Intelligent storage and retrieval robot and system based on multi-size packaging moisture-sensitive materials

Abstract

The patent discloses a kind of intelligent access robot and access system based on multi-size encapsulated moisture-sensitive material, the intelligent access robot includes manipulator main body and access component;Access component is slidably installed in manipulator main body, and access component can be driven to ascend or descend along manipulator main body;Access component includes base, pedestal, material placing part and access part, base is slidably installed on manipulator main body, pedestal is rotatably installed on base, material placing part and access part are both installed on pedestal, and access part can be driven to transfer encapsulated material to material placing part or remove encapsulated material of material placing part.The intelligent access robot is provided with access part and material placing part, and continuously adheres to transport encapsulated material according to the characteristics of encapsulated material, to standardize the transport access of encapsulated material, reduce error rate and failure rate, and help to improve access efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of packaging material transfer and access, in particular to an intelligent access robot and access system based on multi-size packaging of moisture-sensitive materials. BACKGROUND

[0002] Due to the uncertainty of the size, size and shape of the packaged material after packaging, it brings many difficulties to the accurate transfer and correct placement of the packaged material.

[0003] The general prior art conveyor belt can automatically convey the packaged material, but the conveyor belt cannot accurately position and accurately transport the packaged material. If the packaged material cannot be accurately transported and placed, the irregular shape of the packaged material makes its storage disorganized, and it is extremely easy to be taken away or scratched by personnel or devices, which brings many troubles to the storage of the packaged material, has a high error rate, and is easy to cause the loss or confusion of the packaged material.

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

[0005] To solve the technical problems existing in the prior art, the purpose of the present application is to provide an intelligent access robot and access system based on multi-size packaging of moisture-sensitive materials. The intelligent access robot is provided with an access part and a material placing part, and the packaged material is continuously attached and transferred according to the characteristics of the packaged material, which uniformly regulates the transfer and access of the packaged material, reduces the error rate, reduces the failure rate, and helps to improve the access efficiency. The specific technical scheme is as follows:

[0006] In one aspect, the present application provides an intelligent access robot based on multi-size packaging of moisture-sensitive materials, comprising a mechanical hand main body and an access assembly; the access assembly is slidingly installed on the mechanical hand main body;

[0007] The access assembly comprises a base, a pedestal, a material placing part and an access part. The base is slidingly installed on the mechanical hand main body, the pedestal is rotatably installed on the base, and the material placing part and the access part are both installed on the pedestal. The access part is driven to move the packaged material to the material placing part or move the packaged material in the material placing part out. The material placing part can transfer the packaged material after being pressed and attached.

[0008] As a preferred scheme, the access part is slidingly installed on the pedestal; and / or

[0009] The material placing part is slidingly installed on the pedestal.

[0010] As a preferred scheme, the material placing part comprises a material placing table and a pressing and attaching shell placed on the material placing table. The pressing and attaching shell and the material placing table jointly form a transfer cavity, and the transfer cavity can transfer the packaged material after being pressed and attached.

[0011] The feeding platform includes a first feeding platform and a second feeding platform, with a gap between the first feeding platform and the second feeding platform.

[0012] As a preferred embodiment, the storage and retrieval unit includes a pulling component, a pushing component, and a base plate. The base plate is slidably mounted on the base, and the pulling component is mounted on the base plate. The pulling component extends through the gap to the side of the unloading platform away from the main body of the robot, and the pulling component can transfer the packaged material to the unloading unit.

[0013] The pusher is slidably mounted on the base plate and can remove the packaged material from the feeding section.

[0014] As a preferred embodiment, a stop is provided at the end of the pulling component;

[0015] During material feeding, the baffle is driven to be placed vertically, and the feeding component pulls the packaged material into the feeding section through the baffle;

[0016] When no material is being pulled, the stop is driven and placed horizontally.

[0017] As a preferred embodiment, the pressing shell has a first opening located on the side of the pressing shell away from the main body of the robot. The packaging material enters the transfer chamber through the first opening or is removed from the transfer chamber.

[0018] The side plates on both sides of the press-fitted housing can move toward each other or away from each other.

[0019] As a preferred embodiment, the storage and retrieval component is further provided with a first sensor, the first sensor being oriented toward the location to be stored or retrieved; and / or

[0020] The feeding platform is also equipped with a second sensor, which can detect whether there are packaged materials on the feeding platform.

[0021] Another aspect of the present invention provides a storage and retrieval system, including a storage bin, which is equipped with a feeding device, a storage rack, and an intelligent storage and retrieval robot as described in the above technical solution. The storage bin is provided with an inlet and an outlet.

[0022] The feeding device corresponds to the inlet, and the intelligent storage and retrieval robot can transfer the packaged material on the feeding device to the storage rack or transfer the packaged material on the storage rack to the outlet.

[0023] As a preferred embodiment, the feeding device includes a feeding platform, the feeding platform includes a platform body, and the platform body includes a first surface and a first side surface;

[0024] The platform body is provided with at least three pushing bodies, each including at least a rear pushing body and two side pushing bodies. The rear pushing body and the two side pushing bodies are slidably mounted on the first surface. The rear pushing body is arranged opposite to the first side, and the two side pushing bodies are arranged opposite to each other. The rear pushing body and the two side pushing bodies together form a feeding area. The rear pushing body is driven to move toward or away from the first side, and the two side pushing bodies are driven to move toward or away from each other.

