An intelligent integrated equipment for material pallet storage, picking and matching

Abstract

This patent discloses an intelligent integrated device for material tray storage, picking and distribution, including a storage bin, a robotic arm, a mobile rack and a control system; the storage bin is provided with an inlet and an outlet, and a loading device, a storage rack and a transfer device are arranged in the storage bin, the loading device is arranged on one side of the inlet of the storage bin, the loading device can sort the material tray, the transfer device can place the material tray of the loading device on the storage rack or place the material tray of the storage rack on the outlet; the robotic arm can transfer the material tray; the control system is configured to control the actions of the loading device, the transfer device, the robotic arm and the mobile rack. Under the control system of this patent, the material tray is automatically scanned and sorted, automatically stored on the storage rack, automatically taken out from the storage bin and placed on the mobile rack, and the mobile rack is automatically transported to the material collection place or material collection station, and the whole process is intelligent and automatic, without manual labor, which greatly saves manpower and material resources, reduces the labor intensity of workers, and improves storage and retrieval efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to an intelligent integrated equipment for material pallet storage, picking and matching. Background Art

[0002] When storing disc-shaped materials in existing storage and retrieval storage equipment, they are generally sorted manually first, and then the sorted disc-shaped materials are stored in the storage bin. When taking out the disc-shaped materials from the storage bin, the materials are collected manually at the discharge port, and then the materials are manually pushed to the material collection place or material collection station, which is inefficient, time-consuming and labor-intensive, and manual operation is prone to errors.

[0003] Therefore, in view of the above-mentioned technical problems, it is necessary to provide a new technical solution. Summary of the invention

[0004] In order to solve the technical problems existing in the prior art, the purpose of the present invention is to provide an intelligent integrated equipment for material tray storage and picking, which can automatically detect and scan the material tray, store it in the storage rack, take the material and transport it, with improved automation, high flexibility and greatly improved efficiency. The specific technical scheme is as follows:

[0005] An intelligent integrated equipment for material tray storage, picking and distribution, characterized in that it includes a storage bin, a mechanical arm, a mobile material rack and a control system;

[0006] The storage bin is provided with an inlet and an outlet, and a loading device, a storage rack and a transfer device are arranged in the storage bin. The loading device is arranged at one side of the inlet of the storage bin, the loading device can sort the material trays, and the transfer device can place the material trays of the loading device on the storage rack or take out the material trays of the storage rack to the outlet;

[0007] The mechanical arm can place the material tray of the discharge port on the mobile material rack;

[0008] The control system is configured to control the actions of the loading device, the transfer device, the robotic arm and the mobile rack.

[0009] Furthermore, the discharge port is provided with a material waiting table, and the material waiting table can be placed on the material tray.

[0010] Further, the transfer device includes a storage and retrieval robot;

[0011] The storage and retrieval robot can place the material tray of the loading device on the storage rack or place the material tray of the storage rack on the waiting table.

[0012] Furthermore, the transfer device also includes a discharging conveyor belt;

[0013] One end of the discharge conveyor belt along the conveying direction is arranged at the discharge port, and the material tray on the storage rack is placed on the discharge conveyor belt by a storage and retrieval robot;

[0014] The material waiting table is provided with a material waiting conveyor belt, the material waiting conveyor belt has the same conveying direction as the material discharging conveyor belt, and the material tray on the material discharging conveyor belt can be conveyed to the material waiting table.

[0015] Furthermore, the feeding device includes a feeding part, a material transfer structure and a detection part;

[0016] The loading part can place the material tray to be stored, and the material transfer structure can transfer the material tray of the loading part to the detection part. The detection part includes a discharge table and a detection camera. The detection camera is arranged above the discharge table, and the detection camera can detect the barcode information on the material tray.

[0017] Furthermore, the feeding device also includes a wrong material placement portion, which can place material trays with incorrect barcode information or no barcode information.

