Full-automatic clean intelligent warehousing equipment and use method

Abstract

The application discloses a kind of full-automatic clean intelligent warehousing equipment and use method, it is characterized in that: including warehouse body, material storage module is equipped in the warehouse body;Access material port, it is set on the front lateral wall of the warehouse body, and the rear end of the access material port is connected with the warehouse body, for storing and taking material;Grabbing manipulator is set in the warehouse body, the grabbing manipulator will be placed on the material access material port Material is placed on the material storage module, or the material placed on the material storage module is placed on the access material port;Material tray for placing material is equipped on the access material port, and driving mechanism for driving the material tray to move back and forth, the driving mechanism drives the material tray to move in first position or second position;Material identification mechanism is equipped in the access material port and the grabbing mechanism.The application improves the convenience and stability of material taking and placing.

Description

Technical Field

[0001] This invention relates to an intelligent warehouse, and more particularly to a fully automated clean intelligent warehouse equipment and its usage method. Background Technology

[0002] Intelligent warehousing refers to the automated storage and retrieval of materials. In existing technologies, the process for storing and retrieving materials in intelligent warehousing involves the following steps: materials are placed into the loading / unloading port, and then an internal gripping mechanism picks up the materials from the port and places them sequentially into the corresponding unloading positions within the intelligent warehouse. Retrieval is similarly performed by the gripping mechanism, which picks up the materials from the unloading positions and places them back into the loading / unloading port for removal. However, this existing technology has the following shortcomings:

[0003] 1. When storing materials, they are often placed manually into the feeding port. This may result in inaccurate material posture. Therefore, when the feeding mechanism picks up the materials, the picking may be inaccurate or deviate, leading to picking failure or the materials falling after being picked up.

[0004] 2. In order to solve the problems of material gripping failure or inaccurate gripping, the gripping mechanism structure will be relatively complex and the cost will be relatively high. At the same time, an industrial camera needs to be set on the gripping mechanism to determine the material posture. After adjusting the gripping posture, the gripping mechanism can grip the material again. This makes the gripping adjustment time long, the efficiency low, the structure more complex, and the cost higher. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automated clean and intelligent warehousing equipment and its usage method. By using this equipment and method, the convenience and stability of material handling can be improved, as well as the stability and accuracy of subsequent material use.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a fully automatic clean intelligent warehousing equipment, including a warehousing body, wherein a material storage module is provided inside the warehousing body;

[0007] The material storage and retrieval port is located on the front side wall of the silo body, and the rear end of the material storage and retrieval port is connected to the silo body for storing and retrieving materials.

[0008] A material-grabbing robot is installed inside the bin. The material-grabbing robot grabs the material placed on the storage port and places it on the material storage module, or grabs the material placed on the material storage module and places it on the storage port.

[0009] The storage and retrieval port is provided with a material tray for placing materials and a drive mechanism for driving the material tray to move back and forth. The drive mechanism drives the material tray to move to a first position or a second position. The first position is located near the front outer wall of the hopper, and the second position is located near the interior of the hopper.

[0010] Two first detection sensors are respectively provided on the sides of the first position and the second position, and the first detection sensors are used to detect the posture of the material on the material tray.

[0011] The material-grabbing robot arm is equipped with a material-grabbing mechanism, and the material-grabbing mechanism is equipped with a second detection sensor. The second detection sensor is used to detect whether there is material in the material storage port or material storage module outside the material-grabbing mechanism.

[0012] Material identification mechanisms are provided inside the material storage and retrieval port and on the material grabbing mechanism.

[0013] In the above technical solution, the material gripping mechanism includes a fork, the inner end of which is rotatably connected to the top of the material gripping robot, and the U-shaped opening of the fork faces outward;

[0014] And / or, the fork includes a connecting plate and support plates respectively disposed on the outer ends of both sides of the connecting plate, the second detection sensor is installed on the bottom outer end of one of the support plates, and the detection end of the second detection sensor is disposed facing the middle of the outer end of the U-shaped opening;

[0015] The material identification mechanism on the material handling mechanism is installed on the inner end face of the U-shaped opening.

[0016] In the above technical solution, two third detection sensors are provided on the side wall of one of the trays. One third detection sensor is located at the outer end of the tray, and the other third detection sensor is located at the inner end of the tray. The detection end of the third detection sensor is facing the other tray.

[0017] In the above technical solution, a limiting block is provided at each of the four corners of the top of the material tray, and a material feeding port is provided on the inner wall of the top of the limiting block. A vertical distance is provided between the bottom surface of the material feeding port and the top surface of the material tray.

[0018] The first detection sensor is positioned directly opposite the vertical spacing, and the two first detection sensors are positioned on the side between two adjacent limiting blocks.