[0025] Each of the pushers is rotatably mounted with a cover plate, which can be driven to open or close toward the discharge area.

[0026] As a preferred embodiment, the feeding device further includes a linear transfer module, which includes a rotating mechanism capable of rotating the packaging material on the feeding platform until the alignment edge of the packaging material corresponds to the first side surface.

[0027] Compared with the prior art, the technical solution described in this patent has at least one or more of the following beneficial effects:

[0028] This patented intelligent storage and retrieval robot and system are particularly suitable for the transfer and storage of packaged materials. Due to the uncertainty of the packaging process, the size and shape of the packaged material are unpredictable, irregular in shape, and prone to deformation such as wrinkles, surface unevenness, etc., resulting in a wide variety of packaged material styles. This presents numerous challenges to the transfer and storage of packaged materials. Currently, there are almost no intelligent storage and retrieval robots and systems for packaged materials in China. The intelligent storage and retrieval robot features a unique and ingenious design of its storage and retrieval components, enabling targeted transfer and retrieval of packaged materials. Furthermore, this system includes a unique loading platform for pre-processing the packaged materials, achieving intelligent integrated storage and retrieval of packaged materials.

[0029] The intelligent storage and retrieval robot is equipped with a storage and retrieval section and a material unloading section. It continuously fits and transfers the packaging materials according to their characteristics, consistently standardizes the transfer and storage of packaging materials, reduces error rate and failure rate, and helps improve storage and retrieval efficiency.

[0030] The storage and retrieval unit is slidably mounted on the base to enable the storage and retrieval unit to transfer packaged materials to or remove them from the intelligent storage and retrieval robot, thereby realizing the transfer of materials.

[0031] The rotating design of the material pull rod saves space. When not pulling material, the stop column is placed horizontally. When pulling material, the stop column rotates to the vertical position, making it easy to pull the material onto the feeding platform. The design is flexible, the structure is simple, and it is easy to use.

[0032] The pusher not only pushes out the packaged material from the feeding section, but also acts as a stopper when it is in its initial position, blocking and positioning the packaged material that the puller pulls into the feeding table.

[0033] The pressing housing covers the pressed encapsulation material on the feeding platform to prevent the encapsulation material from warping. At the same time, the side plates on both sides of the pressing housing are movable, which makes it easy to set different distances between the two side plates according to the material size, so as to better position the pressed encapsulation material and accurately transfer the encapsulation material.

[0034] The loading platform of the storage and retrieval system employs movable pushing bodies, auxiliary pushing bodies, and a cover that can be closed to press the outer edge of the packaging material to prevent it from protruding or curling up. It also utilizes a detection component and a rotating mechanism of the linear transfer module to standardize the placement orientation of the packaging material. This prevents packaging materials from being hooked or knocked off during subsequent storage and retrieval operations, or from other abnormalities caused by improper placement during storage. Therefore, to reduce the error rate, it is necessary to pre-standardize the outer packaging edges and placement orientation of the packaging material; that is, when placed on the storage rack, ensure that the aligned edges of the packaging material in the storage compartment face outwards.

[0035] The detection components of the feeding device can detect the material information, appearance outline, and dimensions of the packaged material. This information is then used to verify or store the material information. Scanning the appearance outline allows the alignment edge of the packaged material to be determined based on distance dimensions. The control system's calculation module then calculates the angle and direction of rotation for the packaged material based on the position of the alignment edge. Detecting the material dimensions allows subsequent steps to adjust the movement distance of the components to achieve optimal matching.

[0036] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0037] To more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a three-dimensional structural diagram of the access system described in this patent from one perspective;

[0039] Figure 2 This is a three-dimensional structural diagram of the access system described in this patent from another perspective;

[0040] Figure 3 This is a three-dimensional structural diagram of some components inside the storage compartment of the access system described in this patent;

[0041] Figure 4 yes Figure 3 A three-dimensional structural diagram of the linear transfer module in the image;

[0042] Figure 5 yes Figure 4 An exploded view of the linear transfer module;

[0043] Figure 6 yes Figure 3 A three-dimensional structural diagram of the loading platform from one perspective;

[0044] Figure 7 yes Figure 6 A partially enlarged structural diagram of the R part in the diagram;

[0045] Figure 8 yes Figure 3 A three-dimensional structural diagram of the loading platform from another perspective;

[0046] Figure 9 yes Figure 3 An exploded structural diagram of the loading platform in the middle;

[0047] Figure 10 yes Figure 3 A three-dimensional structural diagram of some of the storage racks;

[0048] Figure 11 yes Figure 3 A top view of part of the storage rack structure;

[0049] Figure 12 yes Figure 3 A three-dimensional structural diagram of the intelligent access robot in the image;

[0050] Figure 13 yes Figure 12 A three-dimensional structural diagram of the access components in the system;

[0051] Figure 14 yes Figure 13 An exploded view of the access components in the system;

[0052] Figure 15 yes Figure 13 Another exploded view of the access components in the diagram;

[0053] Figure 16 yes Figure 13 A three-dimensional structural diagram of the feeding section;

[0054] Figure 17 yes Figure 13A three-dimensional structural diagram of the access unit.

