An intelligent three-dimensional warehouse

Abstract

The present invention discloses an intelligent warehouse, including a three-dimensional shelf and an RGV handling robot. The three-dimensional shelf is provided with a lifting frame along its height, and the three-dimensional shelf is provided with multiple layers of brackets at equal distances in the longitudinal direction. A plurality of storage areas for storing material supply frames are arranged horizontally on each layer of the bracket, and goods are placed in the material frames. The RGV handling robot is located between two storage areas and is slidably connected to the bracket. It includes a frame body and a loading base for placing the material supply frame. A picking arm that can rotate 360 ​​degrees in the horizontal direction is slidably connected to the loading base. The picking arm is adjusted to realize the extraction of the material frame on the left storage area or the right material frame. The two-way material frame extraction method can improve the working efficiency of the RGV handling robot, and the RGV handling robot can be switched to each layer of the bracket at will through the lifting platform, has high flexibility, and a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to an intelligent warehouse. Background Art

[0002] Smart warehousing is an important part of the logistics process. RGV handling robots can replace manual handling of goods and play an important role in smart warehousing logistics.

[0003] The Chinese patent document with patent number CN211197464U discloses a transport device and a transport robot with the transport device, discloses a transport robot including a transport device and a lifting mechanism for driving the transport device to lift and lower, and specifically discloses the following contents: the transport device includes a bracket, a pallet, and a telescopic arm assembly for pushing goods placed on the pallet out of the pallet, or pulling goods to the pallet; the telescopic arm assembly includes a telescopic arm driven to rotate by a rotating mechanism, the telescopic arm can be extended in a direction parallel to the pallet, and the telescopic arm is located on one side of the pallet in a direction perpendicular to the extension direction of the telescopic arm and parallel to the pallet: by installing a first image detection device on the telescopic arm, the first image detection device can be extended with the extension The retracted arm is extended together, so that when the handling device acquires the goods, the distance between the first image detection device and the goods can be shortened, thereby improving the accuracy of the first image detection device in acquiring the image information of the goods, and can accurately identify the position of the goods, but it has the following shortcomings: 1. The handling device and the lifting mechanism are of an integrated design, the overall structure is large, and the flexibility is low; and the handling device is driven to move by the lifting mechanism, which is limited by the volume design of the lifting mechanism and also reduces the space storage rate of the warehouse; 2. If each shelf needs to be equipped with multiple handling devices and the same number of lifting mechanisms, the manufacturing cost is high; if each shelf is equipped with only one handling device, one handling device needs to meet the simultaneous extraction of multiple layers of goods on the shelf, and obviously its picking efficiency is low.

[0004] Therefore, it is necessary to propose further solutions to solve the above technical problems. Summary of the invention

[0005] The present invention provides an intelligent stereoscopic warehouse to solve the above technical problems.

[0006] The object of the present invention is achieved through the following technical solution: an intelligent three-dimensional warehouse, comprising:

[0007] A three-dimensional shelf, wherein a lifting frame is arranged along the height of the three-dimensional shelf, and the three-dimensional shelf is provided with multiple layers of brackets at equal intervals in the longitudinal direction, and multiple storage areas for storing material frames are arranged horizontally on each layer of brackets, and goods are placed in the material frames; multiple cargo lanes are arranged on the storage area, and both ends of each cargo lane are formed with entrances and exits for the material frames to enter and exit; a conveying lane is formed between two adjacent storage areas, and a track is arranged on the conveying lane; the lifting frame is located at one end of the conveying lane, and a lifting platform that can be lifted and lowered along its height is slidably connected to the lifting frame; the conveying lane is provided with a docking port connected to the lifting platform;

[0008] RGV transport robot, the RGV transport robot is slidably connected to the conveying lane, and comprises a frame and a loading base for placing a material frame; the frame is slidably connected to the track; the loading base can be lifted and lowered and connected to the frame; the loading base is provided with a linear guide rail along its length, and a picking component for taking out the material frame is slidably connected to the linear guide rail, and the picking component comprises a picking arm that can rotate 360 ​​degrees in the horizontal direction and a reversing drive mechanism that drives the picking arm to rotate, one end of the picking arm is a fixed end, which is fixedly connected to the power end of the reversing drive mechanism, and the other end has a hook-shaped connecting end that can be connected to the material frame, and the hook-shaped connecting end rotates as the reversing drive mechanism drives the picking arm to rotate in the horizontal direction, thereby realizing reversing and taking out the material frame.

