A device for sub-millimeter high-precision positioning and automatic loading and unloading of densely packed items

Abstract

A device for sub-millimeter-level high-precision positioning and automatic loading and unloading of densely packed items, comprising a storage cabinet, the storage cabinet comprising a plurality of storage bins arranged in parallel, the interior of the storage bins being provided with a transversely arranged storage plate, the middle of the storage plate being provided with a travel cavity, and an operating space being provided below the travel cavity; a plane positioning bracket, the plane positioning bracket being provided on the side of the storage cabinet and corresponding to the travel cavity; an item accessor, the item accessor being provided on the plane positioning bracket, the item accessor comprising a retractable support platform, the support platform being provided in cooperation with the travel cavity. The present application can position the item accessor through the plane positioning bracket, and the item accessor is provided as a retractable support platform, and the support platform is provided in cooperation with the travel cavity, so that the support platform can be introduced from below, thereby ensuring stability during the overall operation.

Description

Technical Field

[0001] The present application relates to a device for high-precision sub-millimeter positioning and automatic loading and unloading of densely packed objects. Background Art

[0002] In the field of smart warehouses or smart storage cabinets, the reliability of access to items is generally ensured by setting up physical structures. However, as the number of physical structures increases, their impact on the entire system becomes greater and greater, and even affects the modular expansion of the entire system, which in turn has a very adverse impact on the entire system. Summary of the invention

[0003] In order to solve the above problems, the present application proposes a device for sub-millimeter-level high-precision positioning and automatic loading and unloading of densely packed items, comprising: a locker, the locker comprising a plurality of storage bins arranged in parallel, the interior of the storage bins being provided with a transversely arranged storage plate, the middle of the storage plate being provided with a travel cavity, and an operating space being provided below the travel cavity; a plane positioning bracket, the plane positioning bracket being provided on the side of the locker and corresponding to the travel cavity; an item accessor, the item accessor being provided on the plane positioning bracket, the item accessor comprising a retractable support platform, the support platform being provided in cooperation with the travel cavity. The present application can position the item accessor through the plane positioning bracket, and the item accessor is provided as a retractable support platform, and the support platform is provided in cooperation with the travel cavity, so that the support platform can be introduced from below, thereby ensuring stability during the overall operation.

[0004] Preferably, the planar positioning bracket includes an X-rail and a Y-rail slidably arranged on the X-rail; an auxiliary rail is arranged on the other side of the X-rail relative to the Y-rail; the Y-rail includes a Y-rail body, a Y-direction transmission shaft is arranged on the Y-rail body, a Y-direction slider is slidably arranged on the Y-direction transmission shaft, the article accessor is fixed on the Y-direction slider, an auxiliary clamping block is arranged on the side of the Y-rail facing the auxiliary rail, and an X-direction slider is arranged on the side of the Y-rail facing the X-rail; the X-rail includes an X-rail body, an X-direction transmission shaft is arranged on the X-rail body, the X-direction transmission shaft is connected to an X-motor power, and an X-direction slider is slidably arranged on the X-direction transmission shaft.

[0005] Preferably, an upper portion of the storage bin facing outward is provided with an inclined cut angle.

[0006] Preferably, the item storage and access device also includes protective plates arranged on both sides of the support platform, an inlet arc plate is provided at the end of the protective plate, a driver is provided under the support platform, and the driver is dynamically connected to the storage plate; a first hook block is provided at the end of the support platform, and a second hook block is provided on the support platform in the direction away from the first hook block.

[0007] Preferably, the driver comprises a rack fixedly connected to the support platform, a driving motor is provided on a side away from the planar positioning bracket, and a gear matched with the rack is provided on a driving shaft of the driving motor.

[0008] Preferably, a turntable is further provided on one side of the driver close to the planar positioning bracket.

[0009] Preferably, it further comprises a transfer vehicle, on which a transfer bin is provided, and a position correction structure is provided between the transfer bin and the transfer vehicle.

