A high-speed material execution system based on mixed-flow manufacturing

Abstract

This patent discloses a high-speed material execution system based on mixed-flow manufacturing, including a storage bin, a feeding device and a sorting device; the storage bin is provided with an inlet and an outlet, and a discharging platform, a storage rack, a storage and retrieval robot and a conveyor belt are arranged in the storage bin, the discharging platform is arranged at the inlet of the storage bin, the storage and retrieval robot can clamp the material, and one end of the conveyor belt along the conveying direction is arranged at the outlet; the feeding device is arranged on the side of the storage bin close to the inlet, and the feeding device can transfer the material to the discharging platform; the sorting device is arranged on the side of the storage bin close to the outlet, and the sorting device is provided with a sorting structure and at least two receiving devices, and the sorting structure can sort the material into the corresponding receiving device. The present invention realizes full automation of storing and taking out materials by arranging a feeding device, a storage bin and a sorting device, and can simultaneously store and retrieve materials of different sizes and / or materials of different work orders, which greatly improves the material storage and retrieval efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to a high-speed material execution system based on mixed-flow manufacturing. Background Art

[0002] Today's storage warehouses either require manual operation, i.e. manual material feeding, storage and retrieval, etc., which is very physically demanding, increases labor costs, and has extremely low work efficiency. In addition, it is inevitable that manual operations will result in wrong material storage or retrieval, causing unnecessary trouble or unnecessary losses to normal production operations.

[0003] Of course, there are storage warehouses with a high degree of automation, but their equipment is highly sophisticated, which not only makes it costly and difficult for general companies to afford, but also delays normal production operations if an abnormality occurs and the operators or engineers do not have relevant professional knowledge, or the supplier prohibits the operators or engineers from disassembling the equipment for technical confidentiality reasons, and the maintenance cost is high.

[0004] Therefore, in view of the above-mentioned technical problems, it is necessary to provide a new technical solution. Summary of the invention

[0005] In order to solve the technical problems existing in the prior art, the purpose of the present invention is to provide a high-speed material execution system based on mixed-flow manufacturing. By setting a feeding device, a storage bin and a sorting device, the storage and retrieval of materials are fully automated. The equipment is fully automated and can store and retrieve materials of different sizes and / or materials of different work orders at the same time. The equipment design is relatively simple, which is more easily accepted by ordinary mass enterprises and convenient for engineers to operate and maintain. No manual operation is required during operation, which reduces the labor intensity of workers and saves labor costs. It greatly improves the efficiency of material storage and retrieval. The equipment design is simple, does not require more manufacturing costs, and is easy for customers to accept and promote. The specific technical scheme is as follows:

[0006] A high-speed material execution system based on mixed-flow manufacturing, comprising a storage bin, a feeding device and a sorting device;

[0007] The storage bin is provided with an inlet and an outlet, and is provided with a discharging platform, a storage rack, a storage and retrieval robot and a conveyor belt. The discharging platform is arranged at the position of the storage bin at the inlet, the storage rack can store materials, and the storage and retrieval robot is configured to place the materials on the discharging platform on the storage rack or on the conveyor belt, and one end of the conveyor belt along the conveying direction is arranged at the outlet;

[0008] The feeding device is arranged on one side of the storage bin close to the feeding port, and the feeding device comprises a feeding conveyor belt, the feeding conveyor belt corresponds to the unloading platform, and the feeding conveyor belt and the unloading platform are respectively arranged on both sides of the feeding port;

[0009] The sorting device is arranged on one side of the storage bin close to the discharge port, and includes a discharge conveyor belt, at least one distribution structure and at least two receiving devices. The discharge conveyor belt corresponds to the conveying conveyor belt, and the distribution structure can sort the materials on the discharge conveyor belt into the corresponding receiving device.

[0010] Furthermore, the storage bin is a dual-channel storage bin, each channel is provided with a set of slide rails and a conveyor belt, the axis directions of the slide rails and the conveyor belts are consistent, a storage and retrieval manipulator is slidably mounted on the slide rails, and storage racks are provided on both sides of the slide rails;

[0011] Each channel is provided with a feed inlet and a discharge port, and a discharge platform is provided at the position of the feed inlet. The two channels are respectively a first channel and a second channel. The first channel is provided with a first feed inlet, and the second channel is provided with a second feed inlet.

[0012] Furthermore, the feeding device further comprises a first conveyor belt and a second conveyor belt, one end of the first conveyor belt and the second conveyor belt are both arranged at one end of the feeding conveyor belt along the conveying direction, one end of the first conveyor belt along the conveying direction is arranged at the first feeding port, and one end of the second conveyor belt along the conveying direction is arranged at the second feeding port;

[0013] A distribution structure is arranged on one end of the feeding conveyor belt close to the first conveyor belt, and the distribution structure can distribute materials to the first conveyor belt or the second conveyor belt.

[0014] Furthermore, the distribution structure includes a first housing, a driving structure and a distribution block;

[0015] The first shell fixed cover is arranged on the discharge conveyor belt or the feed conveyor belt, the driving structure is fixedly installed on the first shell, and the distribution block is movably installed on the driving structure. Under the drive of the driving structure, the distribution block can push the material on the discharge conveyor belt.

[0016] Furthermore, a transfer conveyor belt is arranged on the unloading platform, and a stop structure is arranged on the unloading platform away from the feeding port, and the stop structure can stop the material from falling from the transfer conveyor belt.

[0017] Furthermore, a detection camera for detecting material information is also arranged above the unloading table;

[0018] The discharging conveyor belt is also provided with a detection structure for detecting material information, and the discharging conveyor belt is sequentially provided with a detection structure and a distribution structure along the conveying direction.

[0019] Furthermore, the feeding device also includes a buffer part, which includes at least one material storage part and at least one force-controlled clamp, the material storage part is arranged on one side of the discharge table, the material storage part can store materials, and the material storage part is provided with a material picking position and a lifting drive structure, the material on the material storage part can be transferred to the material picking position through the lifting drive structure, and the force-controlled clamp can clamp the material at the material picking position and place it on the discharge table or place the material on the discharge table on the material storage part.

[0020] Furthermore, the force-controlled clamp includes a first component, a second component, a first clamp motor, a first clamp hand and a second clamp hand; the second component is slidably mounted on the first component, the second component can slide along the first component, and a plurality of third sensors are arranged on the first component or the second component along the moving direction of the second component, and different third sensors can detect different moving distances of the second component; the first clamp motor is fixedly mounted on the second component, the first clamp hand and the second clamp hand are mounted on the first clamp motor, and the first clamp motor can move the first clamp hand and / or the second clamp hand away from or close to each other.

