A high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel

Abstract

The present invention discloses a high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel, characterized in that: it includes a warehouse body, at least one feed port, a storage mechanism, a storage and retrieval assembly, a material receiving mechanism and a discharge port; at least one storage cavity is arranged in the warehouse body; each of the feed port and the discharge port is connected to one of the storage cavities; each of the storage mechanisms is arranged on a storage cavity, and the storage mechanism includes two groups of storage material racks, and the two groups of storage material racks are arranged at intervals on both sides of the storage cavity at the rear end of the feed port; each of the storage and retrieval assembly is arranged in a storage cavity, and the storage and retrieval assembly is arranged between the two groups of storage material racks corresponding to the rear side of the feed port; the storage and retrieval assembly includes two groups of storage and retrieval robots arranged side by side, and each of the storage and retrieval robots is arranged close to one side of the storage material rack; each of the material receiving mechanisms is arranged in a storage cavity at a feed port. The present invention improves the efficiency and quality of storage and retrieval.

Description

Technical Field

[0001] The present invention relates to intelligent warehousing, and in particular to high-speed intelligent warehousing equipment based on multiple storage and retrieval robots in parallel. Background Art

[0002] Usually, as the production and operation scale of a company grows, the demand for storage becomes urgent. Not only do they need storage cavities with larger storage capacity, but if there are many types of products or raw materials, they also need to be able to store products or raw materials of various sizes. In response to the above problems, in order to obtain storage cavities with larger storage capacity, improve the utilization rate of storage cavities, and store products or raw materials of various sizes at the same time without increasing the number of storage cavities or doubling the volume of storage cavities, in the prior art, the applicant first applied for an application number: 202210837362.0, and the patent name is: A super-large capacity multi-robot dual-channel intelligent warehousing, which solves the above technical problems. However, the above-mentioned equipment adopts dual channels, one channel is used to place materials of one size, and a storage rack and a transfer device are arranged in one channel. The transfer device is arranged on the side of the storage rack, and the transfer device is used to store materials of corresponding sizes on the storage rack, or to send the materials on the storage rack out of the discharge port. This structure has the following shortcomings:

[0003] 1. The same channel can only store materials of one size, and the scope of application is small;

[0004] 2. During the storage process, the material cannot be discharged, which affects the storage and retrieval efficiency;

[0005] 3. The number of feeding devices is large, and the cost is higher;

[0006] 4. When the robot grabs the material, it uses the upper and lower clamping arms to clamp it. The clamping force requires high-precision debugging, which is difficult and inefficient. At the same time, there are also problems of material clamping damage or clamping falling. Moreover, only one plate of material can be clamped at a time. If two plates of material need to be clamped at a time, the thickness of the two plates of material must be the same. If there is a height difference, it is difficult to achieve clamping stability. Summary of the invention

[0007] The purpose of the present invention is to provide a high-speed intelligent storage device based on multiple storage and retrieval robots in parallel. By using this structure, not only the efficiency of storing and retrieving materials is improved, but also the scope of application can be improved.

[0008] To achieve the above object, the technical solution adopted by the present invention is: a high-speed intelligent storage device based on multiple storage and retrieval robots in parallel, comprising:

[0009] A storage body, wherein at least one storage cavity is provided in the storage body;

[0010] At least one feed inlet, each of the feed inlets being in communication with one of the storage chambers;

[0011] At least one storage mechanism, each of which is arranged on a storage cavity, and the storage mechanism comprises two groups of storage racks, each of which is provided with a plurality of material storage positions, and the two groups of storage racks are arranged at intervals on both sides of the storage cavity at the rear end of the feed port;

[0012] At least one storage and retrieval assembly, each of which is arranged in a storage cavity, and the storage and retrieval assembly is arranged between two groups of storage racks corresponding to the rear side of the feed port; the storage and retrieval assembly includes two groups of storage and retrieval robots arranged side by side, and each of the storage and retrieval robots is arranged close to one side of the storage rack;

[0013] At least one material receiving mechanism, each of which is disposed in a storage cavity at a material inlet;

[0014] At least one discharge port, each of which is connected to one of the storage chambers, and the discharge port is arranged on the opposite side of the feed port;

[0015] The storage and retrieval robot is used to grab the materials on the material receiving mechanism and store them in the material storage positions on both sides, or the storage and retrieval robot is used to grab the materials in the material storage positions on both sides and send them out from the discharge port.