[0018] Furthermore, the feeding part includes a material rod, a support plate, a lifting plate and a feeding drive structure; the material rod is fixedly arranged on the feeding device, the support plate is inserted into the material rod, the lifting plate is arranged under the support plate, the feeding drive structure can drive the lifting plate to move, and the lifting plate can push the support plate to move up and down along the material rod.

[0019] Furthermore, the material discharging table is provided with a material discharging trough matching the material tray.

[0020] Furthermore, a baffle is provided on the side of the discharging conveyor belt close to the storage and retrieval robot, and at least one material blocking opening is opened on the baffle.

[0021] Furthermore, the mobile rack includes a rack body, an AGV trolley and a power supply;

[0022] The material rack body (31) is provided with a plurality of material grids and a plurality of indicator lights, the indicator lights (312) are arranged one-to-one with the material grids, the AGV trolley is communicatively connected with a control system, the AGV trolley can move the material rack to a designated position, and the power supply is arranged on the material rack body.

[0023] Compared with the prior art, the technical solution described in this patent has at least one or more of the following beneficial effects:

[0024] The patented intelligent integrated equipment for material tray storage, picking and distribution, under the unified deployment of the control system, after the material tray is placed on the loading device, the material tray is automatically scanned and sorted, and automatically stored on the storage rack. When taking the material tray from the storage bin, the storage and retrieval robot automatically takes the material tray from the storage rack and places it on the mobile rack through the robot arm. The mobile rack is automatically transported to the material retrieval place or material retrieval station. This equipment is fully intelligent and automatic in operation, without the need for manual control and operation, which greatly saves manpower and material resources, reduces the labor intensity of workers, and improves storage and retrieval efficiency.

[0025] The mobile rack is highly flexible and can pick up and place material trays of different sizes at the same time. After the materials are stored and taken out, they are automatically transported to the material collection point without manual handling or intermediate transfer tools. The degree of automation is improved and production efficiency is improved. The loading device is equipped with a detection camera that can scan the barcode information of the material tray for sorting. Intelligent sorting reduces the probability of missed inspections and wrong sorting of materials.

[0026] 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

[0027] 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.

[0028] Figure 1 It is a three-dimensional structural diagram of the intelligent integrated equipment for material tray storage, picking and distribution described in this patent;

[0029] Figure 2 It is a schematic diagram of the three-dimensional structure of the storage bin described in this patent;

[0030] Figure 3 It is a three-dimensional structural schematic diagram of the storage bin and the material waiting table described in this patent from one perspective;

[0031] Figure 4 It is a three-dimensional structural schematic diagram of the storage bin and the material waiting table described in this patent from another perspective;

[0032] Figure 5 It is a three-dimensional structural schematic diagram of a feeding device described in this patent from one perspective;

[0033] Figure 6 It is a three-dimensional structural schematic diagram of another viewing angle of the feeding device described in this patent;

[0034] Figure 7It is a three-dimensional structural schematic diagram of the storage and retrieval manipulator described in this patent;

[0035] Figure 8 It is a three-dimensional structural schematic diagram of the discharge conveyor belt and the material waiting table described in this patent;

[0036] Fig. 9 It is a schematic diagram of the three-dimensional structure of the material waiting table described in this patent;

[0037] Fig.10 It is a schematic diagram of the three-dimensional structure of the mobile material rack described in this patent.

[0038] Among them, 1-storage bin, 2-mechanical arm, 3-mobile material rack, 4-loading device, 5-storage material rack, 6-waiting table, 7-storage and retrieval robot, 8-discharging conveyor belt, 9-material tray, 11-feeding port, 12-discharging port, 13-slide rail, 31-material rack body, 32-AGV trolley, 33-power supply, 311-material grid, 312-indicator light, 314-display screen, 41-loading part, 42-material transfer structure, 43-detection part, 44-wrong material placement part, 411-material rod, 412- support plate, 413- lifting plate, 414- feeding drive structure, 421- picking part, 422- moving assembly, 431- material placement table, 432- detection camera, 61- material waiting conveyor belt, 62- first moving baffle, 63- second moving baffle, 71- manipulator body, 72- clamping assembly, 721- supporting seat, 722- rotating table, 723- rotating plate, 724- clamping arm, 725- first clamping arm, 726- second clamping arm, 81- baffle, 82- material blocking port. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Example