[0019] The first detection sensor is disposed on one side of the material tray, and a feedback element is disposed on the other side of the material tray facing the first detection sensor, with the detection end of the first detection sensor facing the feedback element.

[0020] In the above technical solution, the storage and retrieval ports include two, namely a storage port and a retrieval port, which are arranged on the left and right sides at intervals. A material tray and a drive mechanism are provided in both the storage port and the retrieval port.

[0021] The material-grabbing robot grabs the material from the material tray in the storage port and places it into the material storage module;

[0022] The material-grabbing robot grabs the material from the material storage module and places it on the material tray in the material inlet.

[0023] In the above technical solution, the material-grabbing robot arm drives the material-grabbing mechanism to move and rotate in the horizontal direction;

[0024] And / or, the bin body is further provided with a drive device for driving the gripping robot to move vertically and horizontally, the drive device including a bracket, a vertical drive mechanism and a horizontal drive mechanism mounted on the bracket;

[0025] The bottom of the compartment is provided with a transverse slide rail, the bottom of the bracket is slidably mounted on the transverse slide rail, and the transverse drive mechanism drives the bracket to move laterally along the transverse slide rail.

[0026] The bracket is equipped with a vertical slide rail. The material-grabbing robot is slidably mounted on the vertical slide rail via the mounting frame. The vertical drive mechanism drives the mounting frame to move up and down along the vertical slide rail.

[0027] In the above technical solution, the transverse drive mechanism includes a first motor assembly, a gear is provided on the output shaft of the first motor assembly, and a rack is installed on the side wall of the transverse slide rail parallel to the transverse slide rail. The rack extends along the extension direction of the transverse slide rail, and the gear meshes with the rack.

[0028] The first motor assembly is configured to drive the gear to rotate, and through the meshing of the gear and rack, drive the bracket to move laterally along the transverse slide rail;

[0029] And / or, the vertical drive mechanism includes a second motor assembly and a transmission belt, the transmission belt being arranged parallel to the side of the vertical slide rail, a pulley being rotatably mounted on the top and bottom of the bracket respectively, the transmission belt being wound around the two pulleys, the second motor assembly being configured to drive one of the pulleys to rotate, and drive the transmission belt to drive;

[0030] The mounting frame is connected to the side of the transmission belt. When the transmission belt is in motion, it drives the mounting frame and the material-grabbing robot to move up and down along the vertical slide rail.

[0031] In the above technical solution, there are multiple material storage modules, and the multiple material storage modules are arranged in the warehouse.

[0032] The present invention also provides a method for using a fully automated clean and intelligent warehousing equipment, which includes material storage and material retrieval.

[0033] The material storage step is as follows:

[0034] a. The drive mechanism drives the material pallet to the first position;

[0035] b. Place the material on the material tray at the first position of the storage / retrieval port;

[0036] c. The drive mechanism moves the material tray containing the material to the second position;

[0037] d. The material-grabbing robot moves the material-grabbing mechanism to the material-picking and discharging port, and the material-grabbing mechanism grabs the material, causing the material to detach from the material tray;

[0038] e. The grabbing robot moves the grabbed material to the corresponding empty material storage module and places the material in the material storage module to complete the material storage;

[0039] The material collection step is as follows:

[0040] S1. The gripping robot moves the gripping mechanism to the location containing the material storage module, and then uses the gripping mechanism to remove the material from the material storage module, causing the material to detach from the material storage module.

[0041] S2. The material-grabbing robot grabs the material and places it onto the material tray at the second position of the material loading and unloading port;

[0042] S3. The drive mechanism moves the material tray containing the material to the first position to realize the material picking.

[0043] In step b, the first detection sensor will detect whether the posture of the material needs to be adjusted. After confirming that the posture of the material is qualified, the drive mechanism will move the material tray to the second position. In step b, after the material is placed on the material tray, the material identification mechanism will pre-identify the material and store the identified data.

[0044] In step d, the material grabbing mechanism first uses the second detection sensor to detect whether there is material on the material tray. After confirming that there is material on the material tray, the material grabbing mechanism grabs the material. At the same time, during the material grabbing process, the material identification mechanism on the material grabbing mechanism identifies and records the material.

[0045] In step e, before the material handling mechanism releases the material, the second detection sensor pre-confirms whether the corresponding material storage module is empty. If the material storage module has material, the material handling robot moves the material handling mechanism to another material storage module until the second detection sensor confirms that the material storage module is empty, and then the material handling mechanism puts the material into the material storage module.

[0046] In step S1, before the material grabbing mechanism grabs the material, the second detection sensor pre-confirms whether there is material in the corresponding material storage module. If the material storage module is empty, the material grabbing robot moves the material grabbing mechanism to another material storage module until the second detection sensor confirms that the material storage module has material. Then the material grabbing mechanism grabs the material on the material storage module. At the same time, during the material grabbing process, the material identification mechanism on the material grabbing mechanism identifies and records the material.

