts, and the self-locking device locks the ejection plate in a fixed position.

[0041] The present invention also provides a method for automatically taking out goods, comprising:

[0042] Move the automatic ejection tray to align with the automatic ejection device;

[0043] The unlocking drive device on the automatic ejection tray extends to unlock the self-locking device on the automatic ejection device;

[0044] The first elastic member on the automatic pop-up device pushes the pop-up plate on the automatic pop-up device to move forward by utilizing compression elasticity, and the pop-up plate pushes the goods on the automatic pop-up device onto the automatic ejection tray;

[0045] The unlocking drive on the automatic ejection tray retracts.

[0046] The automatic storage and retrieval device provided by the present invention, by setting a push mechanism on the automatic push tray, setting a pop-up mechanism on the automatic pop-up device, and utilizing the mutual cooperation between the automatic push tray and the automatic pop-up device, can achieve the purpose of pushing the goods on the automatic push tray to the automatic pop-up device and pushing the goods on the automatic pop-up device to the automatic push tray, thereby realizing the automatic storage and retrieval of goods, without the need to use the tray as a carrier to store and retrieve the goods, eliminating the management and storage process of the tray. At the same time, when the automatic storage and retrieval device for goods is applied to the construction of the express post at the end of the park, the construction area of ​​the post can be reduced, and the device can be used to quickly complete the construction of the park's automated storage post. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic cargo storage and retrieval device in an embodiment of the present invention.

[0048] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the automatic tray ejection.

[0049] Figure 3 It is a schematic diagram of the structure of the automatic ejection tray when ejecting goods in an embodiment of the present invention.

[0050] Figure 4 for Figure 3 Schematic diagram of the explosion structure.

[0051] Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the automatic pop-up device.

[0052] Figure 6 for Figure 5 Schematic diagram of the explosion structure.

[0053] Figure 7 for Figure 5 Schematic diagram of the three-dimensional structure of the self-locking device.

[0054] Figure 8 for Figure 7 Schematic cross-section of .

[0055] Fig. 9 for Figure 7 Schematic diagram of the explosion structure.

[0056] Fig.10 for Figure 1 main view. DETAILED DESCRIPTION

[0057] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0058] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular sequence or order.

[0059] The directional words such as up, down, left, right, front, back, top, bottom, etc. (if any) involved in the specification and claims of the present invention are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, and are only for the clarity and convenience of expressing the technical solution. It should be understood that the use of directional words should not limit the scope of protection claimed in this application.

[0060] like Figures 1 to 6As shown, the automatic storage and retrieval device for goods provided in an embodiment of the present invention includes an automatic ejection tray 1 and an automatic pop-up device 2. The automatic ejection tray 1 is provided with an ejection mechanism, which is used to push the goods 4 on the automatic ejection tray 1 onto the automatic pop-up device 2. The automatic pop-up device 2 is provided with an ejection mechanism, which is used to push the goods 4 on the automatic pop-up device 2 onto the automatic ejection tray 1.

[0061] In this embodiment, the automatic ejection tray 1 is installed on the end shaft of an industrial robot 5, the automatic pop-up device 2 is installed on a shelf 3, and a transfer plate 110 is installed on one side of the automatic ejection tray 1 to realize the connection between the automatic ejection tray 1 and the industrial robot 5. In specific use, the automatic storage and retrieval device for goods can be applied to the express post at the end of the park, so that the industrial robot 5 can be used to realize the automatic sorting and filling of express delivery, so that the express delivery can be quickly and automatically stored and taken out, thereby reducing the labor intensity of the express delivery personnel and saving labor costs. Of course, in other embodiments, the automatic ejection tray 1 can also be installed on a stacker or a shuttle car, so that the automatic storage and retrieval device for goods can be applied to storage systems such as three-dimensional warehouses.

[0062] Furthermore, the automatic ejection pallet 1 includes a pallet body 14 for carrying goods 4, and the ejection mechanism includes a push plate 18 and a driving device 13. The push plate 18 is located above the pallet body 14, and the push plate 18 is connected to the driving device 13. The driving device 13 is used to drive the push plate 18 to move toward the automatic pop-up device 2 so as to push the goods 4 on the pallet body 14 onto the automatic pop-up device 2 through the push plate 18.