[0043] Please refer to Figure 1-10 ,like Figure 1-10 As shown, an intelligent integrated device for material tray storage and picking provided by an embodiment of the present invention includes a storage bin 1, a mechanical arm 2, a mobile rack 3 and a control system.

[0044] The storage bin 1 is provided with an inlet 11 and an outlet 12. Figure 1-4 As shown, the storage bin 1 is provided with a loading device 4, a storage rack 5 and a transfer device, the loading device 4 is arranged on one side of the inlet 11 of the storage bin 1, the loading device 4 can sort the material trays, and the transfer device can place the material trays of the loading device 4 on the storage rack 5 or place the material trays of the storage rack 5 on the discharge port 12;

[0045] The robot arm 2 can place the material tray of the discharge port 12 on the mobile rack 3;

[0046] The control system is configured to control the actions of the loading device 4 , the transfer device, the robotic arm 2 and the mobile rack 3 .

[0047] The material outlet 12 is provided with a material waiting table 6 , and the material tray is placed on the material waiting table 6 through a transfer device. The robotic arm 2 takes out the material tray on the material waiting table 6 and places it on the movable material rack 3 .

[0048] The transfer device includes a storage and retrieval robot 7 and a discharge conveyor belt 8; the storage and retrieval robot 7 can place the material tray of the loading device 4 on the storage rack 5 or place the material tray of the storage rack 5 on the waiting table 6. One end of the discharge conveyor belt 8 along the conveying direction is arranged at the discharge port 12, and the material tray on the storage rack 5 is placed on the discharge conveyor belt 8 by the storage and retrieval robot 7; the waiting table 6 is provided with a waiting conveyor belt 61, and the conveying direction of the waiting conveyor belt 61 is consistent with that of the discharge conveyor belt 8, and the material tray on the discharge conveyor belt 8 can be conveyed to the waiting table 6.

[0049] The feeding device 4 includes a feeding portion 41, a material transfer structure 42, a detection portion 43 and a wrong material placement portion 44. Figure 5-6 As shown;

[0050] The loading part 41 can place the material tray to be stored, the material transfer structure 42 can transfer the material tray of the loading part 41 to the detection part 43, the detection part 43 includes a material unloading platform 431 and a detection camera 432, the detection camera 432 is arranged above the material unloading platform 431, the detection camera 432 can detect the barcode information on the material tray, and the wrong material placement part 44 can place the material tray with wrong barcode information or no barcode information. In the example, the detection camera 432 is a CCD camera.

[0051] The feeding part 41 includes a material rod 411, a support plate 412, a lifting plate 413 and a feeding drive structure 414. The material rod 411 is fixedly arranged on the feeding device 4, the support plate 412 is sleeved on the material rod 411, the lifting plate 413 is arranged below the support plate 412, and the feeding drive structure 414 can drive the lifting plate 413 to move, and the lifting plate 413 can push the support plate 412 to move up and down along the material rod 411. In the example, there are two feeding parts 41, and the two feeding parts 41 are preferably arranged on both sides of the detection part 43.

[0052] The material transfer structure 42 is arranged above the feeding device 4, and the material transfer structure 42 includes a picking portion 421 and a moving component 422. The moving component 422 is fixedly arranged above the feeding portion and the detection portion, and the picking portion 421 is arranged on the moving component 42. The moving component 42 can drive the picking portion 421 to move. Preferably, a suction cup is arranged on the picking portion 421, and the suction cup can suck the material tray. Further preferably, the picking portion 421 is also provided with a lifting drive structure, and the lifting drive structure can drive the suction cup to rise and fall. In the example, the suction cup is a sponge suction cup, which can prevent the material tray from being damaged when sucking.