[0047] In step S2, after the material is placed on the material tray, the material identification mechanism at the second position identifies and records the material.

[0048] In the above technical solution, in step c, the first detection sensor next to the second position detects whether the material posture needs to be adjusted. If adjustment is needed, the drive mechanism moves the material tray back to the first position to adjust the material posture. Then, the first detection sensor at the first position detects whether the material posture needs to be adjusted again. After confirming that the material posture is qualified, the process returns to step c.

[0049] In step S2, the first detection sensor next to the second position detects the material posture, and regardless of whether the posture needs to be adjusted, it proceeds to step S3.

[0050] In step S3, the first detection sensor next to the first position detects whether the material posture needs to be adjusted until it is confirmed that the material posture is qualified. Subsequently, the material on the material tray can be removed in a preset manner to realize the material retrieval.

[0051] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0052] 1. In this invention, materials are picked up and placed through a pick-up and drop-off port. The drive mechanism can feed materials into or remove them from the bin. The first detection sensor is set at the first and second positions to detect whether the posture of the material is accurate. This facilitates the adjustment of the material posture so as not to affect the picking up and dropping of the material. At the same time, the posture of the material is adjusted before the material is picked up, which improves the picking efficiency.

[0053] 2. In this invention, by setting up a material identification mechanism, the material is identified during the storage and retrieval process, so as to ensure the traceability of the material during the retrieval and storage process, prevent errors during retrieval, ensure the accuracy of subsequent material use, prevent material usage errors, and ensure the stability and accuracy of subsequent material use.

[0054] 3. In this invention, the second detection sensor is used directly for detection, which can detect whether there is material at the material grabbing or dispensing position, ensuring the accuracy and stability of picking and placing, preventing errors that could lead to material collisions or falling, and ensuring the stability and safety of material storage and picking.

[0055] 4. In this invention, forklifts are used to quickly lift materials, improving the efficiency of picking and placing.

[0056] 5. In this invention, material identification mechanisms are provided on both the material feeding and discharging port and the material gripping mechanism. The materials are identified during the gripping, discharging, picking up, and unloading processes to ensure that the materials used later are accurate and to guarantee the quality of the materials used later. Attached Figure Description

[0057] Figure 1 This is a structural schematic diagram of Embodiment 1 of the present invention (the top of the outer shell of the silo is not shown).

[0058] Figure 2 This is a structural schematic diagram of Embodiment 1 of the present invention (the top and sides of the outer shell of the silo are not shown).

[0059] Figure 3 This is a schematic diagram of the connection between the material-grabbing robot and the bin body in Embodiment 1 of the present invention;

[0060] Figure 4 yes Figure 3 A bottom view;

[0061] Figure 5 yes Figure 3 A schematic diagram of the three-dimensional structure;

[0062] Figure 6 This is a schematic diagram of the connection between the material gripping mechanism and the material gripping robot in Embodiment 1 of the present invention (part of the material gripping robot is shown).

[0063] Figure 7 This is a partial structural diagram of the material storage port in Embodiment 1 of the present invention.

[0064] The components include: 1. Warehouse body; 2. Material storage module; 3. Materials;

[0065] 4. Storage port; 41. Storage port; 42. Retrieval port;

[0066] 5. Material handling robot; 50. Pulley; 51. Bracket; 52. Horizontal slide rail; 53. Vertical slide rail; 54. Mounting bracket; 55. First motor assembly; 56. Gear; 57. Rack; 58. Second motor assembly; 59. Drive belt;

[0067] 6. Material pallet; 61. Limit block; 62. Material feeding port; 63. Feedback component;

[0068] 7. Drive mechanism; 8. First position; 9. Second position; 10. First detection sensor; 11. Material gripping mechanism; 12. Second detection sensor; 13. Material identification mechanism; 14. Fork handle; 15. Connecting plate; 16. Pallet; 17. Third detection sensor. Detailed Implementation

[0069] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0070] Example 1: See Figures 1-7 As shown, a fully automated clean and intelligent warehousing device includes a warehousing body 1, within which a material storage module 2 is provided; there are multiple material storage modules 2, and these multiple material storage modules are arranged within the warehousing body 1. The material storage modules are used for storing and placing materials 3.

[0071] The material storage and retrieval port 4 is located on the front side wall of the silo body, and the rear end of the material storage and retrieval port is connected to the silo body for storing and retrieving materials.

[0072] The material handling robot 5 is installed inside the bin. The material handling robot can pick up the material placed on the storage port and place it on the material storage module, or pick up the material placed on the material storage module and place it on the storage port.