[0055] Among them, 1-storage bin, 4-feeding device, 5-storage rack, 6-intelligent storage and retrieval robot, 7-discharging device, 9-packaged material, 11-inlet, 12-outlet, 13-track, 14-sub-storage bin, 41-feeding buffer platform, 411-first conveyor belt, 43-linear transfer module, 430-transfer body, 431-rotating mechanism, 432-transfer section, 433-slide bar, 434-horizontal drive mechanism, 435-lifting... 44-Loading platform, 441-Platform body, 4411-Material chute, 442-First surface, 443-First side surface, 444-Pushing body, 4441-Rear pushing body, 4442-Side pushing body, 4443-Auxiliary rear pushing body, 4444-Auxiliary side pushing body, 445-Rear drive mechanism, 446-Side drive mechanism, 447-Cover plate, 448-Rotating structure, 4481-Hinge component, 4482-Rotating mechanism Drive mechanism, 4483-accommodating groove, 4484-sliding column, 449-feeding platform sensor, 440-protective cover, 61-manipulator body, 62-storage and retrieval component, 63-base, 64-base, 65-discharging part, 66-storage and retrieval part, 67-first sensor, 611-first drive component, 631-second drive component, 632-rotating component, 651-discharging platform, 652-pressing housing, 653-first discharging platform, 6 54-Second feeding platform, 655-Gap, 656-Feeding drive component, 657-First opening, 658-Second opening, 659-Side plate, 6510-Scaling motor, 6511-Second sensor, 661-Pulling component, 662-Pushing component, 663-Base plate, 664-Storage motor, 665-Block, 666-Fixing component, 667-Rotating motor, 668-Pushing motor, 71-Second conveyor belt, 91-Alignment edge. Detailed Implementation

[0056] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0057] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] In the description of this invention, unless otherwise explicitly specified and limited, the terms "provided with," "equipped with," "connected," "installed," "sleeved," "opened," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0059] Example

[0060] Please refer to Figures 12-17 ,like Figures 12-17 As shown, the uncertainty of packaging materials presents numerous difficulties for their transfer and storage. This patent proposes a novel technical solution for the transfer and retrieval of these materials, taking into account their unique characteristics. In the example, the intelligent storage robot can move along a track. However, this patent is not limited to this.

[0061] The present invention proposes an intelligent access robot, wherein the intelligent access robot 6 includes a robotic arm body 61 and an access component 62;

[0062] Access component 62 is slidably mounted on the robot body 61, and access component 62 is driven to rise or fall along the robot body 61.

[0063] The storage and retrieval component 62 includes a base 63, a base 64, a feeding section 65, and a storage and retrieval section 66. The base 63 is slidably mounted on the robot body 61, and the base 64 is rotatably mounted on the base 63. The feeding section 65 and the storage and retrieval section 66 are both mounted on the base 64. The storage and retrieval section 66 is driven to transfer the packaging material to the feeding section 65 or remove the packaging material from the feeding section 65. The feeding section 65 can transfer the pressed packaging material.

[0064] The intelligent storage and retrieval robot is equipped with a storage and retrieval section and a material unloading section. It continuously fits and transfers the packaging materials according to their characteristics, consistently standardizes the transfer and storage of packaging materials, reduces error rate and failure rate, and helps improve storage and retrieval efficiency.

[0065] In the example, a first driving component 611 is provided on the main body 61 of the robotic arm, and the access component 62 can be driven by the first driving motor 611 to move up or down along the main body 61 of the robotic arm. In the example, the first driving component 611 is a motor.

[0066] In the example, a second driving component 631 and a rotating component 632 connected to the second driving component 631 are provided on the base 63. The base 64 is fixedly installed on the rotating component 632. The second driving component 631 can drive the base 64 on the rotating component 632 to rotate in the horizontal direction.

[0067] Preferably, the storage and retrieval part 66 is slidably mounted on the base 64; and / or the feeding part 65 is slidably mounted on the base 64.

[0068] In intelligent access robots, the direction in which the access component moves away from the main body of the robotic arm is defined as forward, and the direction in which the access component moves towards the main body of the robotic arm is defined as backward.

[0069] In a preferred embodiment, the access unit 66 is slidably mounted on the base 64. The access unit 66 includes a puller 661, a pusher 662, and a base plate 663. The base plate 663 is slidably mounted on the base 64. The puller 661 is mounted on the base plate 663. The puller 661 extends through the gap 655 to the side of the unloading platform 651 away from the robot body 61. The puller 661 can transfer the packaged material to the unloading unit 65. The pusher 662 is slidably mounted on the base plate 663. The pusher 662 can remove the packaged material on the unloading unit 65 from the unloading unit 65.