[0010] Preferably, the position correction mechanism includes a carrier, a first adjustment member is provided on one side of the carrier, a second adjustment member is provided on the other side of the carrier relative to the first adjustment member, the movement directions of the first adjustment member and the second adjustment member are arranged in parallel, and also includes a first rangefinder and a second rangefinder for determining the distance of the carrier relative to the target location, the first rangefinder is arranged in conjunction with the first adjustment member, and the second rangefinder is arranged in conjunction with the second adjustment member. The position correction mechanism of the present application can conveniently coordinate the two adjustment members and reach a suitable distance by setting the coordinated adjustment member and the rangefinder, thereby improving the coordination speed and matching degree, and changing the original single-point control into a dual-point coordination, thereby advancing the original coordination process to the early control link, which can improve the control accuracy and control efficiency.

[0011] Preferably, the carrier includes a first bracket and a second bracket, a connecting rod is provided between the first bracket and the second bracket; the first adjusting member is arranged on the first bracket, and the second adjusting member is arranged on the second bracket; it also includes a support plate, and the support plate is arranged on the connecting rod; the first rangefinder and the second rangefinder are respectively arranged on both sides of the support plate; a supporting guide rail is provided below the connecting rod, and the connecting rod is movably connected to the supporting guide rail through a connecting support; the supporting guide rail is fixedly connected to the first bracket and the second bracket through a moving plate with a plurality of moving wheels below; the connecting support includes a clamping portion provided on the upper portion and a rotating portion fixedly connected to the clamping portion, a moving portion is provided below the rotating portion, and the moving portion is slidably mounted on the supporting guide The rotating part comprises a tapered roller bearing, the inner ring of the tapered roller bearing is provided with an inner ring extension plate, the inner ring extension plate is fixedly connected to the clamping part, the outer ring of the tapered roller bearing is provided with a transverse support plate, the transverse support plate is fixedly connected to the moving part; the first adjusting member comprises a first driving wheel and a first passive wheel, a first connecting rod is provided between the first driving wheel and the first passive wheel; the second adjusting member comprises a second driving wheel and a second passive wheel, a second connecting rod is provided between the second driving wheel and the second passive wheel, the first passive wheel and the second passive wheel are dynamically connected to the connecting rod; the first passive wheel and the second passive wheel are hingedly connected to the connecting rod, and the first driving wheel is arranged on the opposite side of the second driving wheel relative to the connecting rod. The support guide rail of the present application, the first bracket and the second bracket are fixed to a movable plate so that they are always in the same shape. The advantage of adopting this structure is that the consistency of the base point of state adjustment can be improved, so that during use, the adjustment process has a highly programmed characteristic, and the uniqueness is greatly reduced, and programmed processing is the basis of automated adjustment accuracy; the present application adopts a first passive wheel and a second passive wheel connected, and then the first active wheel jointly arranged with the first passive wheel and the second active wheel jointly arranged with the second passive wheel are staggered, so that during the adjustment process, positioning can be completed relatively quickly and accurately, and due to the different directions, the expansion of motion errors can also be avoided, thereby improving the accuracy of the moving position.

[0012] This application can bring the following beneficial effects:

[0013] 1. The present application can position the item accessor through a plane positioning bracket, and the item accessor is configured as a retractable support platform, and the support platform is matched with the travel cavity so that the support platform can be introduced from below, thereby ensuring stability during the overall operation process;

[0014] 2. The position correction mechanism of the present application can conveniently adjust the two adjustment parts to achieve a suitable distance by setting the adjustment parts and the rangefinder, thereby improving the adjustment speed and matching degree, and changing the original single-point control into a double-point coordination, thereby bringing the original adjustment process forward to the early control link, which can improve the control accuracy and control efficiency;

[0015] 3. The support guide rail of the present application, the first bracket and the second bracket are fixed to a movable plate so that they are always in the same shape. The advantage of adopting this structure is that the consistency of the base point of state adjustment can be improved, so that during use, the adjustment process has a highly programmed characteristic, and the uniqueness is greatly reduced, and programmed processing is the basis of automated adjustment accuracy; the present application adopts a first passive wheel and a second passive wheel connected, and then the first active wheel jointly arranged with the first passive wheel and the second active wheel jointly arranged with the second passive wheel are staggered, so that during the adjustment process, the positioning can be completed relatively quickly and accurately, and due to the different directions, the expansion of motion errors can be avoided, thereby improving the accuracy of the moving position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 This is a schematic diagram of the structure of this application;