[0063] Furthermore, a soft strip 17 is fixed on the push plate 18, and the soft strip 17 is used to reduce the collision of the push plate 18 with the goods 4, so as to avoid damage to the goods 4 when the goods 4 are pushed out.

[0064] Furthermore, the automatic pop-up device 2 includes a bottom plate 27 for carrying goods 4, and the pop-up mechanism includes a pop-up plate 23 and a first elastic member 22. The pop-up plate 23 is located above the bottom plate 27, and the pop-up plate 23 is connected to the first elastic member 22. The first elastic member 22 is used to store force when compressed and drive the pop-up plate 23 to move toward the automatic ejection tray 1 after the pop-up plate 23 is released, so as to push the goods 4 on the bottom plate 27 onto the automatic ejection tray 1 through the pop-up plate 23.

[0065] Furthermore, the automatic ejection tray 1 also includes a push rod 16, which is located above the tray body 14. The push rod 16 is extended along the moving direction of the push plate 18. The push rod 16 is connected to the driving device 13. The driving device 13 is also used to drive the push rod 16 to move toward the automatic pop-up device 2, so as to push the pop-up plate 23 to move in a direction away from the automatic ejection tray 1 through the push rod 16 and cause the pop-up plate 23 to compress the first elastic member 22.

[0066] Furthermore, in this embodiment, the driving device 13 is a rodless cylinder, including a driving part 131 and a slide rail 132 . The slide rail 132 is extended along the moving direction of the push plate 18 . The driving part 131 is sleeved on the slide rail 132 and can move along the slide rail 132 .

[0067] Furthermore, the number of the rodless cylinders is two, and the two rodless cylinders are respectively arranged on both sides of the tray body 14 .

[0068] Furthermore, the automatic ejection tray 1 further comprises a connecting plate 19, the push plate 18 is connected to the connecting plate 19, and both ends of the connecting plate 19 are respectively connected to the driving parts 131 of the two rodless cylinders. The push plate 18 and the connecting plate 19 can be two separate components or an integrated structure.

[0069] Furthermore, there are two push rods 16 , which are respectively located on both sides of the tray body 14 , one end of each push rod 16 is connected to the connecting plate 19 , and the other end of each push rod 16 is used to push the pop-up plate 23 .

[0070] Furthermore, the automatic ejection tray 1 also includes a guide support assembly 15 , and the push rod 16 is correspondingly located above the guide support assembly 15 and abuts against the guide support assembly 15 . The guide support assembly 15 is used to support the push rod 16 and the push rod 16 can slide along the guide support assembly 15 .

[0071] Specifically, in this embodiment, the guide support assembly 15 is a linear guide rail slider module, and the guide support assembly 15 includes a guide rail 151 and a slider 152. The guide rail 151 is extended along the moving direction of the push plate 18, the push rod 16 is close to the guide rail 151 and can slide along the guide rail 151, the slider 152 is clamped on the guide rail 151 and can slide along the guide rail 151, and the slider 152 is connected to the push rod 16. The guide support assembly 15 is also used to drive the push plate 18, the connecting plate 19 and the push rod 16 to move along the specified direction. It can be understood that in this embodiment, because the driving device 13 is a rodless cylinder, the driving device 13 itself has a certain guiding function (the driving part 131 can move along the slide rail 132). If in other embodiments, the driving device 13 only has a driving function but does not have a guiding function, the guide support assembly 15 can also add a guiding function to the driving device 13, so that the push plate 18, the connecting plate 19, the push rod 16 and other related components move along the specified direction.

[0072] Furthermore, the number of the guide support components 15 and the number of the push rods 16 are both two, and the two guide support components 15 and the two push rods 16 are respectively disposed on opposite sides of the tray body 14 .