[0070] Preferably, the storage and retrieval unit 66 further includes a storage and retrieval motor 664, which is fixedly mounted on the base. The storage and retrieval motor 664 can drive the material pulling component to move forward or backward. In the example, a storage and retrieval slide rail is mounted on the base, and a storage and retrieval slider is mounted on the bottom of the base plate. The storage and retrieval slider is mounted on the storage and retrieval slide rail. The storage and retrieval unit is slidably mounted on the base to realize the transfer of packaged materials to or from the intelligent storage and retrieval robot, thereby realizing the transfer of materials.

[0071] In a preferred embodiment, the feeding section 65 includes a transfer box, which includes a feeding platform 651 and a pressing shell 652 placed on the feeding platform 651. The pressing shell 652 and the feeding platform 651 together form a transfer cavity, which can transfer the pressed packaging material. The feeding platform 651 is slidably mounted on the base 64, and the transfer cavity transfers the pressed packaging material. The feeding platform 651 includes a first feeding platform 653 and a second feeding platform 654, with a gap 655 between the first feeding platform 653 and the second feeding platform 654. Preferably, the feeding section 65 further includes a feeding drive component 656, which is fixedly mounted on the base 64. The moving end of the feeding drive component 656 is fixedly connected to the feeding platform 651, and the feeding drive component 656 can drive the feeding platform 651 to move forward or backward. In a further preferred embodiment, the feeding platform 651 is slidably mounted on the base via a slide rail. The base is provided with a feeding slide rail, and a feeding slider matching the feeding slide rail is installed at the bottom of the feeding platform. The feeding drive component 656 can drive the feeding platform 651 to move forward or backward along the feeding slide rail. In this example, there are two feeding drive components; the first feeding platform and the second feeding platform are each connected to a feeding drive component. Of course, depending on actual needs, the number of feeding drive components can be other than that, and this patent is not limited to this. In this example, the feeding drive component 656 is an electric cylinder.

[0072] Preferably, the end of the pulling member 661 is provided with a stop 665. When pulling material, the stop 665 is driven to be placed vertically, and the pulling member 661 pulls the packaged material into the discharging part through the stop 665; when not pulling material, the stop 665 is driven to be placed horizontally.

[0073] In the example, one end of the pulling component 661 is mounted on the base plate 663, and the other end of the pulling component 661 is located on the side of the unloading platform 651 near the robot body 61. The other end of the pulling component 661 extends through the gap 655 to the side of the unloading platform 651 away from the robot body 61. In the example, a stop 665 is located at the other end of the pulling component 661. In the example, the pulling component 661 is a pulling rod, and the stop 665 is located at the other end of the pulling rod. Preferably, the stop 665 is a long column with a diameter not greater than the diameter of the pulling rod. In the example, there are two pulling rods.

[0074] Preferably, a fixing member 666 is also fixedly installed on the base plate 663. The fixing member is located on the side of the feeding platform 651 near the main body 61 of the robot. One end of the pulling member 661 is rotatably mounted on the fixing member 666. More preferably, a stop member 665 is vertically fixedly connected to the other end of the pulling member 661. A rotary motor 667 is also fixedly installed on the fixing member 666. When pulling material, the rotary motor 667 drives the pulling member 661 to rotate until the stop member 665 at the other end of the pulling member 661 is placed vertically along the length direction; when not pulling material, the rotary motor 667 drives the pulling member 661 to rotate until the stop member 665 at the other end of the pulling member 661 is placed horizontally along the length direction. In the example, the rotary motor 667 drives the pulling member 661 to rotate through a toothed belt. In the example, there are two rotary motors 667, and each rotary motor 667 corresponds to a pulling rod. The rotating design of the material pull rod saves space. When not pulling material, the stop column is placed horizontally. When pulling material, the stop column rotates to the vertical position, making it easy to pull the material onto the feeding platform. The design is flexible, the structure is simple, and it is easy to use.

[0075] The material pulling steps of the material pulling component 661 are as follows: When pulling the material, the rotating motor drives the material pulling rod to rotate until the stop is placed horizontally along the length direction. After the material pulling component is extended forward into the loading platform or storage compartment for storing the packaged material under the drive of the storage motor, the rotating motor drives the material pulling rod to rotate until the stop is placed vertically along the length direction. Then the storage motor drives the material pulling component to move backward until the packaged material is transferred to the transfer chamber.

[0076] In the example, the access component is located on one side of the robot body, and the pusher 662 is located on the side of the unloading platform near the robot body. Preferably, the side of the pusher near the unloading platform is curved.

[0077] Preferably, a pusher motor 668 is also installed on the base plate 663. The pusher motor 668 can drive the pusher component 662 forward to push out the packaged material in the transfer cavity or drive the pusher component 662 back to its initial position. In the example, the pusher motor 668 is fixedly installed on the fixing component 666. The pusher motor 668 is connected to the pusher component through a lead screw, and the pusher motor 668 drives the pusher component 662 to move forward or backward through the lead screw. The position of the pusher component 662 on the side of the unloading platform closer to the main body of the robot is defined as the initial position of the pusher component 662.