[0073] The material inlet is provided with a material tray 6 for placing materials and a drive mechanism 7 for driving the material tray to move back and forth. The drive mechanism drives the material tray to move to a first position 8 or a second position 9. The first position is located near the front outer wall of the hopper, and the second position is located near the interior of the hopper. In this embodiment, the drive mechanism includes a longitudinal slide rail, a longitudinal motor, and a longitudinal ball screw. The longitudinal motor drives the longitudinal ball screw to rotate. The longitudinal ball screw is connected to the bottom of the material tray, and the bottom of the material tray is slidably connected to the longitudinal slide rail. Thus, when the longitudinal ball screw rotates, it drives the material tray to move longitudinally along the longitudinal slide rail.

[0074] Two first detection sensors 10 are respectively provided on the sides of the first and second positions, with a front-to-back spacing. The first detection sensors are used to detect the posture of the material on the material tray. When storing material, after the material is placed on the material tray, regardless of whether the material tray is in the first or second position, the first detection sensors can detect whether the posture of the material on the material tray is accurate, and can also detect whether there is material on it. If the posture is inaccurate, the posture of the material needs to be adjusted until the posture is adjusted. Then, the gripping robot grabs the material and stores it in the material storage module.

[0075] The material-grabbing robot 5 is equipped with a material-grabbing mechanism 11 for grabbing materials. The material-grabbing mechanism 11 is equipped with a second detection sensor 12, which is used to detect whether there is material in the material storage port or material storage module outside the material-grabbing mechanism 11.

[0076] Material identification mechanism 13 is provided inside the material storage and retrieval port and on the material grabbing mechanism.

[0077] In this invention, the hopper body has a control panel (not shown in the figure), which contains a controller. The controller controls the operation of the drive mechanism, the gripping robot, the first detection sensor, the second detection sensor, the material identification mechanism, and various components within the hopper body. In this embodiment, the first and second detection sensors can be photoelectric sensors or other types of sensors. The material identification mechanism uses a barcode scanner. Each material has a corresponding QR code. By scanning the material with the QR code, the identified data is transmitted to the controller and stored.

[0078] See Figure 5 , 6 As shown, the material gripping mechanism 11 includes a fork 14, the inner end of which is rotatably connected to the top of the material gripping robot 5, and the U-shaped opening of the fork 14 is arranged facing outward.

[0079] The fork arm 14 includes a connecting plate 15 and support plates 16 respectively disposed on the outer ends of both sides of the connecting plate 15. The second detection sensor 12 is installed on the bottom outer end of one of the support plates 16, and the detection end of the second detection sensor is disposed facing the middle of the outer end of the U-shaped opening.

[0080] The material identification mechanism on the material handling mechanism is installed on the inner end face of the U-shaped opening.

[0081] In this embodiment, the material (or material tray, in which the material is loaded) has extended plates on the top left and right sides. When the gripping mechanism grips the material, it directly places the U-shaped opening over the outside of the material, with each side's pallet positioned below an extended plate. Then, the gripping robot moves the gripping mechanism upward, allowing the material to detach from the material tray or material storage module. The gripping robot then moves the gripping mechanism containing the material to the corresponding position (the corresponding position is the material tray or material storage module), placing the material on the corresponding position for support. The gripping mechanism then moves downward, causing the pallet to detach from the extended plate. The gripping mechanism then retracts, causing it to detach from the material, thus achieving separation between the material and the gripping mechanism. In this method, since the material's posture is pre-detected by the first detection sensor to ensure accuracy, and the posture of the material being grasped by the grasping mechanism is definitely adjusted, the grasping mechanism does not need to be adjusted when grasping the material. The position and angle of the grasping mechanism are fixed each time, which ensures high grasping efficiency, good grasping quality, and extremely fast grasping speed. The subsequent placement of the material on the material storage module is also fast.

[0082] See Figure 6 As shown, two third detection sensors 17 are provided on the side wall of one of the trays 16. One third detection sensor 17 is located at the outer end of the tray 16, and the other third detection sensor is located at the inner end of the tray, with the detection end of the third detection sensor facing the other tray.

[0083] In this system, after the material-grabbing mechanism picks up the material, the material can block the third detection sensor. This third sensor detects whether the material-grabbing mechanism has properly gripped the material, preventing empty gripping. Two third detection sensors are installed, one inside the pallet and one outside. These sensors detect whether the material is properly gripped within the mechanism. Specifically, during gripping, the outer end of the U-shaped opening first covers the material, meaning the outer sensor detects it first. If the material is not fully supported by the U-shaped opening, the inner sensor will not detect it, indicating the material is not fully gripped. Only when both sensors detect the material is it considered fully supported by the U-shaped opening, indicating proper gripping. This prevents the material from falling when the robotic arm moves the material, ensuring the stability and quality of gripping and movement.