[0016] In the above technical solution, the material receiving mechanism includes a material receiving platform, and the top surface of the material receiving platform is provided with a first material receiving trough;

[0017] A first strip groove penetrating through the middle of the first material receiving trough is provided in the middle of the receiving platform, and the bottom surface of the first strip groove is arranged below the bottom surface of the first material receiving trough;

[0018] A second material receiving platform is provided in the first strip-shaped groove, and the top surface height of the second material receiving platform is not higher than the bottom surface height of the first material receiving groove;

[0019] Two second material receiving troughs are provided at intervals on the top surface of the second material receiving platform;

[0020] And / or, a second strip groove is provided in the middle of the second material receiving platform, the second strip groove runs through the middle of the two second material receiving grooves, and the bottom surface of the second strip groove is arranged below the bottom surface of the second material receiving groove.

[0021] In the above technical solution, a material receiving driving member is also provided in the first strip groove to drive the second material receiving platform to move along the extension direction of the first strip groove; the material receiving driving member drives the second material receiving platform to move, so that the two second material receiving troughs are coaxially arranged with the first material receiving trough in sequence.

[0022] In the above technical solution, two sets of longitudinal guides are respectively arranged in parallel in each storage cavity, and each storage and retrieval robot slides on a longitudinal guide via a connecting assembly;

[0023] The connection assembly includes a stand, a slide and a driving mechanism, the storage and retrieval robot is mounted on the slide, the bottom of the stand is slidably arranged on the longitudinal guide, the stand is provided with a vertical slide rail, and the slide is slidably arranged on the vertical slide rail;

[0024] The driving mechanism is configured to drive the stand to move along the longitudinal guide so that the stand is close to or away from the material receiving mechanism; the driving mechanism is configured to drive the slide to move up and down along the vertical slide rail.

[0025] In the above technical solution, the storage and retrieval robot includes a pallet, a mounting frame, a rotary drive member and a first drive member, one end of the mounting frame is mounted on the slide via the rotary drive member, and the rotary drive member is configured to drive the mounting frame to rotate around the slide;

[0026] The mounting frame is provided with a slide rail, and the rear end of the pallet is slidably mounted on the slide rail. The first driving member is configured to drive the pallet to slide along the slide rail so that the head of the pallet extends out of the slide rail, or the head of the pallet moves above the slide rail.

[0027] In the above technical solution, the rear end of the mounting frame is connected to the rotary drive member, and the two ends of the slide rail are respectively arranged close to the head and the rear of the mounting frame.

[0028] In the above technical solution, two groups of material positioning mechanisms are also provided on the mounting frame, and the two groups of material positioning mechanisms are arranged at intervals. The material positioning mechanism includes a connecting plate, a positioning rod and a vertical driving member. The top of the positioning rod is installed on the connecting plate, and the vertical driving member is installed on the mounting frame beside the slide rail. One end of the connecting plate is connected to the vertical driving member. The vertical driving member is configured to drive the connecting plate to move vertically so that the bottom of the positioning rod is close to or away from the top surface of the support plate.

[0029] In the above technical solution, the connecting plate is provided with a strip through groove, the strip through groove is arranged parallel to the slide rail, and the top of the positioning rod is installed in the strip through groove via a locking member;

[0030] And / or, two positioning rods are installed on the connecting plates of one group of the material positioning mechanisms, and one positioning rod is installed on the connecting plates of another group of the material positioning mechanisms.