[0073] Furthermore, in this embodiment, the connecting plate 19 is also connected to the two push rods 16 and the two guide support assemblies 15 at the same time, and is used to drive the push rods 16 and the slider 152 to move. The end of the connecting plate 19 is clamped between the push rod 16 and the slider 152 and fastened by bolts. That is, in this embodiment, the connecting plate 19 is directly connected to the driving device 13, and the push plate 18, the push rod 16 and the guide support assembly 15 are indirectly connected to the driving device 13 through the connecting plate 19. Of course, the push plate 18, the push rod 16 and the guide support assembly 15 can also be directly connected to the driving device 13, which is not limited here.

[0074] Specifically, in this embodiment, the two rodless cylinders move synchronously, and the telescopic movement of the rodless cylinders drives the connecting plate 19 to move, thereby driving the push plate 18, the slider 152 and the push rod 16 to move. When the push plate 18 moves toward the automatic ejection device 2, the goods 4 on the automatic ejection tray 1 can be pushed outward onto the bottom plate 27, and the push rod 16 can push the ejection plate 23 backward (such as Figure 1 and Figure 5 As shown in the figure, the direction indicated by the arrow S is the front of the shelf 3, that is, the rear of the pop-up plate 23 is opposite to the direction indicated by the arrow S), so as to facilitate the storage of the goods 4 on the bottom plate 27, and at the same time, the first elastic member 22 accumulates force to provide power for the pop-up plate 23 to push out the goods 4 on the bottom plate 27, that is, the automatic ejection tray 1 and the automatic ejection device 2 cooperate with each other to achieve the storage or removal of the goods 4. Of course, the rodless cylinder is only one of the specific ejection forms, and other forms can also be used as long as the ejection movement can be achieved.

[0075] Furthermore, if Figures 5 to 9 As shown, the automatic pop-up device 2 further includes a self-locking device 25 , and the pop-up plate 23 can be locked in a fixed position or released from a fixed position through the self-locking device 25 .

[0076] Furthermore, the self-locking device 25 includes a hollow fixed shaft 256 and a bead 253, wherein the bead 253 is located inside the fixed shaft 256. The side wall of the fixed shaft 256 is provided with a bead hole 258, and the size of the bead hole 258 is smaller than the size of the bead 253 so that the bead 253 cannot completely pass through the bead hole 258 but can only be partially exposed from the bead hole 258, and the bead 253 can be driven to change positions between protruding from the outer surface of the fixed shaft 256 and retracting into the interior of the fixed shaft 256. When the bead 253 protrudes from the outer surface of the fixed shaft 256, the pop-up plate 23 is locked in a fixed position by the bead 253; when the bead 253 retracts into the interior of the fixed shaft 256, the pop-up plate 23 is released from the fixed position and the first elastic member 22 drives the pop-up plate 23 to move toward the automatic ejection tray 1.

[0077] Specifically, in this embodiment, the clamping bead 253 is a steel ball.

[0078] Furthermore, the self-locking device 25 further comprises a second elastic member 252, a locking shaft 254 and a push shaft 255, wherein the second elastic member 252, the locking shaft 254 and the push shaft 255 are all located in the fixed shaft 256, and the locking shaft 254 is located between the second elastic member 252 and the push shaft 255. The bottom of the bead 253 is in close contact with the side wall of the locking shaft 254, and a slope 200 is provided on the side wall of the locking shaft 254, and the front end height of the slope 200 is lower than the rear end height of the slope 200; when the locking shaft 254 is pushed to move in the fixed shaft 256, the locking shaft 254 drives the bead 253 to change its position between protruding from the outer surface of the fixed shaft 256 and retracting into the inside of the fixed shaft 256 through the slope 200.

[0079] Specifically, in this embodiment, the second elastic member 252 is a spring.

[0080] Furthermore, an unlocking drive device 11 is also provided on the automatic ejection tray 1, and the unlocking drive device 11 is used to act on the end of the push shaft 255 away from the locking shaft 254 and push the push shaft 255 to drive the locking shaft 254 to move toward the second elastic member 252 to compress the second elastic member 252, and make the card bead 253 gradually retract from the outer surface protruding from the fixed shaft 256 to the inside of the fixed shaft 256; when the unlocking drive device 11 cancels the force acting on the end of the push shaft 255 away from the locking shaft 254, the second elastic member 252 pushes the locking shaft 254 to return to its original position through the elastic force and makes the card bead 253 gradually protrude from the inside of the fixed shaft 256 to the outer surface of the fixed shaft 256.