[0053] The unloading table is provided with an opening, and the insertion arm of the storage and retrieval robot can be inserted into the opening to take out the material tray. The unloading table is provided with a unloading trough matching the material tray. In the example, the unloading table is provided with a plurality of coaxial unloading troughs of different sizes to accommodate the placement of material trays of different sizes. The unloading trough can not only play a positioning role, but also prevent the material tray from falling from the unloading table.

[0054] The misplaced material placement part 44 is arranged below the material placement table. In the example, the misplaced material placement part 44 is an anti-static misplaced material turnover box.

[0055] When in use, the material tray to be stored is put on the material rod 411, the loading drive structure 414 drives the lifting plate 413 to move upward, the material tray rises to the material picking position, the suction cup absorbs the material tray and places it on the discharge table 431, and the detection camera detects the barcode information on the material tray. If the barcode information matches the system information, the storage robot clamps the material tray and places it on the storage rack; if the barcode information is wrong or there is no barcode information, the storage robot clamps the material tray and places it in the wrong material turnover box.

[0056] Preferably, the feed port 11 and the discharge port 12 are respectively arranged on different sides of the storage bin 1. In the example, the feed port 11 is arranged at one end of the storage bin 1 along the length direction, and the discharge port 12 is arranged at the other end of the storage bin 1 along the length direction. The feed port 11 and the discharge port 12 are arranged relative to each other.

[0057] The storage rack 5 is arranged on one side of the storage bin 1 close to the feed inlet 11. Figure 3-4 As shown, the storage rack 5, the feed port 11 and the discharge port 12 are respectively arranged on different sides of the storage bin 1, and the storage rack 5 is provided with a plurality of storage cells, and the storage cells can hold material trays. In the example, the storage rack is provided with a plurality of rows and columns of storage cells, and the storage cells are provided with a bottom plate, and the bottom plate can support the placement of the material tray. Preferably, the bottom plate is provided with a bottom plate hole, and the bottom plate hole faces the direction of the slide rail. The bottom plate hole is provided to enable the storage and retrieval robot to extend into the storage cell to place the material tray in the storage cell or take out the material tray from the storage cell; preferably, a stop plate is provided at one end of the bottom plate away from the storage bin side wall, and the stop plate can stop the material tray from falling. In the example, there are two storage racks 5, and the two storage racks 5 are arranged opposite to each other on the side wall of the storage bin 1.

[0058] A slide rail 13 is provided in the storage bin 1, and the slide rail 13 is provided between two storage racks 5. The axial directions of the storage rack 5 and the slide rail 13 are consistent. The storage and retrieval robot 7 is slidably installed on the slide rail 13. The storage and retrieval robot 7 can move along the length direction of the slide rail 13. The axial direction of the slide rail 13 is consistent with the axial direction of the discharge conveyor belt 8.

[0059] The access robot 7 is provided with a robot body 71 and a gripping assembly 72. Figure 7 As shown, the clamping assembly 72 is slidably connected to the manipulator body 71, and the clamping assembly 72 can rise or fall along the manipulator body 71. The clamping assembly 72 includes a support seat 721, a rotating table 722, a rotating plate 723 and a clamping arm 724. The support seat 721 is slidably connected to the manipulator body 71, and the support seat 721 can rise or fall along the manipulator body 71. The rotating table 722 is fixedly connected to the support seat 721, and one end of the rotating plate 723 is rotatably connected to the rotating table 722. The rotating plate 723 can rotate in a planar direction. A clamping arm 724 is provided on the rotating plate 723, and the clamping arm 724 is movably connected to the rotating table 722. On the rotating plate 723, the clamp arm 724 can move along the length direction of the rotating plate 723, and an extension arm is provided at one end of the clamp arm 724 away from the rotating plate 723, and the extension arm width is smaller than the width of the clamp arm, and the clamp arm 724 includes a first clamp arm 725 and a second clamp arm 726, and the first clamp arm 725 and the second clamp arm 726 are arranged in parallel, and the first clamp arm 725 can be moved toward the direction close to the second clamp arm 726 or away from the second clamp arm 726 by driving the motor, and the material tray is clamped by moving the first clamp arm 725; of course, the material tray can also be clamped by moving the second clamp arm 726, and even the first clamp arm 725 and the second clamp arm 726 move simultaneously to clamp the material tray. In the example, a tank chain is provided between the clamp arm 724 and the rotating plate 723, and the clamp arm 724 moves on the rotating plate 723 through the tank chain. Of course, the clamp arm 724 can also move on the rotating plate through a slide rail or other methods.