[0084] In this design, the second detection sensor is positioned so that it fits over one end of the material through a U-shaped opening. The material moves from the outer end of the U-shaped opening towards the inner end, allowing the second detection sensor to be positioned at the middle of the outer end of the U-shaped opening. This allows the sensor to detect whether there is material at the desired material grabbing location (above the material tray or at the material storage module) or the desired material placement location (above the material tray or at the material storage module). This ensures that material is grabbed during grabbing, preventing empty grabbing, and that the material is not dropped due to collision with existing material. This prevents missed grabbing and material falling.

[0085] Simultaneously, the detection data from each sensor is fed back to the controller, which then controls whether the gripping robot continues its work, changes the material placement position, or pauses operation, reminding the operator to follow the pre-programmed control. For example, when placing material into a material storage module, if the second sensor detects that the module contains material, the controller can control the robot to move to another material storage module (one that is not pre-recorded as containing material). The second sensor then checks if the current storage module contains material. If not, the gripping robot places the material into that module, or uses other methods, following the pre-programmed instructions.

[0086] See Figure 7 As shown, a limiting block 61 is provided at each of the four corners of the top of the material tray 6, and a material feeding port 62 is provided on the inner wall of the top of the limiting block. A vertical distance is provided between the bottom surface of the material feeding port and the top surface of the material tray.

[0087] The first detection sensor is positioned directly opposite the vertical spacing, and the two first detection sensors are positioned on the side between two adjacent limiting blocks.

[0088] The first detection sensor is disposed on one side of the material tray, and a feedback element 63 is disposed on the other side of the material tray facing the first detection sensor, with the detection end of the first detection sensor facing the feedback element.

[0089] The system comprises two front limiting blocks and two rear limiting blocks. The two front limiting blocks are located on the left and right sides of the front end of the material tray, respectively, and the two rear limiting blocks are located on the left and right sides of the rear end of the material tray, respectively. In this embodiment, the distance between the bottom surface of the material feeding port of the front limiting block and the top surface of the material tray is X1, and the distance between the bottom surface of the material feeding port of the rear limiting block and the top surface of the material tray is X2, where X1 is greater than X2. The four corners of the material are placed on the four feeding ports, thus creating a certain tilt angle to prevent the material from tilting. The first detection sensor on the front side is directly facing the area between the bottom surface of the material and the top surface of the material tray, while the first detection sensor on the rear side is directly facing the material. The first detection sensor can be a photoelectric sensor or a laser sensor. If the material posture is accurate, the feedback device on the front side will receive the signal from the first detection sensor, while the feedback device on the rear side will not receive the signal from the first detection sensor on the rear side, indicating that the material posture is acceptable. If the posture is inconsistent, it indicates that the material posture is unacceptable or that there is a shortage of material, requiring manual adjustment until the material posture is acceptable.

[0090] See Figure 1 , 2 As shown in Figure 7, the storage and retrieval ports include two, namely storage port 41 and retrieval port 42. The storage port and retrieval port are arranged on the left and right sides at intervals. A material tray and a drive mechanism are provided in both the storage port and the retrieval port.

[0091] The material-grabbing robot grabs the material from the material tray in the storage port and places it into the material storage module;

[0092] The material-grabbing robot grabs the material from the material storage module and places it on the material tray in the material inlet.

[0093] In this embodiment, one storage port is used for storing materials, and one retrieval port is used for retrieving materials. During both storage and retrieval, a material identification mechanism is required to identify the materials, thereby ensuring that subsequent material handling is error-free.

[0094] The material-grabbing robot arm drives the material-grabbing mechanism to move and rotate in the horizontal direction;

[0095] The hopper is also equipped with a drive device that drives the material-grabbing robot to move vertically and horizontally. The drive device includes a bracket 51, a vertical drive mechanism and a horizontal drive mechanism mounted on the bracket 51.

[0096] The bottom of the compartment 1 is provided with a transverse slide rail 52, the bottom of the bracket is slidably mounted on the transverse slide rail, and the transverse drive mechanism drives the bracket to move laterally along the transverse slide rail.

[0097] The bracket 51 is provided with a vertical slide rail 53. The material handling robot 5 is slidably mounted on the vertical slide rail via the mounting frame 54. The vertical drive mechanism drives the mounting frame to move up and down along the vertical slide rail.

[0098] In this embodiment, the vertical drive mechanism, the horizontal drive mechanism, and the gripping robot drive the gripping mechanism to move at various positions within the hopper, thereby achieving material gripping and unloading. Simultaneously, the gripping robot only needs to realize the horizontal movement and rotation of the gripping mechanism, resulting in a fast response speed, relatively simple structure, and relatively low cost.

[0099] See Figure 3 , 4 As shown, the lateral drive mechanism includes a first motor assembly 55, a gear 56 is provided on the output shaft of the first motor assembly, and a rack 57 is installed on the side wall of the lateral slide rail, which is parallel to the lateral slide rail. The rack extends along the extension direction of the lateral slide rail, and the gear meshes with the rack.