[0081] Specifically, in this embodiment, the locking shaft 254 is a substantially truncated cone-shaped structure, and the side wall of the locking shaft 254 is further provided with a cylindrical surface 202, which is located behind the inclined surface 200 (such as Figure 5 , Figure 7 and Figure 8 As shown in the figure, the direction indicated by arrow S is the front. When the pop-up plate 23 is located at the rear position of the bead hole 258, and when the locking shaft 254 moves forward, the bead 253 can move along the inclined surface 200 and move from the inclined surface 200 to the cylindrical surface 202, and the bead 253 moves upward in the bead hole 258, at which time the bead 253 protrudes from the outer surface of the fixed shaft 256, and the side wall of the pop-up plate 23 can abut against the bead 253, so that the self-locking device 25 locks the pop-up plate 23; when the locking shaft 254 moves backward, the bead 253 can move from the cylindrical surface 202 to the inclined surface 200 and move along the inclined surface 200, and the bead 253 moves downward in the bead hole 258, at which time the bead 253 retracts to the inside of the fixed shaft 256, and the pop-up plate 23 does not interfere with the bead 253, so that the pop-up plate 23 is unlocked and released and can slide and pop out along the fixed shaft 256.

[0082] Furthermore, the first elastic member 22 is a spring and is sleeved on the fixed shaft 256. The front and rear ends of the fixed shaft 256 are fixed to the bottom plate 27 through the support seat 21. The two ends of the first elastic member 22 are respectively against the rear end support seat 21 and the pop-up plate 23.

[0083] Furthermore, a through hole 231 is provided at one end of the pop-up plate 23 , and a fixed shaft 256 is inserted into the through hole 231 . The fixed shaft 256 is extended along the moving direction of the pop-up plate 23 , and the pop-up plate 23 can slide along the fixed shaft 256 .

[0084] Furthermore, a sliding block 24 is sleeved on the fixed shaft 256 . The sliding block 24 is located between the first elastic member 22 and the pop-up plate 23 , and the sliding block 24 is fixed to the pop-up plate 23 .

[0085] Specifically, in the present embodiment, the sliding block 24 is a linear bearing. By providing the sliding block 24, the pop-up plate 23 can slide more stably along the self-locking device 25 without tipping over. At the same time, a steel ball is generally provided on the inner wall of the linear bearing to reduce the friction of the linear bearing when sliding, so the sliding block 24 can also play a role in reducing the sliding friction of the pop-up plate 23. It can be understood that in the present embodiment, the pop-up plate 23 is locked by the side wall of the pop-up plate 23 abutting against the card bead 253. In other embodiments, a card hole or a card slot can be provided on the inner wall of the sliding block 24, and the pop-up plate 23 is locked by the card bead 253 being locked in the card hole or the card slot, which is not limited here.

[0086] Furthermore, in this embodiment, there are two self-locking devices 25 , which are respectively arranged at the two ends of the pop-up plate 23 , and there are two unlocking drive devices 11 , which are respectively arranged corresponding to the two self-locking devices 25 .

[0087] Specifically, in the present embodiment, the unlocking drive device 11 is a micro cylinder, and the unlocking drive device 11 has a driving rod 111, and the driving rod 111 can move in a direction close to or away from the automatic ejection device 2. The rear end of the push shaft 255 abuts against and is in close contact with the locking shaft 254, and the front end of the push shaft 255 extends out of the fixed shaft 256. When the driving rod 111 moves in a direction close to the automatic ejection device 2, the driving rod 111 can contact the push shaft 255 and push the push shaft 255 to move backward, thereby driving the locking shaft 254 to move backward. Profile frames 141 are provided around the automatic ejection tray 1, and the unlocking drive device 11 is fixed to the profile frames 141 on both sides of the automatic ejection tray 1 through the fixing plate 12.