[0060] In the example, the discharge conveyor belt 8 has a Figure 3-4 and Figure 8As shown, the discharging conveyor belt 8 is arranged under one of the storage racks 5, and the length directions of the discharging conveyor belt 8 and the storage rack 5 are consistent. A baffle plate 81 is arranged on the side of the discharging conveyor belt 8 close to the access robot 7, and at least one blocking opening 82 is opened on the baffle plate 81. The opening direction of the blocking opening 82 faces upward, and the inner diameter of the blocking opening 82 is smaller than the outer diameter of the material tray 9, and the inner diameter of the blocking opening 82 is not less than the width of the clamping arm 724. Hand 7 takes out the material tray from the storage rack 5 and places it on the discharge conveyor belt 8. When the material tray is placed on the discharge conveyor belt 8, the clamp arm 724 holding the material tray extends from above the blocking port to the discharge conveyor belt 8 and moves downward into the blocking port. The first clamp arm 725 moves in a direction away from the second clamp arm 726. The clamp arm 724 releases the material tray and moves out of the blocking port. The material tray falls onto the discharge conveyor belt 8 under the stop of the blocking port, and the material tray is conveyed to the waiting table 6 along the discharge conveyor belt 8. In the example, the plurality of blocking ports can be set with different widths, and material trays of different sizes match blocking ports of different widths.

[0061] The material waiting table 6 is arranged at one end of the material discharging conveyor belt 8 along the conveying direction. Figure 3-4 and Figure 8-9As shown, the material tray can be transferred from the discharge conveyor belt 8 to the waiting table 6 . Preferably, the waiting table 6 is coaxially arranged with the discharge conveyor belt 8 . The material waiting table 6 is provided with a material waiting conveyor belt 61, a first movable baffle 62 and a second movable baffle 63. The material waiting conveyor belt 61 has the same conveying direction as the discharging conveyor belt 8. The first movable baffle 62 is arranged at one end of the material waiting conveyor belt 61 close to the discharging conveyor belt 8. The first movable baffle 62 is extended to the material waiting table or retracted under the material waiting table by a driving motor. The second movable baffle 63 is arranged at one end of the material waiting conveyor belt 61 away from the discharging conveyor belt 8. The second movable baffle 63 can be moved toward the direction close to the material waiting table or away from the material waiting table by a driving motor. When a small-sized material tray is conveyed to the material waiting table, such as a 7-inch material tray, the second movable baffle 63 is moved toward the direction close to the material waiting table by a driving motor. When a large-sized material tray is conveyed to the material waiting table, such as a 14-inch material tray, the second movable baffle 63 is moved toward the direction away from the material waiting table by a driving motor to ensure that the center position of the material tray is at the same position of the material waiting table, so as to facilitate the robot arm to accurately take out the material tray. The second movable baffle 63 plays the role of positioning and stopping the material tray, which is convenient for the robot arm to accurately take out the material tray and prevent the material tray from falling from the waiting table. The second movable baffle 63 is provided with a gap, which is convenient for the robot arm to extend into the waiting table through the gap and then take out the material tray. Of course, the material tray is not limited to 7 inches and 14 inches, and there can be material trays of other sizes. In the example, the waiting table 6 is arranged on the outside of the discharge port 12 of the storage bin. When the material tray is transferred from the discharge conveyor belt 8 to the waiting table 6, the first movable baffle 62 shrinks, the material tray is transferred to the waiting table 6, and the second movable baffle 63 moves to a position suitable for the material tray. The waiting conveyor belt 61 transfers the material tray to the second movable baffle 63. The second movable baffle 63 provides a positioning position for the material tray to be taken and placed. The robot arm 2 passes through the gap of the second movable baffle 63 and extends into the waiting table to clamp the material tray into the mobile material rack. In addition, after the material tray is transferred to the waiting table 6 , the first movable baffle 62 extends onto the waiting table to prevent other material trays from continuing to be transferred to the waiting table 6 , thereby preventing multiple material trays from being stacked on the waiting table 6 .