[0018] Figure 2 A side view schematic diagram of the present application;

[0019] Figure 3 Schematic diagram for use in this application;

[0020] Figure 4 It is a structural diagram of a storage warehouse;

[0021] Figure 5 This is a schematic diagram of the bottom structure of the storage bin;

[0022] Figure 6 It is a structural schematic diagram of a plane positioning bracket;

[0023] Figure 7 It is a structural schematic diagram of another angle of the plane positioning bracket;

[0024] Figure 8 is a structural schematic diagram of a position correction mechanism;

[0025] Fig. 9 It is a schematic diagram of the structure when the position correction mechanism is used;

[0026] Fig.10 is a structural schematic diagram of the connecting support;

[0027] Fig.11 A method of adjustment when used for position correction mechanism;

[0028] Fig.12 Another adjustment method for position correction mechanism. DETAILED DESCRIPTION

[0029] In order to clearly illustrate the technical features of the present solution, the present application is described in detail below through specific implementation methods and in conjunction with the accompanying drawings.

[0030] As shown in the figure, in order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an exemplary manner in conjunction with the drawings of the specification.

[0031] In addition, in the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0032] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] In this application, unless otherwise clearly specified and limited, the terms "installed", "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, an electrical connection, or a communication; 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 this application can be understood according to specific circumstances.