[0021] Furthermore, the storage and retrieval manipulator is provided with a mechanical arm with adjustable clamping force, and the mechanical arm includes a base, a first clamping arm, a second clamping arm and a lifting structure;

[0022] The first clamp arm and the lifting structure are both fixedly arranged on the base, the lifting structure includes a lifting member, the second clamp arm is installed on the lifting structure, the second clamp arm corresponds to the first clamp arm up and down, the second clamp arm is configured to be able to move up and down with the lifting member, the second clamp arm is provided with a first fixing member, the first fixing member is provided with a receiving hole, at least one column is accommodated in the receiving hole, the column is sequentially sleeved with the lifting member and the spring from top to bottom, the lifting member or the first fixing member is provided with a first sensor, and the first sensor is configured to be able to detect the lifting member of the compressed spring.

[0023] Furthermore, it also includes a control system, which controls the actions of the storage bin, the feeding device and the sorting device.

[0024] Compared with the prior art, the technical solution described in this patent has at least one or more of the following beneficial effects:

[0025] This patent is equipped with a feeding device, a storage bin and a sorting device to achieve full automation in storing and retrieving materials. The equipment is fully automated and can store and retrieve materials of different sizes and / or materials of different work orders at the same time. There is no need for manual operation, which reduces the labor intensity of workers, saves labor costs, and greatly improves the efficiency of material storage and retrieval. In addition, the equipment is simple in design and does not require more manufacturing costs, making it easy for customers to accept and promote.

[0026] Fully automatic intelligent sorting reduces the probability of manual sorting errors and increases sorting speed.

[0027] The storage and retrieval robot is equipped with a spring, which can not only generate clamping force to clamp the material, but also prevent the material from being damaged by the spring buffer. The clamping force can be adjusted by adjusting the installation position of the sensor sheet, making the clamping stable, effective, flexible and convenient, and suitable for materials of various thicknesses.

[0028] The force-controlled gripper has a simple structure and reduces the manufacturing cost. The third sensor can also detect the thickness, which is particularly convenient to use and facilitates subsequent flexible processing operations. Storage bins of different heights are set on the material rack. The material thickness detected is stored in the corresponding storage bins on the storage rack, which expands the storage capacity of the storage rack as much as possible, helps to effectively and reasonably use the storage rack and maximize utilization.

[0029] The buffer part is set up as a buffer to play a role of bidirectional adjustment. If the material on the unloading table cannot be stored on the storage rack in time, the force-controlled clamp will place the material on the unloading table on the storage part, or when the feeding conveyor belt cannot convey the material, the material can be placed on the storage part, the force-controlled clamp grabs the material from the storage part and places it on the unloading table, and then the storage and retrieval robot places the material on the unloading table on the storage rack.

[0030] A reinforcement body is arranged on the storage and retrieval robot, which plays the role of reinforcing the supporting body. At the same time, the reinforcement body and the slide groove correspond to each other in the vertical direction, making the supporting body more stable. When the storage and retrieval robot slides, the reinforcement body can also play a good role in fixing the supporting body, avoiding the supporting body from shaking when the storage and retrieval robot moves quickly.

[0031] The support body is provided with a slot to accommodate the toothed belt in the slot. The toothed belt does not take up extra space, and the structure is compact, which is convenient for reducing the volume of the support body and making the appearance more beautiful. The support body is made of aluminum profile, which greatly reduces the weight of the storage and retrieval manipulator and reduces the requirements for the ground bearing capacity of the equipment site. It is also conducive to increasing the moving speed of the storage and retrieval manipulator, thereby improving work efficiency.

[0032] The power cabinet is installed on the storage and retrieval robot instead of being installed on the ground as is traditionally the case. This reduces the pulling of power and signal cables. Only one external power cable or one additional signal cable is required. Sometimes, no signal cable is even required and wireless connection is adopted. There are many power and signal cables. On the one hand, the frequency of damage or loosening will increase, which will bring many unstable factors to the operation of the storage and retrieval robot. At the same time, it reduces the dragging of a large number of power and signal cables when the storage and retrieval robot moves, which is beneficial to improving the moving speed and efficiency of the storage and retrieval robot.

[0033] The storage part is equipped with limit columns and limit slots, so that the feeding trolley cannot be moved out when loading materials, which plays a role of limit prevention and avoids operators from damaging materials or equipment due to misoperation, causing unnecessary losses. Electromagnets are set to prevent the feeding trolley from shaking in the loading part or falling out of the loading part, which plays a role of fixing and safety. Anti-collision pads are set to protect the feeding trolley from being hit, improve the durability of the feeding trolley and the loading part, and extend their service life.

[0034] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 is a schematic diagram of a three-dimensional structure of a high-speed material execution system based on mixed-flow manufacturing described in this embodiment from one perspective;

[0037] Figure 2 is a schematic diagram of the three-dimensional structure of the high-speed material execution system based on mixed-flow manufacturing described in this embodiment from another perspective;

[0038] Figure 3 is a schematic diagram of the three-dimensional structure of the storage bin described in this embodiment from one viewing angle;

[0039] Figure 4 is a schematic diagram of the three-dimensional structure of the storage bin described in this embodiment from another perspective;

[0040] Figure 5 is a schematic diagram of a portion of the internal structure of the storage bin described in this embodiment;

[0041] Figure 6 is a schematic diagram of the three-dimensional structure of the feeding device described in this embodiment;

[0042] Figure 7 is a schematic diagram of the three-dimensional structure of the sorting device described in this embodiment;

[0043] Figure 8 yes Figure 7 Schematic diagram of the three-dimensional structure of the detection structure;

[0044] Fig. 9 yes Figure 8 A schematic diagram of a three-dimensional structure of the cross section in the direction of A;

[0045] Fig.10 is a schematic diagram of the three-dimensional structure of the fifth discharging belt and the distribution structure described in this embodiment;

[0046] Fig.11 Schematic diagram of the three-dimensional structure of the unloading platform and the buffer part described in this embodiment;

[0047] Fig.12 It is a schematic diagram of the three-dimensional structure of the material unloading platform and the material misalignment placement part described in this embodiment;

[0048] Fig.13 is a schematic diagram of the three-dimensional structure of the material storage part described in this embodiment from one viewing angle;

[0049] Fig.14 is a schematic diagram of the three-dimensional structure of the material storage part described in this embodiment from another perspective;

[0050] Fig.15 is a schematic diagram of the three-dimensional structure of the force-controlled clamping jaw described in this embodiment;

[0051] Fig.16 yes Fig.15 A schematic diagram of the partially enlarged structure of the middle R part;

[0052] Fig.17 is a schematic diagram of the three-dimensional structure of the storage and access robot described in this embodiment from one perspective;

[0053] Fig.18 is a schematic diagram of the three-dimensional structure of the storage and access robot described in this embodiment from another perspective;

[0054] Fig.19 is a schematic diagram of the three-dimensional structure of the mechanical arm described in this embodiment;

[0055] Fig. 20 It is a schematic diagram of the three-dimensional structure of the base, the first clamping arm, the second clamping arm and the material described in this embodiment;

[0056] Fig.21 yes Fig. 20 Schematic diagram of the enlarged structure of the M part;

[0057] Fig. 22 is a schematic diagram of the three-dimensional structure of the conveyor belt described in this embodiment;

[0058] Fig.23 It is a schematic diagram of the three-dimensional structure of the first discharging belt described in this embodiment.