[0062] One end of the mechanical arm 2 is provided with a clamping claw 21. Figure 1 As shown, the clamp can clamp the material tray. In the example, the clamp can clamp the material tray on the waiting table 6 to the movable material rack 3.

[0063] The mobile rack 3 includes a rack body 31, an AGV trolley 32 and a power source 33. Figure 1 and Fig. 9 As shown;

[0064] The material rack body 31 is provided with a plurality of material grids 311 and a plurality of indicator lights 312, and the indicator lights 312 are arranged one by one with the material grids 311, and the AGV trolley is communicatively connected with the control system. Under the control of the control system, the AGV trolley can move the material rack 3 to a specified position. The power supply is arranged on the material rack body 31, and the indicator lights are electrically connected with the power supply.

[0065] The mobile material rack 3 also includes a charging pile, which is fixed on the ground. A charging slot is provided on the charging pile. A charging head matching the charging slot is provided on the material rack body 31. Preferably, the charging head is conical, and the charging slot is a conical slot. A charging shrapnel is provided at the bottom of the conical slot. The charging head extends into the charging slot and is electrically connected to the charging shrapnel. The charging pile charges the power supply 33, and the control system controls the AGV car to move to the charging pile to automatically charge the power supply of the mobile material rack 3.

[0066] Preferably, a display screen 314 is also provided on the material rack body 31, and the display screen 314 can display material tray information.

[0067] The control system includes an AGV trolley control module, and the AGV trolley control module can control the mobile material rack to move to a specified position.

[0068] When the mobile material rack 3 stores material trays, the control system allocates the information of the material tray to be stored in the material grid of the mobile material rack 3, and the indicator light corresponding to the material grid lights up. The storage and retrieval robot 7 takes out the corresponding material tray from the storage rack 5 and places it on the discharge conveyor 8 according to the command of the control system. The discharge conveyor 8 conveys the corresponding material tray to the waiting table 6. The robot arm 2 takes out the corresponding material tray from the waiting table 6 and stores it in the corresponding material grid. The indicator light corresponding to the material grid goes out after obtaining the storage in place sensing signal, and stores them one by one until all the material trays to be stored are stored in the mobile material rack 3; according to the command of the control system, the AGV car moves the mobile material rack 3 to the material retrieval point, and the indicator light of the material grid where the material tray to be taken out is located lights up. The robot or manual takes out the material tray from the mobile material rack. The indicator light here obtains the material retrieval sensing signal and goes out. In this way, the material trays to be taken out are taken out one by one.

[0069] 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.

[0070] 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.