[0100] The first motor assembly is configured to drive the gear to rotate, and through the meshing of the gear and rack, drive the bracket to move laterally along the transverse slide rail;

[0101] The vertical drive mechanism includes a second motor assembly 58 and a transmission belt 59. The transmission belt is arranged parallel to the side of the vertical slide rail. A pulley 50 is rotatably mounted on the top and bottom of the bracket. The transmission belt is wound around the two pulleys. The second motor assembly is configured to drive one of the pulleys to rotate and drive the transmission belt to rotate.

[0102] The mounting frame is connected to the side of the transmission belt. When the transmission belt is in motion, it drives the mounting frame and the material-grabbing robot to move up and down along the vertical slide rail.

[0103] The first motor assembly drives the gears to rotate. Because the gears mesh with the rack, the forward and reverse rotation of the gears causes the support to move left or right along the horizontal slide rail, allowing the material-grabbing robot to move in the opposite direction laterally. The second motor assembly drives the transmission belt, which in turn moves the mounting frame up and down, enabling the material-grabbing robot to move vertically. The robot can then move and rotate the material horizontally, allowing it to be moved to different positions and thus enabling material grabbing and unloading.

[0104] The present invention also provides a method for using a fully automated clean and intelligent warehousing equipment, which includes material storage and material retrieval.

[0105] The material storage step is as follows:

[0106] a. The drive mechanism drives the material pallet to the first position;

[0107] The material storage step is carried out at the material storage port, that is, the drive mechanism at the material storage port drives the material pallet to the first position, which is close to the front end of the silo.

[0108] b. Place the material on the material tray at the first position of the storage / retrieval port;

[0109] That is, the operator or other equipment places the material on the material tray above the first position of the storage port. In this embodiment, the material is placed on the material tray manually. After the material is placed on the material tray, the material identification mechanism will pre-identify the material and store the identified data.

[0110] c. The drive mechanism moves the material tray containing the material to the second position;

[0111] In step b, the first detection sensor detects whether the material's posture needs adjustment. After confirming that the material's posture is acceptable, the drive mechanism moves the material tray to the second position. If the material's posture is unacceptable, a prompt message is displayed on the control panel above the silo, or a buzzer alarm is set to alert the operator (in this embodiment, the operator is used to load the material, but it can also be adjusted by an automated loading robot). After the operator adjusts the material's posture and confirms that it is acceptable, the drive mechanism moves the material tray to the second position.

[0112] In this process, the first detection sensor next to the second position detects whether the material posture needs to be adjusted. If adjustment is required, the drive mechanism moves the material tray back to the first position to adjust the material posture. Then, the first detection sensor at the first position checks whether the material posture needs to be adjusted again. After confirming that the material posture is qualified, the process returns to step c until the first detection sensor next to the second position detects that the material posture is qualified before proceeding to the next step.

[0113] d. The gripping robot moves the gripping mechanism to the material pick-up and drop-off port (in this embodiment, the gripping robot moves the gripping mechanism to the storage port), and the gripping mechanism picks up the material, causing the material to leave the material tray;

[0114] The material grabbing mechanism first uses a second detection sensor to detect whether there is material on the material tray. After confirming that there is material on the material tray, the material grabbing mechanism grabs the material. During the material grabbing process, the material is identified and recorded by the material recognition mechanism on the material grabbing mechanism, and the data is transmitted to the controller. The controller records and judges the data, and controls the subsequent actions of the equipment.

[0115] e. The grabbing robot moves the grabbed material to the corresponding empty material storage module and places the material in the material storage module to complete the material storage;

[0116] Before the material-grabbing mechanism releases the material, the second detection sensor pre-confirms whether the corresponding material storage module is empty. If the material storage module contains material, the grabbing robot moves the material-grabbing mechanism to another material storage module until the second detection sensor confirms that the material storage module is empty, and then the material-grabbing mechanism puts the material into the material storage module.

[0117] The material collection step is as follows:

[0118] S1. The gripping robot moves the gripping mechanism to the location containing the material storage module, and then uses the gripping mechanism to remove the material from the material storage module, causing the material to detach from the material storage module.

[0119] Before the material grabbing mechanism grabs material, the second detection sensor pre-confirms whether there is material in the corresponding material storage module. If the material storage module is empty, the grabbing robot moves the material grabbing mechanism to another material storage module until the second detection sensor confirms that the material storage module has material. Then the material grabbing mechanism grabs the material from the material storage module. At the same time, during the material grabbing process, the material identification mechanism on the material grabbing mechanism identifies and records the material. The controller stores the data so that the controller can control other mechanisms of the equipment in the future.

[0120] S2. The gripping robot grabs the material and places it onto the material tray at the second position of the feeding port; wherein, the gripping robot grabs the material and places it onto the material tray at the second position of the feeding port.