[0059] Among them, 1-storage bin, 2-feeding device, 3-sorting device, 4-discharging table, 5-storage rack, 6-storage and retrieval manipulator, 7-conveyor belt, 8-pointing machine, 9-material, 11-feeding port, 12-discharging port, 13-slide rail, 14-first channel, 141-first feed port, 15-second channel, 151-second feed port, 21-feeding conveyor belt, 22-first conveyor belt, 23-second conveyor belt, 24-storage part, 25-force control clamp, 26-wrong material placement part, 27-feeding trolley, 241-loading base, 2411-magnet, 2412-anti-collision pad, 242-screw rod, 243-lift Lowering plate, 244-lifting drive structure, 245-upper plate, 246-support rod, 247-trolley slot, 248-limiting column, 249-fifth sensor, 251-slide bar, 252-first component, 253-second component, 254-first clamping jaw motor, 255-first clamping hand, 256-second clamping hand, 257-third sensor, 258-third induction sheet, 271-material rod, 272-tray, 273-trolley frame, 274-gap, 276-trolley slide rail, 277-electromagnet, 31-discharging conveyor belt, 311-first discharging belt, 312-second discharging belt, 313-total discharging belt, 314- The fourth discharging belt, 315-the fifth discharging belt, 32-detection structure, 321-the second shell, 322-detection camera, 323-stop structure, 324-stop member, 325-stop drive motor, 33-distribution structure, 331-the first shell, 332-drive structure, 333-distribution block, 34-receiving port, 35-receiving device, 351-material transfer box, 352-AGV automatic material vehicle, 41-transfer conveyor belt, 42-stop structure, 43-detection camera, 61-base, 62-support body, 63-mechanical arm, 611-slide, 612-sliding motor, 613-power cabinet, 621-adding Strong body, 631-base, 6311-second sensor, 632-first clamping arm, 633-second clamping arm, 6331-first fixing piece, 6332-accommodating hole, 6334-spring, 6335-first sensor, 634-lifting structure, 6341-support frame, 6342-screw rod, 6343-lifting piece, 6344-first drive motor, 6345-sensing sheet, 635-telescopic structure, 6351-mounting piece, 6352-transmission structure, 6353-second drive motor, 636-rotating structure, 6361-fixed table, 6362-third drive motor, 71-baffle, 72-material blocking port. DETAILED DESCRIPTION

[0060] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0061] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present invention, unless otherwise clearly specified and limited, the terms "provided with", "equipped with", "connected", "installed with", "set", "opened", "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 one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected 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.

[0063] Example

[0064] Please refer to Figure 1-23 ,like Figure 1-23 As shown, a high-speed material execution system based on mixed-flow manufacturing provided by an embodiment of the present invention includes a storage bin 1, a feeding device 2, a sorting device 3 and a control system;

[0065] The storage bin 1 is provided with an inlet 11 and an outlet 12, and a discharge table 4, a storage rack 5, a storage and retrieval robot 6 and a conveyor belt 7 are arranged in the storage bin 1. The discharge table 4 is arranged at the position of the storage bin 1 at the inlet 11, and the materials are stored on the storage rack 5. The storage and retrieval robot 6 is configured to place the materials on the discharge table 4 on the storage rack 5 or on the conveyor belt 7. One end of the conveyor belt along the conveying direction is arranged at the discharge port 12;

[0066] The feeding device 2 is arranged on one side of the storage bin 1 close to the feed inlet 11, and the feeding device 2 includes a feeding conveyor belt 21, and the feeding conveyor belt 21 corresponds to the unloading platform 4, and the feeding conveyor belt 21 and the unloading platform 4 are respectively arranged on both sides of the feed inlet 11;

[0067] The sorting device 3 is arranged on one side of the storage bin 1 close to the discharge port 12, and comprises a discharge conveyor belt 31, a detection structure 32, at least one distribution structure 33 and at least two receiving devices 35. The discharge conveyor belt 31 corresponds to the conveying conveyor belt 7, the detection structure 32 detects the material information of the material on the discharge conveyor belt 31, and the distribution structure 33 can sort the material on the discharge conveyor belt 31 into the corresponding receiving device 35;

[0068] The control system controls the actions of the storage bin 1 , the feeding device 2 and the sorting device 3 .

[0069] like Fig.10 As shown, the distribution structure 33 includes a first shell 331, a driving structure 332 and a distribution block 333; the first shell 331 is fixedly covered on the discharge conveyor belt 31 or the feed conveyor belt 21, the driving structure 332 is fixedly installed on the first shell 331, and the distribution block 333 is movably installed on the driving structure 332. Under the drive of the driving structure 332, the distribution block 333 can push the material on the discharge conveyor belt 31. In the example, the distribution block 333 extends downward to the surface of the discharge conveyor belt 31, and under the drive of the driving structure 332, the distribution block 333 can move from one side of the discharge conveyor belt 31 to the other side.

[0070] like Figure 5 As shown, Figure 5The arrangement of the components in the storage bin is schematically shown. For the convenience of display, some components are deleted. The storage bin 1 is a dual-channel storage bin. Each channel is provided with an inlet 11 and an outlet 12. Each channel is provided with a discharge platform 4 at the position of the inlet 11. The two channels are respectively a first channel 14 and a second channel 15. The first channel 14 is provided with a first inlet 141, and the second channel 15 is provided with a second inlet 151. A set of slide rails 13 and a conveyor belt 7 are provided in each channel. The axis directions of the slide rails 13 and the conveyor belt 7 are consistent. A storage and retrieval manipulator 6 is slidably mounted on the slide rails. Storage racks 5 are provided on both sides of the slide rails 13. The axis direction of the storage rack 5 is consistent with the axis direction of the slide rails 13. A plurality of storage bins are provided on the storage rack 5, and the openings of the storage bins are all facing the slide rails 13. Preferably, the conveyor belt 7 is provided below the storage rack 5. In the example, the conveyor belt 7 is arranged below the storage rack near another channel, so the discharge ports of the two channels can be combined to form a large discharge port. In the example, one end of the conveyor belt 7 in the first channel 14 along the conveying direction and one end of the conveyor belt 7 in the second channel 15 along the conveying direction are both arranged at the same discharge port 12. Of course, the storage bin is not limited to dual channels, but can be single channel, three channels, or even more channels.