[0009] Furthermore, the reversing drive mechanism includes a sliding plate, a first drive motor and a reversing shaft, the bottom of the sliding plate is slidably connected to the linear guide rail; the first drive motor is installed on the sliding plate, and its output shaft is fixedly connected to the main transmission gear; the reversing shaft is rotatably connected to the sliding plate, its top is connected to the fixed end of the picking arm, and its bottom is fixedly connected to a secondary transmission gear, and the secondary transmission gear is meshed with the main transmission gear to drive the picking arm to rotate.

[0010] Furthermore, the frame is provided with two sets of lifting mechanisms, which are symmetrically arranged on both sides of the loading base, and the lifting mechanism includes a mounting bracket, a screw rod, a nut block slidably connected to the screw rod, and a second drive motor for driving the screw rod to rotate. The mounting bracket is fixedly connected to the frame, and the second drive motor is fixedly connected to the mounting bracket; the screw rod is fixedly connected to the power end of the second drive motor; the loading base is fixedly connected to the nut block to drive the loading base to perform an upward or downward movement relative to the frame.

[0011] Furthermore, the loading base is also provided with a picking-up transmission mechanism for driving the picking-up component to move left and right along the length of the linear guide rail, the picking-up transmission mechanism includes a driving wheel arranged on the output shaft of a third driving motor, a driven wheel connected to the driving wheel through a first transmission belt, a driving rotating shaft linked to the driven wheel, a first pulley fixedly connected to the driving rotating shaft, a second pulley rotatably connected to the base, a second transmission belt tensioned between the first pulley and the second pulley, a connecting block fixedly connected to the second transmission belt, and the second transmission belt fixedly connected to the sliding plate to drive the sliding plate to move along the linear guide rail.

[0012] Furthermore, a positioning sensor is provided on the object carrying base to locate the position of the object carrying base.

[0013] Furthermore, the four corners of the frame are rotatably connected to wheels, and a mobile driving mechanism for driving the wheels to rotate is provided on the frame. The wheels are slidably connected to the track and rotate along the track under the drive of the mobile driving mechanism.

[0014] Furthermore, the pickup arm is designed in an inverted "L".

[0015] Furthermore, a plug-in slot and a plug-in block are respectively provided on both sides of the feed frame; and the plug-in block of one feed frame is vertically plugged into the plug-in slot of another feed frame between two adjacent feed frames.

[0016] Furthermore, the feeding frame is also provided with an insertion groove which is plugged into the hook-shaped connecting end of the picking arm.

[0017] The beneficial technical effects achieved by the present invention are:

[0018] 1. In this application, the RGV transport robot and the lifting frame adopt a split design. The lifting frame is set at one end of the conveying lane. The RGV transport robot moves in the three-dimensional shelf to pick up the goods, and through the lifting frame, it can shuttle in the three-dimensional shelf and reach the conveying lane of any layer to extract the material frame.

[0019] 2. In the three-dimensional shelves of the present application, an RGV transport robot can be installed between two adjacent inventory areas on each layer of the bracket. One lifting frame can be used by multiple RGV transport machines, and there is no need to configure a lifting frame for each RGV transport machine. While reducing the manufacturing cost, it can also improve the flexibility and work efficiency of the RGV transport machine.

[0020] 3. The picking arm of the RGV handling machine can rotate 360 ​​degrees, enabling two-way retrieval of material frames between two adjacent storage areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1It is a schematic diagram of the overall structure of an intelligent warehouse of the present invention;

[0022] Figure 2 This is one of the structural schematic diagrams of the RGV handling robot in the present invention;

[0023] Figure 3 This is the second structural diagram of the RGV handling robot in the present invention;

[0024] Figure 4 This is the third structural diagram of the RGV transport robot in the present invention;

[0025] Figure 5 It is a schematic diagram of the overall structure of the pickup component in the present invention;

[0026] Figure 6 It is a top view of an intelligent warehouse of the present invention. DETAILED DESCRIPTION

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] See also Figure 1-6 , an intelligent three-dimensional warehouse, comprising:

[0030] A three-dimensional shelf 1 is provided with a lifting frame 3 along its height, and the three-dimensional shelf 1 is provided with multiple layers of brackets at equal distances in the longitudinal direction, and multiple storage areas 11 for storing a feed frame 110 are arranged horizontally on each layer of brackets, and goods are placed in the feed frame 110; multiple cargo aisles are arranged on the storage area 11, and both ends of each cargo aisle are formed with entrances and exits for the feed frame to enter and exit; a conveying lane 111 is formed between two adjacent storage areas 11, and a track 12 is provided on the conveying lane 111; the lifting frame 3 is located at one end of the conveying lane 111, and a lifting platform that can be lifted and lowered along its height is slidably connected to the lifting frame 3; the conveying lane 111 is provided with a docking port connected to the lifting platform; accordingly, when the lifting platform moves to one end of the conveying lane 111, the RGV handling robot 2 can enter the lifting platform from the docking port, and switch to each layer of brackets at will through the lifting platform, thereby improving its flexibility and reducing manufacturing costs.

[0031] RGV handling robot 2, the RGV handling robot 2 is slidably connected to the conveying lane 111, and includes a frame 21 and a loading base 22 for placing the material frame 110; the frame 21 is slidably connected to the track 12; the loading base 22 can be lifted and lowered and connected to the frame 21; the loading base 22 is provided with a linear guide rail 26 along its length, and a picking component 23 for taking out the material frame 110 is slidably connected to the linear guide rail 26, and the picking component 23 includes a picking arm 24 that can rotate 360 ​​degrees in the horizontal direction and a reversing drive mechanism that drives the picking arm 24 to rotate, one end of the picking arm 24 is a fixed end 2402, and the fixed end 2402 is fixedly connected to the power end of the reversing drive mechanism, and the other end has a hook-shaped connecting end 2401 that can be connected to the material frame 110, and the hook-shaped connecting end 2401 rotates as the reversing drive mechanism drives the picking arm 24 to rotate in the horizontal direction, thereby realizing reversing and taking out the material frame 110. Accordingly, the RGV transport robot 2 retrieves the material frame on the left storage area or the material frame on the right by rotating the picking arm 24 .

[0032] In the design scheme of the present invention, the reversing drive mechanism includes a sliding plate 233, a first driving motor 231 and a reversing shaft 232. The bottom of the sliding plate 233 is slidably connected to the linear guide rail 26. The first driving motor 231 is installed on the sliding plate 233, and its output shaft is fixedly connected to the main transmission gear 235. The reversing shaft 232 is rotatably connected to the sliding plate 233, and its top is connected to the fixed end 2402 of the pickup arm 24, and its bottom is fixedly connected to the auxiliary transmission gear 234, which is meshed and connected with the main transmission gear 235 to drive the pickup arm 24 to rotate. Accordingly, when the first driving motor 231 drives the main transmission gear 235 to rotate, it drives the auxiliary transmission gear 234 to rotate, thereby driving the reversing shaft 232 to rotate.

[0033] In the design of the present invention, two sets of lifting mechanisms 25 are also provided on the frame 21, and the two sets of lifting mechanisms 25 are symmetrically arranged on both sides of the loading base 22. The lifting mechanisms 25 include a mounting bracket 254, a screw rod 252, a nut block 253 slidably connected to the screw rod 252, and a second drive motor 251 driving the screw rod 252 to rotate. The mounting bracket 254 is fixedly connected to the frame 21, and the second drive motor 251 is fixedly connected to the mounting bracket 254; the screw rod 252 is fixedly connected to the power end of the second drive motor 251; the loading base 22 is fixedly connected to the nut block 253 to drive the loading base 22 to move up or down relative to the frame 21. Preferably, the feeding frame 110 is also provided with an insertion slot that is plugged into the hook-shaped connection end 2401 of the pickup arm 24. According to this, after the loading base 22 is lifted to a specified height, the hook-shaped connecting end of the picking arm can be vertically inserted into the insertion slot of the material frame as the loading base 22 is lowered. Of course, in the design scheme of the present invention, the hook-shaped connecting end 2401 and the material frame 110 can also be connected by magnetic attraction to realize the picking frame.