[0031] In the above technical solution, each storage cavity is provided with two discharge ports;

[0032] Two discharging conveyor belts are arranged in the storage cavity, each of which is arranged below a group of the storage racks, and the discharging end of the discharging conveyor belt is arranged opposite to one of the discharging ports;

[0033] A baffle is provided on the inner side surface of the discharge conveyor belt, and a plurality of notches are provided at intervals on the baffle plate. The plurality of notches are arranged at intervals along the extension direction of the discharge conveyor belt, and the width of the notches is greater than the width of the support plate.

[0034] In the above technical solution, two skewer feeders are respectively provided in the storage chambers on both sides of each of the feed ports, and a grabbing robot is also provided in the storage chamber at the feed port. The grabbing robot is movably arranged above the skewer feeder and the material receiving mechanism, and the grabbing robot grabs the material on the skewer feeder and places it on the material receiving mechanism.

[0035] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0036] 1. In the present invention, two groups of storage and retrieval robots are arranged side by side in a single channel, so that the two groups of storage and retrieval robots can perform material storage and material retrieval work respectively. In this way, when receiving a material storage command or a material retrieval command, the two groups of storage and retrieval robots can perform material storage and material retrieval work respectively without interfering with each other, thereby improving the material storage and retrieval efficiency;

[0037] 2. In the present invention, two groups of storage racks are arranged in the same storage cavity, and the two groups of storage racks can store materials of different sizes. The two groups of storage and retrieval robots can store the materials on the storage racks on both sides respectively, or can retrieve the materials from the two different groups of storage racks, which can improve the scope of application;

[0038] 3. The material receiving mechanism of the present invention has two material receiving troughs of different sizes, and the second material receiving platform is driven to move by the material receiving driving member, so that the same material receiving mechanism can receive materials of two different sizes, thereby increasing the scope of application and reducing costs;

[0039] 4. In the present invention, the material is lifted and moved by means of a pallet, and the middle of the material is positioned by a positioning rod to prevent the material from falling from the pallet during movement. Compared with the clamping method, it can effectively prevent the damage of the material, and at the same time, two trays of material can be lifted and moved at the same time, thereby improving the scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the structure in a viewing angle state in the first embodiment of the present invention;

[0041] Figure 2 is a schematic diagram of the structure in another viewing angle state in the first embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of the internal structure in a viewing angle state in the first embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of the internal structure in another viewing angle state in the first embodiment of the present invention;

[0044] Figure 5 yes Figure 4 A partial enlarged view of the

[0045] Figure 6 It is a structural schematic diagram of the connection between the material receiving mechanism, the material grabbing manipulator and the string rod feeder in the first embodiment of the present invention;

[0046] Figure 7 It is a structural schematic diagram of a material receiving mechanism in Embodiment 1 of the present invention;

[0047] Figure 8 is a schematic diagram of the structure of the access component in the first embodiment of the present invention;

[0048] Fig. 9 is a schematic diagram of the three-dimensional structure of the access component in the first embodiment of the present invention;

[0049] Fig.10 is a schematic structural diagram of a storage and retrieval robot installed on a slide in Embodiment 1 of the present invention;

[0050] Fig.11 yes Fig.10 Schematic diagram of the three-dimensional structure.

[0051] Among them: 1. Warehouse; 11. Storage chamber; 12. Feeding port; 13. Discharging port; 14. String feeder; 15. Material grabbing manipulator; 16. Feeding trolley; 17. Discharging conveyor belt; 18. Baffle; 19. Notch;

[0052] 2. Storage rack; 21. Material storage position; 22. U-shaped board;

[0053] 3. Storage and retrieval assembly; 31. Storage and retrieval robot; 310. Support plate; 311. Mounting frame; 312. Rotary drive member; 313. First drive member; 314. Slide rail; 315. Connecting plate; 316. Positioning rod; 317. Vertical drive member; 318. Strip through groove;

[0054] 32. Connecting assembly; 321. Stand; 322. Slide; 323. Vertical slide rail; 324. Longitudinal slide rail; 325. Longitudinal drive mechanism; 326. Vertical drive mechanism; 327. Rack;