[0071] like Figure 6 As shown, the feeding device 2 also includes a first conveyor belt 22 and a second conveyor belt 23, one end of the first conveyor belt 22 and the second conveyor belt 23 are both arranged at one end of the feeding conveyor belt 21 along the conveying direction, one end of the first conveyor belt 22 along the conveying direction is arranged at the first feeding port 141, and one end of the second conveyor belt 23 along the conveying direction is arranged at the second feeding port 151; a distribution structure 33 is arranged on one end of the feeding conveyor belt 21 close to the first conveyor belt 22, and the distribution structure 33 can distribute materials to the first conveyor belt 22 or the second conveyor belt 23. In the example, dust covers are arranged on the feeding conveyor belt 21, the first conveyor belt 22 and the second conveyor belt 23, which can not only prevent dust from falling in, but also prevent materials from falling.

[0072] In the example, the first conveyor belt 22 is arranged at one end of the feeding conveyor belt 21 along the conveying direction, and the second conveyor belt 23 is arranged at one side of the feeding conveyor belt 21. Of course, the above-mentioned arrangement can also be converted. A distribution structure 33 is arranged at a position corresponding to the second conveyor belt 23 on the feeding conveyor belt 21. The material is stored in the first channel 14 or the second channel 15 according to the setting of the work order or the control system. When stored in the first channel 14, the material is conveyed to the first conveyor belt 22 along the feeding conveyor belt 21, and then conveyed to the unloading table 4 in the first channel 14, and is clamped and placed on the storage rack 5 in the first channel 14 by the access robot 6 in the first channel 14; when stored in the second channel 15, when the material is conveyed to the position of the second conveyor belt 23 along the feeding conveyor belt 21, the distribution structure 33 pushes the material to the second conveyor belt 23, and is conveyed to the unloading table 4 in the second channel 15 by the second conveyor belt 23, and is stored on the storage rack 5 in the second channel 15 by the access robot 6 in the second channel 15. In the example, the material is automatically fed to the feeding conveyor belt through the material counting machine 8, so that the storage and retrieval of materials are fully automated. The equipment is fully automated, which reduces labor costs and greatly improves work efficiency.

[0073] like Figure 11-12 As shown, a transfer conveyor belt 41 is arranged on the unloading platform 4. The transfer conveyor belt 41 in the first channel is connected to the first conveyor belt 22, and the transfer conveyor belt 41 in the second channel is connected to the second conveyor belt 23. The materials on the first conveyor belt 22 or the second conveyor belt 23 are transferred to the transfer conveyor belt 41, and then transferred to the end away from the feed inlet 11 through the transfer conveyor belt 41, waiting for the storage and retrieval manipulator 6 to clamp the materials on the transfer conveyor belt 41; a stopper structure 42 is arranged at the end away from the feed inlet 11 of the unloading platform 4, and the stopper structure 42 can stop the materials and prevent the materials from falling from the transfer conveyor belt 41, playing a role of safety and limiting. Preferably, a detection camera 43 is also arranged above the unloading platform 4, and the detection camera 43 can detect the material information on the materials. In the example, the transfer conveyor belt 41 passes through the first feed inlet 141 or the second feed inlet 151 and extends to the outside of the storage bin, and the detection camera 43 detects the barcode information on the materials, and the detection camera 43 is a CCD camera.

[0074] like Figure 7-10 and Fig.23As shown, the sorting device 3 includes a discharge conveyor belt 31, a detection structure 32, at least one distribution structure 33 and at least two receiving devices 35. The discharge port 12 of the first channel 14 and the discharge port 12 of the second channel 15 both correspond to the discharge conveyor belt 31. The material in the first channel 14 is transferred from the discharge port 12 of the first channel 14 to the discharge conveyor belt 31, and the material in the second channel 15 is transferred from the discharge port 12 of the second channel 15 to the discharge conveyor belt 31. Preferably, the discharge conveyor belt 31 includes a first discharge belt 311, a second discharge belt 312 and a total discharge belt 313. The first discharge belt 311 is arranged at one end of the discharge port 12 of the first channel 14, the second discharge belt 312 is arranged at one end of the discharge port 12 of the second channel 15, one end of the first discharge belt 311 along the conveying direction is connected to the total discharge belt 313, and one end of the second discharge belt 312 along the conveying direction is connected to the total discharge belt 313. The main discharge belt 313 is provided with a detection structure 32, at least one distribution structure 33 and at least two receiving ports 34 in sequence along the conveying direction. A receiving device 35 is provided at the receiving port 34, and the receiving device 35 collects materials distributed by the receiving port 34 or materials conveyed by the main discharge belt 313.

[0075] like Figure 8-9 As shown, the detection structure 32 is arranged on the total discharge belt 313, and the detection structure 32 includes a second shell 321 and a detection camera 322; the second shell 321 is fixedly covered on the total discharge belt 313, and the detection camera 322 is fixedly installed on the inner wall of the second shell 321. The detection camera 322 is arranged above the total discharge belt 313, and the detection camera 322 detects the material information of the material on the total discharge belt 313. Preferably, the detection structure 32 is also provided with a stop structure 323, and the stop structure 323 includes a stop member 324 and a stop drive motor 325, and the stop member 324 is fixedly installed on the stop drive motor 325, and the stop drive motor 325 is fixedly installed on the inner wall of the second shell 321, and the stop member 324 is configured to be able to be lowered to the surface of the total discharge belt 313 by the stop drive motor 325 to stop the material or to be lifted by the stop drive motor 325 to allow the material on the total discharge belt 313 to continue to be conveyed. In the example, the stopper 324 is an arc-shaped stopper, and the arc-shaped opening of the stopper faces the material. The detection structure 32 is provided with a stopper structure 323 to facilitate limiting the movement of the material during detection. Preferably, a stopper structure is provided at one end of the first discharge belt 311 close to the main discharge belt 313, such as Fig.23 As shown, a stopper structure is also provided at one end of the second discharge belt 312 close to the main discharge belt 313. The stopper structure is provided on the first discharge belt 311 and the second discharge belt 312 to facilitate flexible operation of the materials on the first discharge belt and the second discharge belt and determine whether the materials are transferred to the main discharge belt behind them.

[0076] Preferably, the total discharge belt 313 is a segmented discharge conveyor belt, and the total discharge belt 313 includes a fourth discharge belt 314 and a fifth discharge belt 315 in sequence along the conveying direction, the detection structure 32 is arranged on the fourth discharge belt 314, and the receiving port 34 is arranged on the fifth discharge belt 315. Segmented transmission facilitates the independent operation of the detection structure 32 and the distribution structure 33, thereby improving the detection and distribution efficiency.