[0121] After the material is placed on the material tray, the material identification mechanism in the second position identifies and records the material;

[0122] The first detection sensor next to the second position detects the material posture. Regardless of whether the posture needs to be adjusted, the process proceeds to the following step (step S3).

[0123] S3. The drive mechanism moves the material tray containing the material to the first position to realize the material picking.

[0124] In this embodiment, a first detection sensor located next to the first position at the material inlet detects whether the material posture needs adjustment. Once the material posture is confirmed to be acceptable, the material can be removed from the material tray using a preset method. If the material posture is unacceptable, an alarm will be triggered via a touchscreen display or a buzzer. The operator will then adjust the material posture on the material tray until it is acceptable before removing the material from the tray at the first position at the material inlet using a preset method.

[0125] Among them, through calculation of the equipment's seismic resistance, the equipment's anchoring meets the minimum seismic requirements, and the equipment's own cleanliness capacity can reach Class 100. In addition, the equipment meets the SEMI certification requirements and has completed SEMI certification.

[0126] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," 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.

[0127] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," 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. For instance, the two components can be mechanically connected by contact or abutting; they can also be directly hooked or connected by an intermediate medium; or 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.

Claims

1. A fully automated clean and intelligent warehousing equipment, characterized in that: Includes a storage unit, which is equipped with a material storage module; The material storage and retrieval port is located on the front side wall of the silo body, and the rear end of the material storage and retrieval port is connected to the silo body for storing and retrieving materials. A material-grabbing robot is installed inside the bin. The material-grabbing robot grabs the material placed on the storage port and places it on the material storage module, or grabs the material placed on the material storage module and places it on the storage port. The storage and retrieval port is provided with a material tray for placing materials and a drive mechanism for driving the material tray to move back and forth. The drive mechanism drives the material tray to move to a first position or a second position. The first position is located near the front outer wall of the hopper, and the second position is located near the interior of the hopper. Two first detection sensors are respectively provided on the sides of the first position and the second position, and the first detection sensors are used to detect the posture of the material on the material tray. The material-grabbing robot arm is equipped with a material-grabbing mechanism, and the material-grabbing mechanism is equipped with a second detection sensor. The second detection sensor is used to detect whether there is material in the material storage port or material storage module outside the material-grabbing mechanism. A material identification mechanism is provided inside the material storage and retrieval port and on the material gripping mechanism; The material handling mechanism includes a fork, the inner end of which is rotatably connected to the top of the material handling robot, and the U-shaped opening of the fork faces outward. The fork includes a connecting plate and support plates respectively disposed on the outer ends of both sides of the connecting plate. The second detection sensor is installed on the bottom outer end of one of the support plates, and the detection end of the second detection sensor is disposed facing the middle of the outer end of the U-shaped opening. The material identification mechanism on the material gripping mechanism is installed on the inner end face of the U-shaped opening; The material tray has a limiting block at each of the four corners of its top, and a material feeding port on the inner wall of the top of the limiting block. There is a vertical gap between the bottom surface of the material feeding port and the top surface of the material tray. The first detection sensor is positioned directly opposite the vertical spacing, and the two first detection sensors are positioned on the side between two adjacent limiting blocks. The first detection sensor is disposed on one side of the material tray, and a feedback device is disposed on the other side of the material tray facing the first detection sensor, with the detection end of the first detection sensor facing the feedback device. The limiting blocks consist of two front limiting blocks and two rear limiting blocks. The distance between the bottom surface of the material feeding port of the front limiting block and the top surface of the material tray is greater than the distance between the bottom surface of the material feeding port of the rear limiting block and the top surface of the material tray. The first detection sensor on the front side faces the area between the bottom surface of the material and the top surface of the material tray, and the first detection sensor on the rear side faces the material.

2. The fully automated clean intelligent warehousing equipment according to claim 1, characterized in that: Two third detection sensors are provided on the side wall of one of the trays. One third detection sensor is located at the outer end of the tray, and the other third detection sensor is located at the inner end of the tray, with the detection end of the third detection sensor facing the other tray.

3. The fully automated clean intelligent warehousing equipment according to claim 1, characterized in that: The material storage and retrieval ports include two ports: a storage port and a retrieval port. The storage port and the retrieval port are arranged at intervals on the left and right. Each storage port and the retrieval port is equipped with a material tray and a drive mechanism. The material-grabbing robot grabs the material from the material tray in the storage port and places it into the material storage module; The material-grabbing robot grabs the material from the material storage module and places it on the material tray in the material inlet.