[0078] In the example, the pusher is slidably mounted on the base plate via a slide rail. Driven by a pusher motor, the pusher moves forward or backward along the slide rail. When the intelligent storage robot places packaging materials, for example, when the intelligent storage robot places packaging materials onto a storage rack or dispensing device, the pusher, driven by the pusher motor, moves forward to push the packaging materials in the transfer chamber onto the storage rack or dispensing device. The pusher not only pushes out the packaging materials from the dispensing section, but also acts as a stop when in its initial position, preventing and positioning the packaging materials pulled into the dispensing platform by the puller. In the example, the pusher has a through hole, through which the pull rod passes via a bearing.

[0079] The pressing housing 652 has a first opening 657 located on the side of the pressing housing away from the main body of the robot. The packaging material enters the transfer cavity or exits from the transfer cavity through the first opening 657. Preferably, the pressing housing 652 also has a second opening 658 located on the side of the pressing housing closer to the main body of the robot. The second opening 658 is opposite to the first opening 657, and a pusher extends into the transfer cavity through the second opening 658. More preferably, the width of the first opening 657 is the same as the distance between the side plates 659 on both sides of the pressing housing. More preferably, the width of the second opening 658 is smaller than the width of the first opening 657.

[0080] Preferably, the side plates 659 on both sides of the pressing shell can move towards or away from each other. In the example, a scaling motor 6510 is installed at the bottom of the feeding platform 651, and the side plates 659 on both sides move synchronously towards or away from each other under the drive of the scaling motor 6510. In the example, there are two scaling motors 6510, and each scaling motor corresponds one-to-one with a side plate 659. Of course, there can also be one scaling motor, which drives the side plates on both sides to move towards or away from each other synchronously through a rack and pinion. The scaling motor can also be any other number, and this patent is not limited to this. The pressing shell covers the packaging material on the feeding platform to prevent the packaging material from warping. At the same time, the side plates on both sides of the pressing shell are movable side plates, which makes it convenient to set different distances between the side plates according to the material size, so as to better position and press the packaging material and accurately transfer the packaging material.

[0081] In a preferred embodiment, the storage and retrieval component is further provided with a first sensor 67, which faces the location to be stored or retrieved. The first sensor 67 is capable of detecting whether there is packaged material at the location to be stored or retrieved. In the example, the first sensor 67 is located on the side of the base 64 away from the main body of the robot.

[0082] Preferably, a second sensor 6511 is also provided on the feeding platform 651, which can detect whether there is packaged material on the feeding platform.

[0083] On the other hand, this embodiment provides a storage and retrieval system, including a storage compartment 1 and a control system. The storage compartment is equipped with a feeding device 4, a storage rack 5, a discharging device 7, and an intelligent storage and retrieval robot 6 as described above. The storage compartment 1 has an inlet 11 and a outlet 12.

[0084] The feeding device 4 includes a feeding buffer platform 41, a detection camera, a linear transfer module 43, and a feeding platform 44. The feeding buffer platform 41 corresponds to the inlet 11. The detection camera can detect at least the appearance outline and material information of the packaged material 9 on the feeding buffer platform 41. The linear transfer module 43 includes a rotating mechanism 431. The linear transfer module 43 rotates the detected packaged material at a certain angle and places it on the feeding platform 44 through the rotating mechanism 431. The feeding platform 44 can position and press the packaged material.

[0085] The intelligent storage and retrieval robot 6 includes a pressing shell 652 and a storage and retrieval unit 66. The pressing shell 652 can transfer the pressed packaged material, and the storage and retrieval unit 66 can transfer the packaged material on the loading platform 44 to the storage rack 5 or transfer the packaged material on the storage rack 5 to the discharging device 7. The discharging device 7 corresponds to the discharging port 12.

[0086] The control system is able to control the operation of the entire access system.

[0087] Track 13 is set at the bottom of the storage compartment, and the intelligent storage and retrieval robot is slidably installed on track 13 and moves along the track.

[0088] This storage and retrieval system is particularly suitable for the transfer and storage of packaged materials. Due to the uncertainty of the packaging process, the size and shape of the packaged outer packaging are unpredictable, irregular in shape, and prone to deformation such as wrinkles, surface unevenness, etc., resulting in a wide variety of packaging styles. This presents many challenges for the storage of packaged materials. Currently, there are almost no automated warehousing systems for packaged materials in China. This system employs a unique loading platform and storage and retrieval components to specifically transfer and retrieve packaged materials, achieving intelligent and integrated storage and retrieval of packaged materials.

[0089] "Encapsulation materials" refers to vacuum-sealed packaging materials, such as tin foil materials and plastic sealing materials.

[0090] In a preferred embodiment, such as Figures 6-9 As shown, the loading platform 44 includes a platform body 441, and the platform body 441 includes a first surface 442 and a first side surface 443;

[0091] The platform body 441 is provided with at least three pushing bodies 444. Each pushing body 444 includes at least a rear pushing body 4441 and two side pushing bodies 4442. The rear pushing body 4441 and the two side pushing bodies 4442 are slidably mounted on the first surface. The rear pushing body 4441 is arranged opposite to the first side surface, and the two side pushing bodies 4442 are arranged opposite to each other. The rear pushing body 4441 and the two side pushing bodies 4442 together form a feeding area. The rear pushing body 4441 is driven to move toward or away from the first side surface 443, and the two side pushing bodies 4442 are driven to move toward or away from each other.