[0088] Furthermore, a flange 201 is provided at the rear end of the locking shaft 254 . The flange 201 extends radially outward from the side wall of the locking shaft 254 . The flange 201 is used to prevent the locking bead 253 from falling off the locking shaft 254 .

[0089] Furthermore, a step 250 is provided at the front end of the push shaft 255, and the step 250 is formed by the radial inward depression of the side wall of the push shaft 255. A flange 259 is provided at the front end of the fixed shaft 256, and the flange 259 is formed by the radial inward extension and protrusion of the side wall of the fixed shaft 256. The step 250 can abut against the flange 259.

[0090] Furthermore, the self-locking device 25 further includes a top shaft 251 , which is fixed to the rear end of the fixed shaft 256 , and two ends of the second elastic member 252 are respectively against the top shaft 251 and the locking shaft 254 .

[0091] Specifically, in this embodiment, both ends of the fixed shaft 256 have openings, so that the internal components of the self-locking device 25 can be smoothly assembled into the fixed shaft 256. After the internal components are assembled, the rear end opening of the fixed shaft 256 is sealed by the top shaft 251 to prevent the internal components from falling from the rear end opening of the fixed shaft 256. At the same time, by providing a step 250 at the front end of the push shaft 255 and a flange 259 at the front end of the fixed shaft 256, the step 250 can abut against the flange 259, so that the front end of the push shaft 255 can be extended out of the fixed shaft 256, and the push shaft 255 can be prevented from falling from the front end opening of the fixed shaft 256.

[0092] Furthermore, the automatic ejection device 2 further includes a smooth bar assembly 28, which is disposed on the upper surface of the bottom plate 27 and is located below the ejection plate 23. The smooth bar assembly 28 can reduce the friction resistance of the goods 4 when being pushed in or ejected.

[0093] Furthermore, the automatic pop-up device 2 further includes two side baffles 26, and the two side baffles 26 are respectively arranged on opposite sides of the flow strip assembly 28. The two side baffles 26 are used to prevent the goods 4 from leaking out in both directions. Avoidance grooves 232 are also provided on both sides of the pop-up plate 23 for avoiding the side baffles 26.

[0094] The embodiment of the present invention also provides a method for automatic storage of goods, comprising:

[0095] Move the automatic ejection tray 1 to align with the automatic ejection device 2;

[0096] The unlocking drive device 11 on the automatic ejection tray 1 extends to unlock the self-locking device 25 on the automatic ejection device 2;

[0097] The driving device 13 on the automatic ejection tray 1 drives the push rod 16 and the push plate 18 on the automatic ejection tray 1 to move synchronously toward the automatic ejection device 2, and the push rod 16 pushes the ejection plate 23 on the automatic ejection device 2 to move backward, while the push plate 18 pushes the goods 4 on the automatic ejection tray 1 onto the automatic ejection device 2;

[0098] The unlocking drive device 11 on the automatic ejection tray 1 is retracted, and the self-locking device 25 locks the ejection plate 23 in a fixed position.

[0099] The embodiment of the present invention also provides a method for automatically taking out goods, comprising:

[0100] Move the automatic ejection tray 1 to align with the automatic ejection device 2;

[0101] The unlocking drive device 11 on the automatic ejection tray 1 extends to unlock the self-locking device 25 on the automatic ejection device 2;

[0102] The first elastic member 22 on the automatic pop-up device 2 pushes the pop-up plate 23 on the automatic pop-up device 2 to move forward by utilizing compression elasticity, and the pop-up plate 23 pushes the goods 4 on the automatic pop-up device 2 onto the automatic ejection tray 1;

[0103] The unlocking drive device 11 on the automatic ejection tray 1 is retracted.