4. The fully automated clean intelligent warehousing equipment according to claim 1, characterized in that: The material-grabbing robot arm drives the material-grabbing mechanism to move and rotate in the horizontal direction; And / or, the bin body is further provided with a drive device for driving the gripping robot to move vertically and horizontally, the drive device including a bracket, a vertical drive mechanism and a horizontal drive mechanism mounted on the bracket; The bottom of the compartment is provided with a transverse slide rail, the bottom of the bracket is slidably mounted on the transverse slide rail, and the transverse drive mechanism drives the bracket to move laterally along the transverse slide rail. The bracket is equipped with a vertical slide rail. The material-grabbing robot is slidably mounted on the vertical slide rail via the mounting frame. The vertical drive mechanism drives the mounting frame to move up and down along the vertical slide rail.

5. The fully automated clean intelligent warehousing equipment according to claim 4, characterized in that: The lateral drive mechanism includes a first motor assembly, a gear is provided on the output shaft of the first motor assembly, and a rack is installed on the side wall of the lateral slide rail, which is parallel to the lateral slide rail. The rack extends along the extension direction of the lateral slide rail, and the gear meshes with the rack. The first motor assembly is configured to drive the gear to rotate, and through the meshing of the gear and rack, drive the bracket to move laterally along the transverse slide rail; And / or, the vertical drive mechanism includes a second motor assembly and a transmission belt, the transmission belt being arranged parallel to the side of the vertical slide rail, a pulley being rotatably mounted on the top and bottom of the bracket respectively, the transmission belt being wound around the two pulleys, the second motor assembly being configured to drive one of the pulleys to rotate, and drive the transmission belt to drive; The mounting frame is connected to the side of the transmission belt. When the transmission belt is in motion, it drives the mounting frame and the material-grabbing robot to move up and down along the vertical slide rail.

6. The fully automated clean intelligent warehousing equipment according to claim 1, characterized in that: There are multiple material storage modules, and the multiple material storage modules are arranged in the warehouse.

7. A method of using a fully automated clean and intelligent warehousing equipment, characterized in that: The fully automated clean intelligent warehousing equipment as described in any one of claims 1-6 includes material storage and retrieval; The material storage step is as follows: a. The drive mechanism drives the material pallet to the first position; b. Place the material on the material tray at the first position of the storage / retrieval port; c. The drive mechanism moves the material tray containing the material to the second position; d. The gripping robot moves the gripping mechanism to the storage and retrieval port, and the gripping mechanism grabs the material, causing the material to leave the material tray; e. The grabbing robot moves the grabbed material to the corresponding empty material storage module and places the material in the material storage module to complete the material storage; The material collection step is as follows: S1. The gripping robot moves the gripping mechanism to the location containing the material storage module, and then uses the gripping mechanism to remove the material from the material storage module, causing the material to detach from the material storage module. S2. The material-grabbing robot grabs the material and places it onto the material tray at the second position of the material loading and unloading port; S3. The drive mechanism moves the material tray containing the material to the first position to realize the material picking. In step b, the first detection sensor will detect whether the posture of the material needs to be adjusted. After confirming that the posture of the material is qualified, the drive mechanism will move the material tray to the second position. In step b, after the material is placed on the material tray, the material identification mechanism will pre-identify the material and store the identified data. In step d, the material grabbing mechanism first uses the second detection sensor to detect whether there is material on the material tray. After confirming that there is material on the material tray, the material grabbing mechanism grabs the material. At the same time, during the material grabbing process, the material identification mechanism on the material grabbing mechanism identifies and records the material. In step e, before the material handling mechanism releases the material, the second detection sensor pre-confirms whether the corresponding material storage module is empty. If the material storage module has material, the material handling robot moves the material handling mechanism to another material storage module until the second detection sensor confirms that the material storage module is empty, and then the material handling mechanism puts the material into the material storage module. In step S1, before the material grabbing mechanism grabs the material, the second detection sensor pre-confirms whether there is material in the corresponding material storage module. If the material storage module is empty, the material grabbing robot moves the material grabbing mechanism to another material storage module until the second detection sensor confirms that the material storage module has material. Then the material grabbing mechanism grabs the material on the material storage module. At the same time, during the material grabbing process, the material identification mechanism on the material grabbing mechanism identifies and records the material. In step S2, after the material is placed on the material tray, the material identification mechanism at the second position identifies and records the material.

8. The method of using the fully automated clean intelligent warehousing equipment according to claim 7, characterized in that: In step c, the first detection sensor next to the second position detects whether the material posture needs to be adjusted. If adjustment is needed, the drive mechanism moves the material tray back to the first position to adjust the material posture. Then, the first detection sensor at the first position detects whether the material posture needs to be adjusted again. After confirming that the material posture is qualified, the process returns to step c. In step S2, the first detection sensor next to the second position detects the material posture, and regardless of whether the posture needs to be adjusted, it proceeds to step S3. In step S3, the first detection sensor next to the first position detects whether the material posture needs to be adjusted until it is confirmed that the material posture is qualified. Then, the material on the material tray is removed in a preset manner to realize the material picking.

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