[0077] When picking up materials, the access robot 6 in the first channel 14 grabs the materials on the storage rack 5 and places them on the conveyor belt 7. The materials on the conveyor belt 7 in the first channel 14 are conveyed to the first discharge belt 311 of the sorting device 3 through the discharge port 12, and then conveyed to the main discharge belt 313 through the first discharge belt 311. Then, the detection camera 322 of the detection structure 32 detects the material information of the materials. The control system starts the corresponding distribution structure 33 according to the material information, and the corresponding distribution structure 33 distributes the materials to the corresponding The material receiving device 35; and / or the storage and retrieval robot 6 in the second channel 15 clamps the material on the storage rack 5 and places it on the conveyor belt 7. The material on the conveyor belt 7 is transferred to the second discharge belt 312 through the discharge port 12, and then transferred to the main discharge belt 313 through the second discharge belt 312. Then, the detection camera 322 of the detection structure 32 detects the material information of the material, and the control system starts the corresponding distribution structure 33 according to the material information, and the corresponding distribution structure 33 distributes the material to the corresponding material receiving device 35.

[0078] In the example, five receiving ports 34 are provided, and the receiving ports 34 correspond to the receiving devices 35 one by one. The receiving device 35 can be a material transfer box 351, or a material cart, etc. The material cart can also be a hand-pushed material cart or an automatic material cart. In the example, the material cart is an AGV automatic material cart 352. Preferably, the main discharge belt 313 is symmetrically provided with discharge ports on both sides. The discharge ports symmetrically provided on both sides only need to be provided with one distribution mechanism, and the distribution block of the distribution mechanism slides left and right along the cross-sectional direction of the main discharge belt 313, so that the materials can be pushed to the discharge ports on both sides respectively. One end of the main discharge belt 313 along the conveying direction is also a discharge port.

[0079] In a preferred embodiment, the feeding device 2 further includes a buffer portion, such as Figure 11-16As shown, the buffer section includes a wrong material placement section 26, at least one material storage section 24 and at least one force-controlled clamping claw 25. The material storage section 24 is arranged on one side of the material discharging platform. The material storage section 24 can store materials. The material storage section 24 is provided with a material picking position and a lifting drive structure 244. The material on the material storage section 24 can be transferred to the material picking position through the lifting drive structure 244. The force-controlled clamping claw 25 can clamp the material at the material picking position and place it on the material discharging platform 4 or place the material on the material discharging platform 4 in the material storage section 24. The wrong material placement section 26 can place materials with wrong material information or no material information. If the material information cannot be detected or the material information is wrong, it is determined to be a defective product, and the material determined to be a defective product is placed in the wrong material placement section 26. The wrong material placement section 26 is arranged below the material discharging platform. In the example, the wrong material placement section 26 is arranged below the material discharging platform 4, and the wrong material placement section 26 is an anti-static wrong material turnover box. In the example, there are two material storage parts 24, which are symmetrically arranged on both sides of the material discharging platform 4. There can be one or two force-controlled jaws 25. When there is one force-controlled jaw 25, the force-controlled jaw can place the material on the two material storage parts, or place the material of the two material storage parts on the material discharging platform; two force-controlled jaws 25 can also be set, and each material storage part 24 corresponds to one force-controlled jaw 25. The purpose of setting the buffer part is: if the material on the material discharging platform is not stored on the storage rack 5 in time, the force-controlled jaw will place the material on the material discharging platform 4 on the material storage part, or when the feeding conveyor belt 21 cannot convey the material, the material can be placed on the material storage part, and the force-controlled jaw clamps the material in the material storage part and place it on the material discharging platform, and then the storage and retrieval robot 6 places the material on the material discharging platform on the storage rack 5.

[0080] like Figure 15-16As shown, the force-controlled clamp 25 includes a slide bar 251, a first component 252, a second component 253, a first clamp motor 254, a first gripper 255 and a second gripper 256; the slide bar 251 is generally fixed to a fixed frame or a fixed object. In the example, the slide bar 251 is fixed to the side wall of the storage bin. The first component 252 is slidably mounted on the slide bar 251, and the first component 252 can move along the slide bar 251. The second component 253 is slidably mounted on the first component 252, and the second component 253 can slide along the first component 252. The moving direction of the first component 252 is perpendicular to the moving direction of the second component 253. Along the moving direction of the second component 253, a plurality of third sensors 257 are arranged on the first component 252 or the second component 253, and different third sensors 257 can detect different moving distances of the second component 253. In the example, the slide bar 251 is a horizontal cross bar, the first component 252 can move in the horizontal direction along the slide bar, a slider is provided on the second component 253, a slide rail with an axis direction in the vertical direction is provided on the first component 252, and the second component 253 can move in the vertical direction along the first component 252. The first gripper motor 254 is fixedly mounted on the second component 253, the first gripper 255 and the second gripper 256 are mounted on the first gripper motor 254, and the first gripper motor 254 can move the first gripper 255 and / or the second gripper 256 in a direction away from or close to each other.

[0081] Preferably, the first component 252 is provided with a plurality of third sensors 257 along the moving direction of the second component 253, the second component 253 is provided with a third sensing sheet 258, and the third sensor 257 corresponds to the third sensing sheet 258; or the second component 253 is provided with a plurality of third sensors 257 along the moving direction of the second component 253, the first component 252 is provided with a third sensing sheet 258, and the third sensor 257 corresponds to the third sensing sheet 258. In the example, the first component 252 is provided with four third sensors 257 along the moving direction of the second component 253, the second component 253 is provided with a third sensing sheet 258, and the third sensor 257 corresponds to the third sensing sheet 258. The four third sensors 257 are staggered on both sides of the first component 252, and the third sensing sheets 258 are provided on both sides of the second component 253. The four third sensors 257 can detect materials of four thicknesses. Of course, more or fewer third sensors 257 can be provided according to actual needs. A third sensor is provided to detect and determine the thickness of the material by sensing the distance the second component moves downward. A plurality of third sensors are provided at different positions, which can detect materials of various thicknesses. The use is particularly convenient and facilitates subsequent flexible processing operations. Storage bins of different heights are provided on the material rack. The material is stored in corresponding storage bins on the storage rack according to the detected material thickness, thereby expanding the storage capacity of the storage rack as much as possible, which is conducive to the effective and rational use of the storage rack and maximizes the utilization rate.