[0104] like Figure 1 and Fig.10 As shown, the working process of the automatic cargo storage and retrieval device of this embodiment is as follows:

[0105] 1. When the goods 4 need to be pushed out from the automatic ejection tray 1 to the shelf 3, the industrial robot 5 aligns the automatic ejection tray 1 with the automatic pop-up device 2. At this time, the two unlocking drive devices 11 at the front end of the automatic ejection tray 1 align with the two push shafts 255 on the self-locking device 25 on both sides of the automatic pop-up device 2. The drive rod 111 of the unlocking drive device 11 moves toward the self-locking device 25 and pushes the push shaft 255 to move backward. The push shaft 255 drives the locking shaft 254 to move backward. At this time, the second elastic member 252 is compressed and stored, and the card bead 253 retracts to the side wall below the fixed shaft 256. The self-locking device 25 is in an unlocked state. The push plate 18 and the push rod 16 on the automatic ejection tray 1 move synchronously. The push rod 16 pushes the pop-up plate 23 to move backward. At the same time, the push plate 18 pushes the goods 4 on the automatic ejection tray 1 to move toward the automatic pop-up device 2.

[0106] After the cargo 4 is completely pushed onto the automatic pop-up device 2, the pop-up plate 23 moves to the rear of the card bead hole 258, and the driving rod 111 of the unlocking driving device 11 retracts. At this time, the second elastic member 252 pushes the locking shaft 254 to move forward, and the card bead 253 moves upward in the card bead hole 258 and protrudes out of the side wall of the fixed shaft 256. At this time, the pop-up plate 23 is abutted against the card bead 253, and the self-locking device 25 locks the pop-up plate 23, and the first elastic member 22 is in a compressed and force-accumulating state, that is, the automatic storage process of the cargo 4 is completed.

[0107] 2. When it is necessary to take the goods 4 out of the shelf 3, the industrial robot 5 will automatically push out the tray 1 and align it with the automatic pop-up device 2. The two unlocking drive devices 11 at the front end of the automatic push-out tray 1 will align with the two push shafts 255 on the self-locking device 25 on both sides of the automatic pop-up device 2. The driving rod 111 of the unlocking drive device 11 moves toward the self-locking device 25 and pushes the push shaft 255 to move backward. The push shaft 255 drives the locking shaft 254 to move backward. At this time, the card bead 253 retracts to the bottom of the side wall of the fixed shaft 256, and the self-locking device 25 is in an unlocked state. After the pop-up plate 23 is unlocked, it pops up toward the automatic push-out tray 1 driven by the first elastic member 22, so that the goods 4 on the shelf 3 can be pushed out to the automatic push-out tray 1, completing the process of automatically taking out the goods 4.

[0108] The automatic storage and retrieval device for goods provided in the embodiment of the present invention provides a push mechanism on the automatic push tray 1, and a pop-up mechanism on the automatic pop-up device 2, and utilizes the mutual cooperation between the automatic push tray 1 and the automatic pop-up device 2 to achieve the purpose of pushing the goods 4 on the automatic push tray 1 onto the automatic pop-up device 2 and pushing the goods 4 on the automatic pop-up device 2 onto the automatic push tray 1, thereby achieving automatic storage and retrieval of the goods 4, without the need to use the pallet as a carrier to store and retrieve the goods, thereby eliminating the management and storage process of the pallet. At the same time, the shelf 3 can be built with different capacity spaces according to actual needs, and the automatic pop-up device 2 can be installed on the shelf 3 in a modular form, which is not only convenient to install, but also saves time.

[0109] The automatic storage and retrieval device for goods of the embodiment of the present invention can be applied to automated warehouses to realize automatic storage and retrieval of express or other goods. Moreover, when the automatic storage and retrieval device for goods is applied to the construction of an express station at the end of a park, the construction area of ​​the station can be reduced. At the same time, the device can be used to quickly complete the construction of the automated storage station in the park.