[0071] 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. An intelligent integrated equipment for material tray storage, picking and matching, characterized in that: It comprises a storage bin (1), a mechanical arm (2), a mobile material rack (3) and a control system; The storage bin (1) is provided with an inlet (11) and an outlet (12), and a loading device (4), a storage rack (5) and a transfer device are arranged in the storage bin (1), the loading device (4) is arranged on one side of the inlet (11) of the storage bin (1), the loading device (4) is capable of sorting material trays, and the transfer device is capable of placing the material tray of the loading device (4) on the storage rack (5) or taking out the material tray of the storage rack (5) to the outlet (12); The mechanical arm (2) is capable of placing the material tray of the discharge port (12) on the movable material rack (3); The control system is configured to control the actions of the loading device (4), the transfer device, the mechanical arm (2) and the mobile rack (3); The material outlet (12) is provided with a material waiting table (6), and the material waiting table (6) is capable of placing a material tray; The transfer device comprises a storage and retrieval robot (7) and a discharge conveyor belt (8); the storage and retrieval robot (7) is capable of placing a material tray of the loading device (4) on the storage rack (5) or placing a material tray of the storage rack (5) on the material waiting table (6); one end of the discharge conveyor belt (8) along the conveying direction is arranged at the discharge port (12), and the material tray on the storage rack (5) is placed on the discharge conveyor belt (8) by the storage and retrieval robot (7); The material-waiting platform (6) is arranged at one end of the material-waiting conveyor belt (8) along the conveying direction; the material-waiting conveyor belt (61), a first movable baffle (62) and a second movable baffle (63) are arranged on the material-waiting conveyor belt (61); the conveying directions of the material-waiting conveyor belt (61) and the material-waiting conveyor belt (8) are consistent; the first movable baffle (62) is arranged at one end of the material-waiting conveyor belt (61) close to the material-waiting conveyor belt (8); the first movable baffle (62) is extended to the material-waiting platform or retracted under the material-waiting platform by a driving motor; the second movable baffle (63) is arranged at one end of the material-waiting conveyor belt (61) away from the material-waiting conveyor belt (8); the second movable baffle (63) can be moved toward or away from the material-waiting platform by a driving motor; A baffle (81) is provided on one side of the discharge conveyor belt (8) close to the storage and retrieval robot (7), and at least one material blocking opening (82) is provided on the baffle (81).

2. The intelligent integrated equipment for material tray storage, picking and matching according to claim 1 is characterized in that: The feeding device (4) comprises a feeding portion (41), a material transfer structure (42) and a detection portion (43); The loading section (41) is capable of placing a material tray to be stored, and the material transfer structure (42) is capable of transferring the material tray of the loading section (41) to the detection section (43). The detection section (43) comprises a material discharge table (431) and a detection camera (432). The detection camera (432) is arranged above the material discharge table (431), and the detection camera (432) is capable of detecting barcode information on the material tray.

3. The material tray storage, picking and matching intelligent integrated equipment according to claim 2 is characterized in that: The loading device (4) further comprises an incorrect material placement portion (44), wherein the incorrect material placement portion (44) is capable of placing a material tray with incorrect barcode information or without barcode information.

4. The intelligent integrated equipment for material tray storage, picking and matching according to claim 2 is characterized in that: The feeding part (41) comprises a material rod (411), a supporting plate (412), a lifting plate (413) and a feeding drive structure (414); the material rod (411) is fixedly arranged on the feeding device (4), the supporting plate (412) is sleeved on the material rod (411), the lifting plate (413) is arranged below the supporting plate (412), the feeding drive structure (414) can drive the lifting plate (413) to move, and the lifting plate (413) can push the supporting plate (412) to move up and down along the material rod (411).

5. The intelligent integrated equipment for material tray storage, picking and matching according to claim 2 is characterized in that: The material discharging platform is provided with a material discharging trough matching the material tray.

6. The intelligent integrated equipment for material tray storage, picking and matching according to claim 1 is characterized in that: The mobile material rack (3) comprises a material rack body (31), an AGV trolley (32) and a power source (33); The material rack body (31) is provided with a plurality of material grids (311) and a plurality of indicator lights (312), the indicator lights (312) and the material grids (311) being arranged in a one-to-one correspondence, the AGV trolley is communicatively connected with a control system; the AGV trolley is capable of moving the material rack (3) to a designated position, and the power supply is arranged on the material rack body (31).

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