[0082] like Fig.11 and Figure 13-14As shown, the material storage section 24 includes a loading base 241, a screw rod 242, a lifting plate 243, a lifting drive structure 244, an upper plate 245, a feeding trolley 27 and at least one support rod 246. Driven by the lifting drive structure 244, the lifting plate 243 can move upward or downward along the screw rod 242. One end of the support rod 246 is fixedly set on the base 241, and the other end of the support rod 246 is fixedly set with an upper plate 245, one end of the screw rod 242 is rotatably connected to the base 241, and the other end of the screw rod 242 is rotatably connected to the upper plate 245, and the lifting plate 243 is provided with a through hole matching the support rod 246 and an internal threaded hole matching the screw rod 242, the lifting plate 243 is sleeved on the support rod 246 through the through hole and slides freely along the support rod 246, the lifting plate 243 is sleeved on the screw rod 242 through the internal threaded hole, the lifting drive structure 244 is drivingly connected to the screw rod 242 and can drive the screw rod 242 to rotate, so that the lifting plate 243 sleeved on the screw rod 242 rises or falls along the screw rod. In the example, the lifting drive structure 244 is a driving motor, and the driving motor is fixedly set on the upper plate 245. Preferably, at least one limiting column 248 is provided on the lifting plate 243, and a fifth sensor 249 is provided on the upper plate 245. In the example, the loading base 241 is provided with a trolley groove 247, and the feeding trolley 27 is accommodated in the trolley groove 247. A magnet 2411 is fixedly provided on the side of the trolley groove 247 away from the inlet of the feeding trolley. An anti-collision pad 2412 is also fixedly provided on the loading base 241. The anti-collision pad 2412 and the magnet 2411 are located on the same side of the trolley groove 247. The anti-collision pad 2412 can protect the feeding trolley 27 from being hit, thereby improving its durability and service life. Of course, the anti-collision pad 2412 can also be provided on the feeding trolley 27 to play an anti-collision role.

[0083] like Figure 13-14As shown, the feeding trolley 27 includes a material rod 271, a tray 272 and a trolley frame 273. The material rod 271 is fixedly arranged on the trolley frame 273. The tray 272 and the material can be movably put on the material rod 271. The tray 272 is placed below the material. A gap 274 is arranged between the tray 272 and the trolley frame 273. At least one limiting groove is provided at the bottom of the tray 272. The limiting groove corresponds to the limiting column 248. In the example, the limiting groove is a circular limiting groove, and the three limiting columns 248 can all be accommodated in the circular limiting groove. A trolley rail 276 is arranged at the bottom of the trolley frame 273; when the feeding trolley 27 is fed into the material storage part 24, the trolley rail 276 is accommodated in the trolley groove 247, and the lifting plate 243 and the limiting column 248 on the lifting plate 243 are all accommodated in the gap 274. When the lifting plate 243 pushes the material on the tray 272 upward, the limiting column 248 is accommodated in the limiting groove, and the feeding trolley cannot be moved out of the material storage part 24 at this time, and the limiting column and the limiting groove play a role of limiting and preventing mistakes. Preferably, an electromagnet 277 that cooperates with the magnet 2411 is also provided at the bottom of the trolley frame 273, and the feeding trolley 27 is fixed to the loading base 241 through the electromagnet. Of course, a magnet can also be provided on the trolley frame 273, and an electromagnet can be provided on the loading base 241 to fix the feeding trolley 27 on the loading base 241.

[0084] The upper plate 245 is provided with a fifth sensor 249, which faces the material rod 271. The fifth sensor 249 can detect the position of the material on the material rod 271, which is defined as the material taking position of the material storage part 24. When loading, the lifting plate 243 pushes the material on the tray 272 upward until the fifth sensor 249 detects the material on the material rod 271. The fifth sensor 249 sends a signal to the control system, and then the control system instructs the lifting drive structure to stop the action, and the uppermost material on the material rod 271 stays at the material taking position. At this time, the force-controlled clamping claw 25 moves above the material, and the first clamping hand 255 and the second clamping hand 256 extend into the center hole of the material. The first clamping hand 255 and the second clamping hand 256 are stretched to tighten the material, and then the material is clamped and sent to the unloading table 4.

[0085] In a preferred embodiment, Figure 17-21 As shown, the access robot 6 includes a base 61, a support body 62 and a robot arm 63; the support body 62 is fixedly arranged on the base 61, the robot arm 63 is movably connected to the support body 62, and the robot arm 63 can move up and down along the support body 62. In the example, the robot arm 63 is a robot arm with adjustable clamping force.

[0086] like Figure 19-21As shown, the mechanical arm 63 includes a base 631, a first clamping arm 632, a second clamping arm 633 and a lifting structure 634; the first clamping arm 632 and the lifting structure 634 are both fixedly arranged on the base 631, the lifting structure 634 includes a lifting member 6343, the second clamping arm 633 is installed on the lifting structure 634, the second clamping arm 633 corresponds to the first clamping arm 632 up and down, the second clamping arm 633 is configured to move up and down with the lifting member 6343, the second clamping arm 633 is provided with a first fixing member 6331, the first fixing member 6331 is provided with a receiving hole 6332, at least one column is arranged in the receiving hole 6332, the column is sequentially sleeved with the lifting member 6343 and the spring 6334 from top to bottom, the lifting member 6343 or the first fixing member 6331 is provided with a first sensor 6335, the first sensor 6335 is configured to detect the lifting member 6343 of the compressed spring 6334. Preferably, a second sensor 6311 is provided on the base 631, and the second sensor 6311 can detect the material on the first clamping arm 632. In the example, the column is vertically arranged in the slot, and there are two columns. In the example, a first sensor 6335 is provided on the first fixing member 6331, and a sensing sheet 6345 is provided on the lifting member 6343. The first sensor is a U-shaped sensor, and the sensing sheet can be accommodated in the U-shaped groove of the first sensor. A spring is provided, which can generate a clamping force to press the material, but will not damage the material by hard pressure. In the example, a mounting hole is provided on a side of the first fixing member 6331 close to the second clamping arm 633, a accommodating groove is provided on a side wall of the accommodating hole 6332 away from the second clamping arm 633, the mounting hole is communicated with the accommodating hole 6332, one end of the column extends from the mounting hole, passes through the mounting hole and the accommodating hole 6332 in sequence and is accommodated in the accommodating groove, and the other end of the column is accommodated in the mounting hole, wherein when the column passes through the accommodating hole 6332, it passes through the spring and the lifting member accommodated in the accommodating hole 6332.

[0087] The lifting structure 634 includes a support frame 6341, a screw rod 6342, a lifting member 6343 and a first drive motor 6344. The support frame 6341 is fixedly arranged on the base 631, the screw rod 6342 is rotatably installed on the support frame 6341, and the lifting member 6343 is provided with a threaded hole matching the screw rod 6342. The threaded hole is sleeved on the screw rod 6342. The first drive motor 6344 is configured to drive the screw rod 6342 to rotate so that the lifting member 6343 moves upward or downward along the screw rod 6342.