[0110] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A device for automatically storing and retrieving goods, characterized in that: The invention comprises an automatic ejection tray (1) and an automatic ejection device (2), wherein the automatic ejection tray (1) is provided with an ejection mechanism, and the ejection mechanism is used to push the goods (4) on the automatic ejection tray (1) onto the automatic ejection device (2); and the automatic ejection device (2) is provided with an ejection mechanism, and the ejection mechanism is used to push the goods (4) on the automatic ejection device (2) onto the automatic ejection tray (1); The automatic ejection tray (1) comprises a tray body (14) for carrying goods (4), the ejection mechanism comprises a push plate (18) and a driving device (13), the push plate (18) is located above the tray body (14), the push plate (18) is connected to the driving device (13), and the driving device (13) is used to drive the push plate (18) to move toward the automatic ejection device (2), so as to push the goods (4) on the tray body (14) onto the automatic ejection device (2) through the push plate (18); The automatic ejection device (2) comprises a bottom plate (27) for carrying goods (4), the ejection mechanism comprises an ejection plate (23) and a first elastic member (22), the ejection plate (23) is located above the bottom plate (27), the ejection plate (23) is connected to the first elastic member (22), the first elastic member (22) is used to store force when compressed and drive the ejection plate (23) to move toward the automatic ejection tray (1) after the ejection plate (23) is released, so as to push the goods (4) on the bottom plate (27) onto the automatic ejection tray (1) through the ejection plate (23); The automatic ejection tray (1) further comprises a push rod (16), the push rod (16) being located above the tray body (14), the push rod (16) extending along the moving direction of the push plate (18), the push rod (16) being connected to the driving device (13), the driving device (13) being further used for driving the push rod (16) to move toward the automatic ejection device (2), so as to push the ejection plate (23) to move in a direction away from the automatic ejection tray (1) through the push rod (16) and to make the ejection plate (23) compress the first elastic member (22); The automatic pop-up device (2) further comprises a self-locking device (25), and the pop-up plate (23) can be locked in a fixed position or released from the fixed position by the self-locking device (25).

2. The automatic cargo storage and retrieval device according to claim 1, characterized in that: The automatic ejection tray (1) is installed on the end shaft of an industrial robot (5), and the automatic ejection device (2) is installed on a shelf (3).

3. The automatic cargo storage and retrieval device according to claim 1, characterized in that: The automatic ejection tray (1) further comprises a guide support assembly (15), the push rod (16) being located above the guide support assembly (15) and being in contact with the guide support assembly (15), the guide support assembly (15) being used to support the push rod (16) and the push rod (16) being able to slide along the guide support assembly (15).

4. The automatic cargo storage and retrieval device according to claim 1, characterized in that: The driving device (13) is a rodless cylinder, comprising a driving part (131) and a slide rail (132). The slide rail (132) is extended along the moving direction of the push plate (18). The driving part (131) is sleeved on the slide rail (132) and can move along the slide rail (132).

5. The automatic cargo storage and retrieval device according to claim 4, characterized in that: The number of the rodless cylinders is two, and the two rodless cylinders are respectively arranged on both sides of the tray body (14).

6. The automatic cargo storage and retrieval device according to claim 5, characterized in that: The automatic ejection tray (1) further comprises a connecting plate (19), the push plate (18) being connected to the connecting plate (19), and the two ends of the connecting plate (19) being respectively connected to the driving parts (131) of the two rodless cylinders.

7. The automatic cargo storage and retrieval device according to claim 6, characterized in that: There are two push rods (16), which are respectively located on two sides of the tray body (14). One end of each push rod (16) is connected to the connecting plate (19), and the other end of each push rod (16) is used to push the pop-up plate (23).

8. The automatic cargo storage and retrieval device according to claim 1, characterized in that: The self-locking device (25) comprises a hollow fixed shaft (256) and a bead (253), wherein the bead (253) is located inside the fixed shaft (256), and a bead hole (258) is provided on the side wall of the fixed shaft (256). The size of the bead hole (258) is smaller than the size of the bead (253), so that the bead (253) cannot completely pass through the bead hole (258) but can only be partially exposed from the bead hole (258), and the bead (253) can be driven to protrude from the fixed shaft (256). The first elastic member (22) is configured to change its position between the outer surface of the fixed shaft (256) and the inner portion of the fixed shaft (256); when the card bead (253) protrudes from the outer surface of the fixed shaft (256), the pop-up plate (23) is locked in the fixed position by the card bead (253); when the card bead (253) is retracted into the inner portion of the fixed shaft (256), the pop-up plate (23) is released from the fixed position and the first elastic member (22) drives the pop-up plate (23) to move toward the automatic ejection tray (1).