[0035] In the present application, unless otherwise clearly specified and limited, a first feature "above" or "below" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0036] In the first embodiment, if Figure 1-12As shown, a device for sub-millimeter-level high-precision positioning and automatic loading and unloading of densely packed items comprises a locker 1, wherein the locker 1 comprises a plurality of storage bins 2 arranged in parallel, wherein a transversely arranged storage plate 3 is arranged inside the storage bin 2, wherein a travel cavity 4 is arranged in the middle of the storage plate 3, and an operating space 5 is arranged below the travel cavity 4; a plane positioning bracket 6, wherein the plane positioning bracket 6 is arranged on the side of the locker 1 and corresponds to the travel cavity 4; and an article accessor 7, wherein the article accessor 7 is arranged on the plane positioning bracket 6, and wherein the article accessor 7 comprises a retractable support platform 19, wherein the support platform 19 is arranged in cooperation with the travel cavity 4. The plane positioning bracket 6 includes an X-guide rail 8 and a Y-guide rail 9 slidably arranged on the X-guide rail 8; an auxiliary guide rail 10 is arranged on the other side of the X-guide rail 8 relative to the Y-guide rail 9; the Y-guide rail 9 includes a Y-guide rail body 11, a Y-direction transmission shaft 12 is arranged on the Y-direction transmission shaft 12, a Y-direction slider 13 is slidably arranged on the Y-direction transmission shaft 12, the article accessor 7 is fixed on the Y-direction slider 13, an auxiliary clamping block is arranged on the side of the Y-guide rail 9 facing the auxiliary guide rail 10, and an X-direction slider 14 is arranged on the side of the Y-guide rail 9 facing the X-guide rail 8; the X-guide rail 8 includes an X-guide rail body 15, an X-direction transmission shaft 16 is arranged on the X-guide rail body 15, the X-direction transmission shaft 16 is connected to an X-motor power, and the X-direction slider 14 is slidably arranged on the X-direction transmission shaft 16. The upper part of the storage bin 2 facing outward is provided with an inclined cut angle 18. The article accessor 7 also includes a protective plate 23 disposed on both sides of the support platform 19, an introduction arc plate 24 is disposed at the end of the protective plate 23, a driver 20 is disposed below the support platform 19, and the driver 20 is connected to the storage plate 3 by power; a first hook block 21 is disposed at the end of the support platform 19, and a second hook block 22 is disposed on the support platform 19 in a direction away from the first hook block 21. The driver 20 includes a rack fixedly connected to the support platform 23, a driving motor is disposed on the side away from the plane positioning bracket 6, and a gear matched with the rack is disposed on the driving shaft of the driving motor. A turntable 24 is also disposed on the side of the driver 20 close to the plane positioning bracket 6. It also includes a transfer vehicle 25, a transfer bin 26 is disposed on the transfer vehicle 25, and a position correction structure 27 is disposed between the transfer bin 26 and the transfer vehicle. The position correction mechanism 27 includes a carrier 101, a first adjustment member 102 is provided on one side of the carrier 101, and a second adjustment member 103 is provided on the other side of the carrier 101 relative to the first adjustment member 102. The movement directions of the first adjustment member 102 and the second adjustment member 103 are arranged in parallel. The position correction mechanism 27 also includes a first rangefinder 104 and a second rangefinder 105 for determining the distance between the carrier 101 and the target location. The first rangefinder 104 is arranged in cooperation with the first adjustment member 102, and the second rangefinder 105 is arranged in cooperation with the second adjustment member 103.The carrier 101 includes a first bracket 106 and a second bracket 107, and a connecting rod 108 is provided between the first bracket 106 and the second bracket 107; the first adjusting member 102 is provided on the first bracket 106, and the second adjusting member 103 is provided on the second bracket 107. A support plate 109 is also provided, and the support plate 109 is provided on the connecting rod 108. The first rangefinder 104 and the second rangefinder 105 are provided on both sides of the support plate 109, respectively. A support rail 110 is provided below the connecting rod 108, and the connecting rod 108 is movably connected to the support rail 110 through a connecting support 113. The support rail 110 is fixedly connected to the first bracket 106 and the second bracket 107 through a moving plate 112 with a plurality of moving wheels 111 provided below. The connecting support 113 includes a clamping portion 114 disposed at the upper portion and a rotating portion 115 fixedly connected to the clamping portion 114. A moving portion 116 is disposed below the rotating portion 115, and the moving portion 116 is slidably mounted on the supporting guide rail 110. The rotating portion 115 includes a tapered roller bearing 117, and an inner ring of the tapered roller bearing 117 is provided with an inner ring extension plate 118, and the inner ring extension plate 118 is fixedly connected to the clamping portion 114. The outer ring of the tapered roller bearing 117 is provided with a transverse support plate 119, and the transverse support plate 119 is fixedly connected to the moving portion 116. The first adjustment member 102 includes a first driving wheel 120 and a first passive wheel 121, and a first connecting rod is provided between the first driving wheel 120 and the first passive wheel 121; the second adjustment member 103 includes a second driving wheel 122 and a second passive wheel 123, and a second connecting rod is provided between the second driving wheel 122 and the second passive wheel 123, and the first passive wheel 121 and the second passive wheel 123 are dynamically connected to the connecting rod 108. The first passive wheel 121 and the second passive wheel 123 are hingedly connected to the connecting rod 108, and the first driving wheel 120 is arranged on the opposite side of the second driving wheel 122 relative to the connecting rod 108.

[0037] When in use, first use the plane positioning bracket 6 to find a suitable position, and when moving, use the mutual movement between the X guide rail 8 and the Y guide rail 9 to complete the positioning. At this time, it needs to be set at the lower part of the storage bin 2, and then the item storage is inserted into the interior, and the first hook block and the second hook block are used to take and place the items inside; the adjustment process of the position correction mechanism is carried out in the following manner. First, it is moved according to the commonly used displacement method to move to the device that is roughly required. The main purpose of this application is to correct it. As shown in the figure, when tilted, first, the feedback between the first rangefinder 104 and the second rangefinder 105 and the target position is used to calculate the movement distance. After the movement distance is obtained, the first active wheel 120 or the second active wheel 122 is moved to obtain a flush state, and then the difference between the current distance to the target and the set distance is established, and then the first active wheel 120 and the second active wheel 122 are moved together to adjust to a suitable distance to complete the operation.