[0034] In the design scheme of the present invention, a picking-up transmission mechanism 20 for driving the picking-up component 23 to move left and right along the length of the linear guide rail 26 is also provided on the loading base 22. The picking-up transmission mechanism 20 includes a driving wheel arranged on the output shaft of a third driving motor 201, a driven wheel 202 connected to the driving wheel through a first transmission belt 206, a driving shaft linked to the driven wheel 202, a first pulley 203 fixedly connected to the driving shaft, a second pulley 204 rotatably connected to the base, a second transmission belt 205 stretched between the first pulley 203 and the second pulley 204, a connecting block 234 fixedly connected to the second transmission belt, and the second transmission belt 205 is connected to the sliding plate 233 through the connecting block 234 to drive the sliding plate 233 to move along the linear guide rail 26.

[0035] In the design solution of the present invention, a positioning sensor is further disposed on the object carrying base 22 to locate the position of the object carrying base 22 .

[0036] In the design scheme of the present invention, the four corners of the frame 21 are rotatably connected to wheels 211, and a mobile driving mechanism for driving the wheels 211 to rotate is provided on the frame 21. The wheels 211 are slidably connected to the track 12, and driven by the mobile driving mechanism to rotate along the track 12. In this application, the mobile driving mechanism is a prior art, and its main function is to provide power to the wheels 211 to rotate, and will not be described in detail this time.

[0037] In the design scheme of the present invention, the picking arm 24 is designed in an inverted "L". Accordingly, the picking arm 24 of the RGV handling robot 2 has a simple structure and is easy to maintain in the later stage, with low maintenance cost.

[0038] In the design of the present invention, a plug-in slot and a plug-in block are respectively provided on both sides of the feed frame 110; the plug-in block of one feed frame 110 is vertically plugged into the plug-in slot of another feed frame 110 between two adjacent feed frames 110. Accordingly, when the first feed frame 110 in the same cargo channel is dragged, the other feed frames 110 can also move with it.

[0039] As another embodiment of the present invention, a telescopic mechanism is also provided on the reversing shaft 232, and the telescopic mechanism is fixedly connected to the pickup arm 24, and is used to drive the pickup arm 24 to rise. Accordingly, the telescopic mechanism of the present application can be an electric push rod, which is used to drive the pickup arm 24 to rise and separate it from the insertion slot of the material frame 110.

[0040] The working principle of RGV handling robot 2 is as follows:

[0041] The RGV handling robot 2 moves on the conveying lane 111 and locates to the position where the material frame 110 needs to be picked up; then the lifting mechanism 25 drives the loading base 22 to rise to a preset height, and at the same time, the reversing drive mechanism drives the picking arm 24 to rotate to a preset direction, and the picking transmission mechanism 20 drives the picking arm 24 to move along the linear guide rail 26 on the loading base 22 toward the material frame 110 to be picked up; when the picking arm 24 reaches the preset position, the lifting mechanism 25 drives the hook-shaped connecting end 2401 of the picking arm 24 As the loading base 22 descends, the hook-shaped connecting end 2401 is vertically inserted into the insertion slot of the first material frame 110 in the cargo channel; the picking transmission mechanism 20 drives the picking arm 24 to return to the preset position along the linear guide rail 26 on the loading base 22, and at the same time pulls the material frame 110 connected thereto into the loading base 22; when the material frame 110 connected to the picking arm 24 enters the loading base 22, the second material frame 110 connected to the first material frame 110 also moves synchronously to the position of the first material frame 110. Finally, the lifting mechanism 25 drives the loading base 22 to rise again, so that the plug-in block of the first material frame 110 is separated from the plug-in slot of the adjacent material frame 110, and the material frame 110 is taken out of the inventory area 11 to the RGV handling robot 2. After the RGV handling robot 2 enters the lifting platform from the docking port, the lifting platform is lowered to the ground along the lifting frame 3, and the RGV handling robot 2 drives out of the lifting platform and transports the material frame to the designated position.