[0092] A cover plate 447 is rotatably mounted on the pusher body 444. The cover plate 447 can be driven to open or close towards the discharge area.

[0093] The loading platform employs movable pushing bodies, auxiliary pushing bodies, and a cover that can be closed to press the outer edge of the packaging material to prevent it from protruding or curling up. It also utilizes a detection component and a rotating mechanism of the linear transfer module to standardize the placement orientation of the packaging material. This prevents packaging materials from being hooked or knocked off during subsequent storage and retrieval, or from other abnormalities caused by improper placement during storage. Therefore, to reduce the error rate, it is necessary to pre-standardize the outer packaging edges and placement orientation of the packaging material; that is, when placed on the storage rack, ensure that the aligned edges of the packaging material in the storage compartment face outwards.

[0094] Preferably, the rotating mechanism 431 is capable of rotating the packaging material until the alignment edge of the packaging material corresponds to the first side surface 443.

[0095] Preferably, the control system includes a calculation module that can calculate the angle to be rotated of the packaged material based on the morphological information of the packaged material detected by the detection component.

[0096] Among them, "aligned edge" refers to the side of the packaged material that is attached to the edge of the outer packaging. Due to the packaging process of the outer packaging and the material, the packaged material has at least one aligned edge.

[0097] The storage rack is equipped with multiple storage compartments, such as Figures 10-11 As shown, the storage compartments can hold packaged materials.

[0098] The feeding buffer platform 41 is equipped with a first conveyor belt 411, such as Figure 3 As shown, the first conveyor belt 411 can transport the packaged material from the inlet to the dispensing area.

[0099] A detection component (not shown in the figure) is positioned above the loading buffer platform 41. This component can detect the material information of the packaged material to verify or store this information, and can also scan and detect the external outline, i.e., the shape, of the packaged material. Scanning the external outline allows the system to determine the alignment edge 91 of the packaged material based on distance and size. Then, the control system's calculation module calculates the angle and direction of rotation of the packaged material based on the position of the alignment edge, the position of the loading platform's placement area, and the position of the first side. These parameters are then sent to the rotation mechanism of the linear transfer module. The linear transfer module rotates the packaged material according to the required angle and direction and places it in the placement area of ​​the loading platform. Preferably, if the packaged material has multiple alignment edges 91, the control system prioritizes selecting the alignment edge with the smaller rotation angle to save operation time and improve efficiency. Preferably, the detection component can also detect the dimensions of the material within the packaged material, such as 7-inch, 13-inch, or other sizes. Detecting the size of the material inside the packaged material allows the pusher or auxiliary pusher of the feeding platform to move the material a corresponding distance according to its size. The diameter of the feeding area formed by the pusher is slightly larger than the size of the material inside the packaged material, so that the outer packaging edge of the packaged material is pressed against the material. Similarly, the distance between the two side plates of the shell and the outer packaging is also slightly larger than the size of the material inside the packaged material.

[0100] like Figures 4-5 As shown, the linear transfer module 43 includes a transfer body 430 and a slide bar 433. The slide bar 433 is fixedly installed above the loading buffer platform 41 and the loading platform 44. The transfer body 430 is slidably installed on the slide bar 433. A horizontal drive mechanism 434 is fixedly installed on the slide bar 433, which can drive the transfer body 430 to move on the slide bar 433. The transfer body 430 is provided with a rotating mechanism 431, a transfer part 432, and a lifting drive mechanism 435. The transfer part 432 is installed at the end of the transfer body 430 near the loading platform. The rotating mechanism 431 can drive the transfer part 432 to rotate, and the lifting drive mechanism 435 can drive the transfer part 432 to rise and fall. In this example, the transfer part 432 is a suction cup.

[0101] like Figures 6-9 As shown, the loading platform 44 includes a platform body 441, and the platform body 441 includes a first surface 442 and a first side surface 443;

[0102] The platform body 441 is provided with at least three pushing bodies, including at least a rear pushing body 4441 and two side pushing bodies 4442. The rear pushing body 4441 and the two side pushing bodies 4442 are slidably mounted on the first surface. The rear pushing body 4441 is arranged opposite to the first side, and the two side pushing bodies 4442 are arranged opposite to each other. The rear pushing body 4441 and the two side pushing bodies 4442 together form a feeding area. The rear pushing body 4441 is driven to move toward the first side 443 or toward the side 443. The two side pushing bodies 4442 are driven to move toward each other or away from each other.

[0103] Each of the pushers is rotatably mounted with a cover plate, which can be driven to open or close toward the discharge area.

[0104] In the example, the two lateral pushers 4442 are arranged perpendicular to the first side 443.

[0105] Preferably, the platform body 441 is also provided with multiple drive mechanisms, which are fixedly installed on the platform body. Each pusher has a corresponding drive mechanism, and the drive mechanism can drive the pusher to move on the first surface 442.