[0038] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0039] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A device for sub-millimeter high-precision positioning and automatic loading and unloading of densely packed items, characterized by: include, A locker, comprising a plurality of storage bins arranged in parallel, wherein a storage board arranged transversely is provided inside the storage bin, a travel cavity is provided in the middle of the storage board, and an operating space is provided below the travel cavity; A plane positioning bracket, which is arranged on the side of the locker and corresponds to the travel cavity; An article storage and retrieval device, the article storage and retrieval device is arranged on the plane positioning bracket, the article storage and retrieval device comprises a retractable support platform, the support platform is arranged in cooperation with the travel cavity; The plane positioning bracket includes an X-rail and a Y-rail slidably arranged on the X-rail; an auxiliary rail is arranged on the other side of the X-rail relative to the Y-rail; the Y-rail includes a Y-rail body, a Y-direction transmission shaft is arranged on the Y-rail body, a Y-direction slider is slidably arranged on the Y-direction transmission shaft, the article accessor is fixed on the Y-direction slider, an auxiliary clamping block is arranged on the side of the Y-rail facing the auxiliary rail, and an X-direction slider is arranged on the side of the Y-rail facing the X-rail; the X-rail includes an X-rail body, an X-direction transmission shaft is arranged on the X-rail body, the X-direction transmission shaft is connected to an X-motor power, and an X-direction slider is slidably arranged on the X-direction transmission shaft; The article storage and retrieval device also includes protective plates arranged on both sides of the support platform, an introduction arc plate is arranged at the end of the protective plate, a driver is arranged below the support platform, and the driver is connected to the storage plate by power; a first hook block is arranged at the end of the support platform, and a second hook block is arranged in the direction of the support platform away from the first hook block; The device also includes a transfer vehicle, on which a transfer bin is provided; a position correction structure is provided between the transfer bin and the transfer vehicle; The position correction mechanism includes a carrier, a first adjustment member is provided on one side of the carrier, a second adjustment member is provided on the other side of the carrier relative to the first adjustment member, the movement directions of the first adjustment member and the second adjustment member are arranged in parallel, and also includes a first rangefinder and a second rangefinder for determining the distance of the carrier relative to the target location, the first rangefinder is arranged in cooperation with the first adjustment member, and the second rangefinder is arranged in cooperation with the second adjustment member; The carrier comprises a first bracket and a second bracket, a connecting rod is provided between the first bracket and the second bracket; the first adjusting member is provided on the first bracket, and the second adjusting member is provided on the second bracket; a support plate is also provided, and the support plate is provided on the connecting rod; the first rangefinder and the second rangefinder are provided on both sides of the support plate respectively; a supporting guide rail is provided below the connecting rod, and the connecting rod is movably connected to the supporting guide rail through a connecting support; the supporting guide rail is fixedly connected to the first bracket and the second bracket through a moving plate provided with a plurality of moving wheels below; the connecting support comprises a clamping portion provided on the upper part and a rotating portion fixedly connected to the clamping portion, a moving portion is provided below the rotating portion, and the moving portion is slidably mounted on the supporting guide rail ; The rotating part includes a tapered roller bearing, the inner ring of the tapered roller bearing is provided with an inner ring extension plate, the inner ring extension plate is fixedly connected to the clamping part, the outer ring of the tapered roller bearing is provided with a transverse support plate, and the transverse support plate is fixedly connected to the moving part; the first adjusting member includes a first driving wheel and a first passive wheel, and a first connecting rod is provided between the first driving wheel and the first passive wheel; the second adjusting member includes a second driving wheel and a second passive wheel, and a second connecting rod is provided between the second driving wheel and the second passive wheel, and the first passive wheel and the second passive wheel are dynamically connected to the connecting rod; the first passive wheel and the second passive wheel are hingedly connected to the connecting rod, and the first driving wheel is arranged on the opposite side of the second driving wheel relative to the connecting rod.

2. The device for sub-millimeter-level high-precision positioning and automatic loading and unloading of densely packed items according to claim 1 is characterized in that: An upper portion of the storage bin facing outward is provided with an inclined cut corner.

3. The device for sub-millimeter-level high-precision positioning and automatic loading and unloading of densely packed items according to claim 1 is characterized in that: The driver comprises a rack fixedly connected to the support platform, a driving motor is arranged on a side away from the plane positioning bracket, and a gear matched with the rack is arranged on the driving shaft of the driving motor.

4. The device for sub-millimeter-level high-precision positioning and automatic loading and unloading of densely packed objects according to claim 3 is characterized in that: A turntable is also provided on one side of the driver close to the plane positioning bracket.

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