[0088] In a preferred embodiment, it also includes a telescopic structure 635, which includes a mounting member 6351, a transmission structure 6352, and a second drive motor 6353; the transmission structure and the second drive motor are both fixedly mounted on the mounting member 6351, and the base 631 is movably connected to the mounting member 6351 through the transmission structure 6352.

[0089] In a preferred embodiment, it also includes a rotating structure 636, which includes a fixed platform 6361, a rotating shaft and a third driving motor 6362; the rotating shaft and the third driving motor 6362 are both installed on the fixed platform 6361, and the mounting member is installed on the fixed platform 6361 through the rotating shaft, and the mounting member can rotate in the horizontal direction through the rotating shaft.

[0090] In a preferred embodiment, at least two groups of slide grooves 611 are provided at the bottom of the base 61, each group of slide grooves is slidably installed on the slide rails in the storage bin, and a sliding motor 612 is provided on the base, which can drive the access manipulator to slide along the slide rails; a reinforcing body 621 is provided on the support body, one end of the reinforcing body is fixedly connected to the support body, and the other end of the reinforcing body is fixedly connected to the base, and the reinforcing body corresponds to one group of slide grooves in the vertical direction, that is, they are located on the same vertical plane. The reinforcing body plays a role in reinforcing the support body, and at the same time, the reinforcing body and the slide grooves are located on the same vertical plane, making the support body more stable; when the access manipulator slides, the reinforcing body can also play a good role in fixing the support body, preventing the support body from shaking when the access manipulator moves quickly.

[0091] In a preferred embodiment, the support body 62 is provided with a slot along the axial direction, a toothed belt is provided in the slot, the robot arm is fixedly connected to the toothed belt of the support body, and the robot arm moves up or down under the transmission of the toothed belt. The slot is provided so that the toothed belt can be accommodated in the slot, the toothed belt does not occupy extra space, the structure is compact, the size of the storage and retrieval robot is reduced, and the appearance is more beautiful.

[0092] In the example, the support body 62 is an aluminum support body. The support body is made of aluminum profile, which greatly reduces the weight of the access robot and reduces the requirements for the ground bearing capacity of the equipment site. It is also beneficial to increase the moving speed of the access robot, thereby improving work efficiency.

[0093] A power cabinet 613 is arranged on the base 61, and the power cabinet can provide power and / or transmit signals for the operation of the access robot. The power cabinet is arranged on the access robot instead of being arranged on the ground as is traditionally done, which reduces the pulling of a lot of power lines and signal lines. Only an external power line or an additional signal line is required, or even no signal line is required, and a wireless connection is adopted. There are a large number of power lines and signal lines, and the frequency of damage or loosening will increase, which will bring many unstable factors to the operation of the access robot. At the same time, it reduces the dragging of a large number of power lines and signal lines when the access robot moves, which is beneficial to improving the moving speed and efficiency of the access robot.

[0094] Working principle of the storage and retrieval robot: When clamping materials, the first clamp arm 632 moves to the bottom of the material under the control of the control system and with the cooperation of the rotating structure 636, the telescopic structure 635 and the storage and retrieval robot. The first clamp arm 632 moves upward until the second sensor 6311 detects the material and the first clamp arm stops moving. At this time, the material is placed on the first clamp arm 632, and then the control system sends a descending command to the first drive motor 6344. The first drive motor 6344 runs and drives the screw rod to rotate at the same time. The lifting member 6343 moves downward synchronously with the rotation of the screw rod, and the first fixing member 6331 sleeved on the lifting member 6343 moves downward synchronously. The second clamp arm 633 fixed with the first fixing member 6331 also moves downward synchronously. When the second clamp arm 633 drops to the top of the material, the second clamp arm 633 stops moving downward, and the first fixing member 6331 fixedly connected to the second clamp arm 633 also stops moving synchronously. At this time, the lifting member 6343 continues to move downward following the screw rod, and the induction sheet on the lifting member 6343 also moves downward synchronously. When the induction sheet moves into the U-shaped groove of the first sensor, the first sensor detects a signal and sends information to the control system. After receiving the information from the first sensor, the control system instructs the first drive motor 6344 to stop rotating. At this time, the lifting member squeezes the spring, so that the second clamp arm generates a clamping force on the material. Therefore, the clamping force of the mechanical arm to clamp the material can be controlled according to the installation position of the induction sheet and the elastic force of the spring. In the example, the position of the induction sheet on the lifting member 6343 can be adjusted up and down, so that the size of the clamping force of the mechanical arm on the material can be adjusted.

[0095] When placing materials, the robotic arm places the materials on the storage rack, and the control system sends an ascending command to the first drive motor 6344. The first drive motor 6344 rotates and drives the lead screw to rotate. The lifting member 6343 moves upward synchronously with the rotation of the lead screw, and the second clamping arm 633 connected to the lifting member moves upward synchronously. When the first fixing member 6331 fixed on the second clamping arm 633 moves upward a certain distance, the first drive motor 6344 stops rotating. At the same time, the first clamping arm descends a certain distance under the action of the toothed belt and moves away from the bottom of the material. Then the robotic arm moves out from the storage rack under the action of the telescopic structure, completing the action of placing the material.

[0096] like Fig. 22 As shown, a baffle 71 is provided on the side of the conveyor belt 7 close to the storage and retrieval robot 6, and at least one material blocking opening 72 is opened on the baffle 71, and the material blocking opening 72 opens upward, and the inner diameter of the material blocking opening 72 is smaller than the outer diameter of the material 9, and the inner diameter of the material blocking opening 72 is not smaller than the width of the first clamping arm 632 or the second clamping arm 633. The storage and retrieval robot 6 takes out the material from the storage rack 5 and places it on the conveyor belt 7. When the material is placed on the conveyor belt 7, the first clamping arm 632 and the second clamping arm 633 clamping the material extend from above the material blocking opening to the discharge conveyor belt 8 and move downward into the material blocking opening, and the second clamping arm 633 is lifted up to leave the surface of the material, and the robot arm 63 releases the material and the first clamping arm 632 moves out of the material blocking opening. The material falls onto the conveyor belt 7 under the stop of the material blocking opening, and the material is transported to the first discharge belt 311 or the second discharge belt 312 along the conveyor belt 7. In the example, the plurality of material blocking openings may be set to have different widths, and materials of different sizes may be matched with material blocking openings of different widths.

[0097] All features of the above components can be freely combined without conflict. In addition, changes, modifications and variations in the component structures are also within the protection scope of this patent.

[0098] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "yet another embodiment", "another embodiment", "other embodiments", "example", "specific example" or "some examples" etc. 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 invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0099] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify and vary the above embodiments within the scope of the present invention.