9. The automatic cargo storage and retrieval device according to claim 8, characterized in that: The self-locking device (25) further comprises a second elastic member (252), a locking shaft (254) and a pushing shaft (255); the second elastic member (252), the locking shaft (254) and the pushing shaft (255) are all located inside the fixed shaft (256); the locking shaft (254) is located between the second elastic member (252) and the pushing shaft (255); the bottom of the card bead (253) is in contact with the side wall of the locking shaft (254); A slope (200) is provided on the side wall of the locking shaft (254), and the front end height of the slope (200) is lower than the rear end height of the slope (200); when the locking shaft (254) is pushed to move inside the fixed shaft (256), the locking shaft (254) drives the locking bead (253) to change its position between protruding from the outer surface of the fixed shaft (256) and retracting into the interior of the fixed shaft (256) through the slope (200).

10. The automatic cargo storage and retrieval device according to claim 9, characterized in that: The automatic ejection tray (1) is also provided with an unlocking drive device (11), which is used to act on the end of the push shaft (255) away from the locking shaft (254) and push the push shaft (255) to drive the locking shaft (254) to move toward the second elastic member (252) to compress the second elastic member (252) and make the card bead (253) gradually retract from the outer surface protruding from the fixed shaft (256) to the inside of the fixed shaft (256); when the unlocking drive device (11) cancels the force acting on the end of the push shaft (255) away from the locking shaft (254), the second elastic member (252) pushes the locking shaft (254) back to its original position through the elastic force and makes the card bead (253) gradually protrude from the inside of the fixed shaft (256) to the outer surface of the fixed shaft (256).

11. The automatic cargo storage and retrieval device according to claim 8, characterized in that: The first elastic member (22) is a spring and is sleeved on the fixed shaft (256). The front and rear ends of the fixed shaft (256) are fixed to the bottom plate (27) through a support seat (21). The two ends of the first elastic member (22) are respectively in contact with the support seat (21) at the rear end and the pop-up plate (23).

12. The automatic cargo storage and retrieval device according to claim 11, characterized in that: A sliding block (24) is also sleeved on the fixed shaft (256), and the sliding block (24) is located between the first elastic member (22) and the pop-up plate (23), and the sliding block (24) is fixed to the pop-up plate (23).

13. An automatic cargo storage method based on the automatic cargo storage and retrieval device according to claim 10, characterized in that: The automatic cargo storage method comprises: Moving the automatic ejection tray (1) to align with the automatic ejection device (2); The unlocking drive device (11) on the automatic ejection tray (1) extends to unlock the self-locking device (25) on the automatic ejection device (2); The driving device (13) on the automatic ejection tray (1) drives the push rod (16) and the push plate (18) on the automatic ejection tray (1) to move synchronously toward the automatic ejection device (2); the push rod (16) pushes the ejection plate (23) on the automatic ejection device (2) to move backwards, and the push plate (18) pushes the goods (4) on the automatic ejection tray (1) onto the automatic ejection device (2); The unlocking drive device (11) on the automatic ejection tray (1) is retracted, and the self-locking device (25) locks the ejection plate (23) in a fixed position.

14. A method for automatically taking out goods based on the automatic goods storage and taking out device according to claim 10, characterized in that: The automatic cargo removal method comprises: Moving the automatic ejection tray (1) to align with the automatic ejection device (2); The unlocking drive device (11) on the automatic ejection tray (1) extends to unlock the self-locking device (25) on the automatic ejection device (2); The first elastic member (22) on the automatic pop-up device (2) uses compression elasticity to push the pop-up plate (23) on the automatic pop-up device (2) to move forward, and the pop-up plate (23) pushes the goods (4) on the automatic pop-up device (2) onto the automatic ejection tray (1); The unlocking drive device (11) on the automatic ejection tray (1) is retracted.

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