[0042] The above is a detailed introduction to an RGV transfer device for an intelligent three-dimensional warehouse 1 provided in an embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention; at the same time, for general technical personnel in this field, according to the ideas and methods of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0043] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent three-dimensional warehouse, characterized in that: include: A three-dimensional shelf, wherein a lifting frame is arranged along the height of the three-dimensional shelf, and the three-dimensional shelf is provided with multiple layers of brackets at equal intervals in the longitudinal direction, and multiple storage areas for storing material frames are arranged horizontally on each layer of brackets, and goods are placed in the material frames; multiple cargo lanes are arranged on the storage area, and both ends of each cargo lane are formed with entrances and exits for the material frames to enter and exit; a conveying lane is formed between two adjacent storage areas, and a track is arranged on the conveying lane; the lifting frame is located at one end of the conveying lane, and a lifting platform that can be lifted and lowered along its height is slidably connected to the lifting frame; the conveying lane is provided with a docking port connected to the lifting platform; RGV transport robot, the RGV transport robot is slidably connected to the conveying lane, and comprises a frame and a loading base for placing a material frame; the frame is slidably connected to the track; the loading base can be lifted and lowered and connected to the frame; the loading base is provided with a linear guide rail along its length, and a picking component for taking out the material frame is slidably connected to the linear guide rail, and the picking component comprises a picking arm that can rotate 360 ​​degrees in the horizontal direction and a reversing drive mechanism that drives the picking arm to rotate, one end of the picking arm is a fixed end, which is fixedly connected to the power end of the reversing drive mechanism, and the other end has a hook-shaped connecting end that can be connected to the material frame, and the hook-shaped connecting end rotates as the reversing drive mechanism drives the picking arm to rotate in the horizontal direction, thereby realizing reversing and taking out the material frame.

2. The intelligent high-bay warehouse according to claim 1, characterized in that: The reversing drive mechanism includes a sliding plate, a first drive motor and a reversing shaft. The bottom of the sliding plate is slidably connected to the linear guide rail. The first drive motor is installed on the sliding plate, and its output shaft is fixedly connected to the main transmission gear. The reversing shaft is rotatably connected to the sliding plate, and its top is connected to the fixed end of the picking arm, and its bottom is fixedly connected to the auxiliary transmission gear. The auxiliary transmission gear is meshed with the main transmission gear to drive the picking arm to rotate.

3. An intelligent high-bay warehouse according to any one of claims 1 or 2, characterized in that: The frame is also provided with two sets of lifting mechanisms, which are symmetrically arranged on both sides of the loading base, and the lifting mechanisms include a mounting bracket, a screw rod, a nut block slidably connected to the screw rod, and a second driving motor driving the screw rod to rotate, the mounting bracket is fixedly connected to the frame, and the second driving motor is fixedly connected to the mounting bracket; The screw rod is fixedly connected to the power end of the second drive motor; the object-carrying base is fixedly connected to the nut block to drive the object-carrying base to move upward or downward relative to the frame.

4. The intelligent high-bay warehouse according to claim 2, characterized in that: The loading base is also provided with a picking transmission mechanism for driving the picking assembly to move left and right along the length of the linear guide rail, the picking transmission mechanism includes a driving wheel arranged on the output shaft of a third driving motor, a driven wheel connected to the driving wheel through a first transmission belt, a driving shaft linked to the driven wheel, a first pulley fixedly connected to the driving shaft, a second pulley rotatably connected to the base, a second transmission belt tensioned between the first pulley and the second pulley, and a connecting block fixedly connected to the second transmission belt; the second transmission belt is fixedly connected to the sliding plate to drive the sliding plate to move along the linear guide rail.

5. The intelligent high-bay warehouse according to claim 4, characterized in that: The object carrying base is also provided with a positioning sensor for locating the position of the object carrying base.

6. The intelligent high-bay warehouse according to claim 1, characterized in that: The four corners of the frame are rotatably connected with wheels, and a mobile driving mechanism for driving the wheels to rotate is provided on the frame. The wheels are slidably connected with the track and rotate along the track under the drive of the mobile driving mechanism.

7. The intelligent high-bay warehouse according to claim 1, characterized in that: The pickup arm is in an inverted "L" design.

8. The intelligent high-bay warehouse according to claim 1, characterized in that: A plug-in slot and a plug-in block are respectively arranged on both sides of the feed frame; the plug-in block of one feed frame between two adjacent feed frames is vertically plugged into the plug-in slot of the other feed frame.

9. The intelligent high-bay warehouse according to claim 8, characterized in that: The feeding frame is also provided with an insertion groove which is plugged into the hook-shaped connecting end of the picking arm.

10. The intelligent high-bay warehouse according to claim 2, characterized in that: A telescopic rod is arranged on the reversing rotating shaft, and the telescopic rod is fixedly connected to the cargo picking arm, and is used for driving the cargo picking arm to rise.

Images