Claims

1. A high-speed material execution system based on mixed flow manufacturing, characterized in that: It comprises a storage bin (1), a feeding device (2) and a sorting device (3); The storage bin (1) is provided with an inlet (11) and an outlet (12), and a discharging platform (4), a storage rack (5), a storage and retrieval robot (6) and a conveyor belt (7) are arranged in the storage bin (1); the discharging platform (4) is arranged at a position of the storage bin (1) at the inlet (11), the storage rack (5) is capable of storing materials, and the storage and retrieval robot (6) is configured to place materials on the discharging platform (4) on the storage rack (5) or place materials on the storage rack (5) on the conveyor belt (7); and one end of the conveyor belt along the conveying direction is arranged at the discharging platform (12); The feeding device (2) is arranged on one side of the storage bin (1) close to the material inlet (11), and the feeding device (2) comprises a feeding conveyor belt (21), the feeding conveyor belt (21) corresponds to the material discharge platform (4), and the feeding conveyor belt (21) and the material discharge platform (4) are respectively arranged on both sides of the material inlet (11); The sorting device (3) is arranged on a side of the storage bin (1) close to the discharge port (12), and comprises a discharge conveyor belt (31), at least one distribution structure (33) and at least two receiving devices (35), wherein the discharge conveyor belt (31) corresponds to the feeding conveyor belt (7), and the distribution structure (33) can sort the materials on the discharge conveyor belt (31) into the corresponding receiving devices (35); The access robot (6) is provided with a mechanical arm (63) with adjustable clamping force, and the mechanical arm (63) comprises a base (631), a first clamping arm (632), a second clamping arm (633) and a lifting structure (634); The first clamping arm (632) and the lifting structure (634) are both fixedly arranged on the base (631), the lifting structure (634) includes a lifting member (6343), the second clamping arm (633) is installed on the lifting structure (634), the second clamping arm (633) corresponds to the first clamping arm (632) up and down, the second clamping arm (633) is configured to move up and down with the lifting member (6343), the second clamping arm (633) is provided with a first fixing member (6331), and the second A fixing member (6331) is provided with a receiving hole (6332), at least one column is placed in the receiving hole (6332), a lifting member (6343) and a spring (6334) are sequentially sleeved on the column from top to bottom, a first sensor (6335) is provided on the lifting member (6343) or the first fixing member (6331), and when the lifting member (6343) compresses the spring (6334) and moves to a certain position, the first sensor (6335) is configured to detect the lifting member (6343); The first fixing member (6331) is provided with a first sensor (6335), the lifting member (6343) is provided with a sensing sheet (6345), the first sensor is a U-shaped sensor, and the sensing sheet can be accommodated in the U-shaped groove of the first sensor; The feeding device (2) further comprises a buffer portion, wherein the buffer portion comprises at least one material storage portion (24) and at least one force-controlled clamping claw (25), wherein the material storage portion (24) is arranged on one side of the material discharging platform, and the material storage portion (24) is capable of storing materials. The force-controlled clamp (25) comprises a first component (252), a second component (253), a first clamp motor (254), a first clamp hand (255) and a second clamp hand (256); the second component (253) is slidably mounted on the first component (252), the second component (253) can slide along the first component (252), and along the moving direction of the second component (253), a plurality of third sensors (257) are arranged on the first component (252) or the second component (253), and different third sensors (257) can detect different moving distances of the second component (253); the first clamp motor (254) is fixedly mounted on the second component (253), the first clamp hand (255) and the second clamp hand (256) are mounted on the first clamp motor (254), and the first clamp motor (254) can make the first clamp hand (255) and / or the second clamp hand (2556) move in a direction away from or close to each other.

2. The high-speed material execution system based on mixed flow manufacturing according to claim 1 is characterized in that: The storage bin (1) is a dual-channel storage bin, each channel of which is provided with a set of slide rails (13) and a conveyor belt (7), the axis directions of the slide rails (13) and the conveyor belt (7) being consistent, a storage and retrieval manipulator (6) being slidably mounted on the slide rails, and storage racks (5) being provided on both sides of the slide rails (13); Each channel is provided with an inlet (11) and an outlet (12); a discharge platform (4) is provided at the position of the inlet (11) of the channel; the two channels are respectively a first channel (14) and a second channel (15); the first channel (14) is provided with a first inlet (141), and the second channel (15) is provided with a second inlet (151).

3. The high-speed material execution system based on mixed flow manufacturing according to claim 2 is characterized in that: The feeding device (2) further comprises a first conveyor belt (22) and a second conveyor belt (23), one end of the first conveyor belt (22) and the second conveyor belt (23) are both arranged at one end of the feeding conveyor belt (21) along the conveying direction, one end of the first conveyor belt (22) along the conveying direction is arranged at the first feeding port (141), and one end of the second conveyor belt (23) along the conveying direction is arranged at the second feeding port (151); A distribution structure (33) is provided on one end of the feeding conveyor belt (21) close to the first conveyor belt (22), and the distribution structure (33) can distribute materials to the first conveyor belt (22) or the second conveyor belt (23).

4. The high-speed material execution system based on mixed flow manufacturing according to claim 1 is characterized in that: The distribution structure (33) comprises a first housing (331), a driving structure (332) and a distribution block (333); The first shell (331) is fixedly covered on the discharge conveyor belt (31) or the feed conveyor belt (21), the driving structure (332) is fixedly installed on the first shell (331), and the distribution block (333) is movably installed on the driving structure (332). Under the drive of the driving structure (332), the distribution block (333) can push the material on the discharge conveyor belt (31).

5. The high-speed material execution system based on mixed flow manufacturing according to claim 1 is characterized in that: A transfer conveyor belt (41) is arranged on the discharge platform (4), and a stop structure (42) is arranged on the discharge platform (4) away from the feed inlet (11), and the stop structure (42) can stop materials from falling from the transfer conveyor belt (41).

6. The high-speed material execution system based on mixed flow manufacturing according to claim 5 is characterized in that: A detection camera (43) for detecting material information is also arranged above the unloading platform (4); The discharge conveyor belt (31) is also provided with a detection structure (32) for detecting material information. The discharge conveyor belt (31) is provided with a detection structure (32) and a distribution structure (33) in sequence along the conveying direction.

7. The high-speed material execution system based on mixed flow manufacturing according to claim 1 is characterized in that: The material storage portion (24) is provided with a material taking position and a lifting drive structure (244); the material on the material storage portion (24) can be transferred to the material taking position by the lifting drive structure (244); the force-controlled clamping claw (25) can clamp the material at the material taking position and place it on the material discharge platform (4) or place the material on the material discharge platform (4) on the material storage portion (24).

8. The high-speed material execution system based on mixed flow manufacturing according to claim 1 is characterized in that: It also comprises a control system, which controls the actions of the storage bin (1), the feeding device (2) and the sorting device (3).

Images