[0055] 4. Material receiving mechanism; 41. Material receiving platform; 42. First material receiving trough; 43. First strip trough; 44. Second material receiving platform; 45. Second material receiving trough; 46. Second strip trough; 47. Material receiving drive member; 48. Strip plate; 49. Notch; 401. First notch; 402. Second notch; 403. First photoelectric sensor. DETAILED DESCRIPTION

[0056] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0057] Example 1: See Figures 1 to 11 As shown, a high-speed intelligent storage device based on multiple storage and retrieval robots in parallel, comprising:

[0058] A storage body 1, wherein a storage chamber 11 is provided in the storage body;

[0059] a feed port 12, the feed port 12 being in communication with the storage chamber 11;

[0060] A storage mechanism, the storage mechanism is arranged on the storage cavity 11, the storage mechanism includes two groups of storage racks 2, the storage racks 2 are provided with a plurality of material storage positions 21, and the two groups of storage racks 2 are arranged at intervals on both sides of the storage cavity 11 at the rear end of the feed port 12;

[0061] A storage and retrieval assembly 3, the storage and retrieval assembly 3 is arranged in the storage cavity 11, and the storage and retrieval assembly 3 is arranged between the two groups of storage racks 2 at the rear side of the feed port 12; the storage and retrieval assembly 3 includes two groups of storage and retrieval robots 31 arranged side by side, and each of the storage and retrieval robots 31 is arranged close to one side of the storage rack 2;

[0062] a material receiving mechanism 4, wherein the material receiving mechanism 4 is disposed in the storage cavity 11 at the material inlet 12;

[0063] At least one discharge port 13, the discharge port 13 is connected to the storage chamber 11, and the discharge port 13 is arranged on the opposite side of the feed port 12;

[0064] The storage and retrieval robot 31 is used to grab the materials on the material receiving mechanism 4 and store them in the material storage positions 21 on both sides, or the storage and retrieval robot 31 is used to grab the materials in the material storage positions 21 on both sides and send them out from the discharge port 13.

[0065] In this embodiment, the material is loaded into the material tray, and the material is loaded in the form of a material tray. The material (material tray) is placed on the receiving mechanism from the feed port, and the material on the receiving mechanism is grabbed by two groups of storage and retrieval robots and placed in the material storage position of the storage rack. Among them, the two groups of storage and retrieval robots are arranged side by side. In this embodiment, the feed port is located at the front side wall of the warehouse body, which is connected to the storage cavity, and the discharge port is located at the rear side wall of the warehouse body, which is connected to the storage cavity. The two groups of storage racks are respectively located on the left and right sides of the storage cavity. The two groups of storage and retrieval robots are arranged in the storage cavity between the two groups of storage racks at intervals on the left and right, and the receiving mechanism is arranged in the storage cavity on the front side between the two groups of storage and retrieval robots. When storing materials, the two groups of storage and retrieval robots can grab the materials from the receiving mechanism in turn. The materials grabbed by each group of storage and retrieval robots can be placed on the storage rack on the left or on the storage rack on the right. When discharging is required, the storage and retrieval robot takes out the materials from the corresponding material storage position of the storage rack and sends them to the discharge port for delivery. Among them, when the material is stored, if a discharge command is received, one group of storage and retrieval robots can perform the material storage action, and another group of storage and retrieval robots can perform the material retrieval action to take out the material and send it out from the discharge port. In the previous structure, the material storage action / material retrieval action cannot be performed at the same time, and it is necessary to wait until the material storage action / or material retrieval action is completed before switching to another action. In this way, the efficiency will be relatively low. In the present application, material storage and material retrieval can be performed at the same time, with high efficiency. In the present invention, a controller will also be provided, and the controller is used to control the storage and retrieval robot, material receiving mechanism and other mechanisms that require electrical control to work.