[0106] More preferably, the drive mechanism includes at least a rear drive mechanism 445 and at least one side drive mechanism 446. The rear pusher 4441 can move towards or away from the first side surface 443 under the drive of the rear drive mechanism 445, and the two side pushers 4442 can move towards or away from each other under the drive of their respective side drive mechanisms 446. In this example, there are two side drive mechanisms 446, with each side drive mechanism 446 corresponding to one side pusher 4442. Of course, there can also be one side drive mechanism 446, which synchronously drives the two side pushers 4442 to move towards or away from each other via a rack and pinion. The number of side drive mechanisms 446 can also be any other number, and this patent is not limited to this.

[0107] In the example, the drive mechanism is fixedly installed at the bottom of the platform body. A lead screw is installed at the end of the drive mechanism. The pusher includes an extension with an elongated hole on its first surface. The extension passes through the elongated hole and extends to the bottom of the platform body. The extension has a threaded hole that matches the lead screw, and the threaded hole is fitted onto the lead screw. The drive mechanism drives the pusher to move through the lead screw. Preferably, a slide rail is fixedly installed at the bottom of the platform body, and a slider that matches the slide rail is installed on the extension. The slider is installed on the slide rail, and the pusher moves along the slide rail under the drive of the drive mechanism.

[0108] In a preferred embodiment, the cover plate 447 is rotatably connected to the pusher body, and a rotating structure 448 is fixedly installed on the pusher body. The rotating structure 448 includes a hinge component 4481 and a rotating drive mechanism 4482. One end of the hinge component 4481 is fixedly installed on the corresponding cover plate 447, and the other end of the hinge component 4481 is fixedly installed on the corresponding pusher body. A receiving groove 4483 is provided on the hinge component 4481. The moving part of the rotating drive mechanism 4482 is located on the side away from the pusher body, and a sliding column 4484 is fixedly installed on the moving part, which is received in the receiving groove 4483. Of course, this patent is not limited to this. A sliding column can also be provided on the hinge component, and a fixed block with a receiving groove can be fixedly installed on the moving part, as long as the moving part can drive the hinge component to move so that the cover plate can close or open. In this example, both the hinge component 4481 and the rotating drive mechanism 4482 are located on the side of the pusher body away from the feeding area. Preferably, the hinge component 4481 includes a plurality of hinge members that are hinged sequentially, and a receiving slot is formed on one of the hinge members. In the example, the hinge component 4481 includes four hinge members that are hinged sequentially.

[0109] The specific principle of the cover opening and closing is as follows: When the cover needs to be opened, the moving part of the rotating drive mechanism moves away from the material feeding area, the sliding column drives the receiving groove to move away from the material feeding area in sync, and the hinge component is pulled away from the material feeding area in sync, so that the cover fixed to one end of the hinge component is pulled upward and opened.

[0110] When the cover plate needs to be closed, the moving part of the rotating drive mechanism moves toward the direction of the material feeding area, and the hinge component is simultaneously pushed toward the direction of the material feeding area, so that the cover plate fixed to one end of the hinge component is pushed to close the material feeding area.

[0111] In a preferred embodiment, an auxiliary pushing body is also fixedly mounted on the platform body 441. The auxiliary pushing body includes an auxiliary rear pushing body 4443 and an even number of auxiliary side pushing bodies 4444. The auxiliary rear pushing body 4443 is disposed on both sides of the rear pushing body 4441, and the auxiliary side pushing bodies 4444 are disposed on the side of the side pushing body 4442 away from the first side 443. More preferably, a cover plate 447 is also rotatably connected to the auxiliary pushing body. The cover plate 447 can be driven to open or close towards the material discharge area. It should be noted that the closing principle of the cover plate on the auxiliary pushing body can be the same as or different from that of the cover plate on the pushing body.

[0112] An auxiliary pusher is provided to facilitate all-round pressing of the outer packaging of large-sized encapsulated materials, preventing the outer packaging from protruding or curling up and affecting the transfer or storage of the encapsulated materials, thus reducing the error rate.

[0113] Preferably, a loading platform sensor 449 is installed on the platform body, which can detect whether there is packaged material on the platform body. The loading platform sensor is configured to detect whether there is packaged material on the loading platform.

[0114] Preferably, the platform body is provided with a material picking slot 4411, which extends through the first side. The material pulling component on the intelligent storage and retrieval robot can extend into the material picking slot 4411 to pull out the material on the loading platform.

[0115] Preferably, a protective cover 440 is also installed at the bottom of the platform body, and multiple drive mechanisms are all covered inside the protective cover 440.

[0116] like Figure 3 As shown, the discharge device 7 corresponds to the discharge port 12. The discharge device 7 is equipped with a second conveyor belt 71, which can convey the packaged material to the discharge port 12.

[0117] In this embodiment, as Figures 1-3 As shown, storage compartment 1 includes two sub-storage compartments 14. Each sub-storage compartment 14 is equipped with a feeding device 4, a storage rack 5, an intelligent storage and retrieval robot 6, and a discharging device 7. Each sub-storage compartment has an inlet 11 and an outlet 12. Setting up two sub-storage compartments can improve storage capacity and access efficiency.

[0118] All features of the above components can be freely combined without conflict. In addition, changes, modifications and alterations to the component structure are also within the scope of protection of this patent.

[0119] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "yet another embodiment," "another embodiment," "other embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions 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 suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0120] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications and variations to the above embodiments within the scope of the present invention.

Claims

1. An intelligent storage and retrieval system for moisture-sensitive materials in multi-size packaging, characterized in that, It includes a storage compartment (1), which is equipped with a feeding device (4), a storage rack (5) and an intelligent storage and retrieval robot (6). The storage compartment (1) has an inlet (11) and an outlet (12). The feeding device (4) corresponds to the inlet (11). The feeding device (4) includes a feeding platform (44), which includes a platform body (441). The platform body (441) includes a first surface (442) and a first side surface (443). The platform body (441) is provided with at least three pushing bodies (444). Each pushing body (444) includes at least a rear pushing body (4441) and two side pushing bodies (4442). The rear pushing body (4441) and the two side pushing bodies (4442) are slidably mounted on the first surface. The rear pushing body (4441) is arranged opposite to the first side, and the two side pushing bodies (4442) are arranged opposite to each other. The rear pushing body (4441) and the two side pushing bodies (4442) together form a feeding area. The rear pushing body (4441) is driven to move toward or away from the first side (443), and the two side pushing bodies (4442) are driven to move toward or away from each other. A cover plate (447) is rotatably mounted on the pusher (444), and the cover plate (447) can be driven to open or close towards the discharge area; The intelligent storage and retrieval robot (6) can transfer the packaged material on the feeding device (4) to the storage rack (5) or transfer the packaged material on the storage rack (5) to the discharge port (12); The intelligent access robot (6) includes a robotic arm body (61) and an access component (62); the access component (62) is slidably mounted on the robotic arm body (61); The storage and retrieval assembly (62) includes a base (63), a base (64), a feeding section (65), and a storage and retrieval section (66). The base (63) is slidably mounted on the main body (61) of the robot arm, and the base (64) is rotatably mounted on the base (63). The feeding section (65) and the storage and retrieval section (66) are both mounted on the base (64). The storage and retrieval section (66) is driven to transfer the packaging material to the feeding section (65) or remove the packaging material from the feeding section (65). The feeding section (65) can transfer the pressed packaging material.

2. The intelligent storage and retrieval system based on multi-size packaged moisture-sensitive materials according to claim 1, characterized in that, The access unit (66) is slidably mounted on the base (64); and / or The material feeding part (65) is slidably mounted on the base (64).

3. The intelligent storage and retrieval system for moisture-sensitive materials based on multi-size encapsulated packaging according to claim 1 or 2, characterized in that, The feeding section (65) includes a feeding platform (651) and a pressing shell (652) placed on the feeding platform (651). The pressing shell (652) and the feeding platform (651) together form a transfer cavity, which can transfer the pressed packaging material. The feeding platform (651) includes a first feeding platform (653) and a second feeding platform (654), and a gap (655) is provided between the first feeding platform (653) and the second feeding platform (654).

4. The intelligent storage and retrieval system based on multi-size packaged moisture-sensitive materials according to claim 3, characterized in that, The storage and retrieval unit (66) includes a material pulling component (661), a material pushing component (662), and a base plate (663). The base plate (663) is slidably mounted on the base (64). The material pulling component (661) is mounted on the base plate (663). The material pulling component (661) extends through the gap (655) to the side of the unloading platform (651) away from the main body of the robot (61). The material pulling component (661) can transfer the packaged material to the unloading unit (65). The pusher (662) is slidably mounted on the base plate (663) and can remove the packaged material on the discharge section (65) from the discharge section (65).

5. The intelligent storage and retrieval system based on multi-size packaged moisture-sensitive materials according to claim 1, characterized in that, The end of the pulling component (661) is provided with a stop (665); During material feeding, the stop (665) is driven to be placed vertically, and the feeding component (661) pulls the packaged material into the feeding section through the stop (665); When no material is being pulled, the stop (665) is driven to be placed horizontally.

6. The intelligent storage and retrieval system based on multi-size packaged moisture-sensitive materials according to claim 3, characterized in that, The pressing housing (652) has a first opening (657) located on the side of the pressing housing away from the main body of the robot. The packaging material enters the transfer chamber or is removed from the transfer chamber through the first opening (657). The side plates (659) on both sides of the pressing housing (652) can move toward each other or away from each other.

7. The intelligent storage and retrieval system based on multi-size packaged moisture-sensitive materials according to claim 3, characterized in that, The storage and retrieval component is also equipped with a first sensor, which is oriented toward the location where material is to be stored or retrieved; and / or The feeding platform is also equipped with a second sensor, which can detect whether there are packaged materials on the feeding platform.

8. The intelligent storage and retrieval system based on multi-size packaged moisture-sensitive materials according to claim 1, characterized in that, The loading device (4) also includes a linear transfer module (43), which includes a rotating mechanism (431) capable of rotating the packaging material on the loading platform (44) until the alignment edge of the packaging material corresponds to the first side surface (443).

Images