[0066] See also Figures 1 to 4 As shown in Figures 6 and 7, two string rod loaders 14 are respectively provided in the storage chamber 11 on both sides of the feed port 12, and a grabbing robot 15 is also provided in the storage chamber 11 at the feed port 12. The grabbing robot 15 is movably arranged above between the string rod loaders 14 and the material receiving mechanism 4. The grabbing robot 15 grabs the material on the string rod loaders 14 and places it on the material receiving mechanism 4.

[0067] In this embodiment, the string rod loader is similar or identical to the feeding part in the application number: 202210837362.0. The material is loaded on the feeding trolley 16, and then placed on the lifting plate of the string rod loader. The lifting plate of the string rod loader rises and the products are pushed upward in sequence. The material grabbing manipulator is used to grab the material. The material grabbing manipulator can move horizontally and vertically. The material grabbing manipulator can be driven up and down by a vertical driving member (the vertical driving member can be a vertical cylinder or other mechanism), and the material grabbing manipulator and the vertical cylinder can be driven to move horizontally by a horizontal driving member (the horizontal driving member can be a horizontal cylinder, or a combination of a motor and a horizontal ball screw, or a combination of a motor and a belt). As long as the driving member can drive the material grabbing manipulator to move horizontally and vertically, it can be used. The material grabbing manipulator grabs the material from the string rod loader, and then puts it on the material receiving mechanism. The material on the material receiving mechanism is grabbed and stored on the storage rack by the storage and retrieval robot.

[0068] See also Figure 6 , 7 As shown, the material receiving mechanism 4 comprises a material receiving platform 41, and a first material receiving groove 42 is provided on the top surface of the material receiving platform 41;

[0069] The middle of the receiving platform 41 is provided with a first strip groove 43 which passes through the middle of the first material receiving trough 42, and the bottom surface of the first strip groove 43 is arranged below the bottom surface of the first material receiving trough 42; the first strip groove divides the first material receiving trough into two arc structures (or crescent structures).

[0070] A second material receiving platform 44 is provided in the first strip groove 43, and the top surface height of the second material receiving platform 44 is not higher than the bottom surface height of the first material receiving groove 42; preferably, the top surface of the second material receiving platform and the bottom surface of the first material receiving groove are on the same plane, so that when the first material receiving groove receives the material from the material tray, the middle part thereof can also be supported by the second material receiving platform.

[0071] Two second material receiving troughs 45 are provided on the top surface of the second material receiving platform 44 at intervals;

[0072] A second strip groove 46 is provided in the middle of the second material receiving platform 44, and the second strip groove 46 runs through the middle of the two second material receiving grooves 45, and the bottom surface of the second strip groove 46 is arranged below the bottom surface of the second material receiving groove 45. The second strip groove divides the second material receiving groove into two arc structures (or crescent structures), and the two ends of the first strip groove run through the front end face and the rear end face of the material receiving platform, and the two ends of the second strip groove run through the front end face and the rear end face of the second material receiving platform.

[0073] A material receiving driving member 47 is also provided in the first strip groove 43 to drive the second material receiving platform 44 to move along the extension direction of the first strip groove 43; the material receiving driving member 47 drives the second material receiving platform 44 to move, so that the two second material receiving grooves 45 are coaxially arranged with the first material receiving groove 42 in sequence.

[0074] Among them, the axes of the two string rod feeders and the first material receiving trough are arranged on the same straight line, so that the material grabbed by the grabbing robot from the string rod feeder can only be placed at the position of the first material receiving trough.

[0075] In this embodiment, the material is loaded in the material tray, and the material receiving mechanism can receive the material of two material trays of different sizes. The diameter of the first material receiving trough is larger than the diameter of the second material receiving trough. The first material receiving trough is used for receiving and positioning a large-sized material tray, and the second material receiving trough is used for receiving and positioning another small-sized material tray. Among them, a large-sized material tray or two small-sized material trays can be stored in the same material storage position. In this embodiment, two material trays of different sizes can be stored, the large-sized material tray on the left string rod feeder, and the small-sized material tray on the right string rod feeder. When loading, the material grabbing manipulator grabs the large-sized material tray and places it in the first material receiving trough, and supports the material through the first material receiving trough. At this time, there is no material tray in the second material receiving trough. The storage and retrieval robot is inserted into the second strip groove, which will be below the large-sized material tray. Then the storage and retrieval robot rises, and the large-sized material tray can be lifted up and separated from the first material receiving trough, and then stored in the material storage position of the storage rack. If a small-sized material tray is to be stored, the material receiving drive will first drive a second material receiving trough to be coaxially arranged with the first material receiving trough, and then the material grabbing manipulator will grab a small-sized material tray to the top of the first material receiving trough, and then lower it so that the small-sized material tray is placed in the second material receiving trough, and then the material receiving drive drives the second material receiving platform to move, so that the second material receiving trough with the material tray is away from the first material receiving trough, and the other empty second material receiving trough is moved to the bottom of the first material receiving trough, and the two are coaxially arranged, and the material grabbing manipulator grabs another small-sized material tray and puts it into the empty second material receiving trough. Then the storage and retrieval robot is inserted into the second strip slot, and then the two material trays are lifted up and away from the second material receiving platform at the same time, and then the two material trays are stored in a material storage position of the storage rack. Among them, the material receiving driving part is a cylinder, the cylinder is installed at the bottom of the first strip groove, and the bottom of the second material receiving platform is movably installed on the top of the cylinder. Among them, in this embodiment, the second material receiving platform moves back and forth, so that the two second material receiving troughs can be coaxially arranged with the first material receiving trough in sequence, so that the material grabbing robot can put the two small-sized material trays into the two second material receiving troughs in sequence, and the material grabbing robot only needs to realize lateral movement and longitudinal movement, that is, movement in the X and Y axis directions, only needs to move in a single plane, does not require three-axis movement, and the cost will be lower.

[0076] The first strip groove is used for installing the second material receiving platform, and the second strip groove is provided to make way for the storage and retrieval robot so as to facilitate the storage and retrieval robot to take away the materials on the material receiving mechanism.

[0077] The receiving platform has a notch 49, and the bottom surface of the first material receiving trough 42 has a first notch 401 connected to the notch 49, so that the first notch 401 is connected to the first material receiving trough 42, and the second receiving platform 44 has a second notch 402 connected to the second material receiving trough 45. When the second material receiving trough 45 and the first material receiving trough 42 are coaxially arranged, the notch 49 and the first notch 401 are opposite to the second notch 402 and are connected. A first photoelectric sensor 403 is arranged in the notch 49, and the first photoelectric sensor detects whether there is a material tray in the first material receiving trough and the second material receiving trough, so that the storage and retrieval robot can take away the material in time.

[0078] See also Figures 3 to 5 As shown, two sets of longitudinal guides are respectively arranged in parallel in the storage chamber 11, and each of the storage and retrieval robots 31 slides on a longitudinal guide via a connecting assembly 32;

[0079] See also Figure 8 , 9 As shown, the connection assembly 32 includes a stand 321, a slide 322 and a driving mechanism, the storage and retrieval robot 31 is mounted on the slide 322, the bottom of the stand 321 is slidably disposed on the longitudinal guide, a vertical slide rail 323 is provided on the stand 321, and the slide 322 is slidably disposed on the vertical slide rail 323;

[0080] The driving mechanism is configured to drive the stand 321 to move along the longitudinal guide so that the stand 321 is close to or away from the material receiving mechanism 4; the driving mechanism is configured to drive the slide 322 to move up and down along the vertical slide rail 323.

[0081] In this embodiment, the longitudinal guide extends from front to back, and includes two longitudinal slide rails 324 parallel to each other. The two ends of the longitudinal slide rails are respectively arranged near the front and rear ends of the storage cavity (the feed port is arranged at the front side of the storage cavity, and the discharge port is arranged at the rear side of the storage cavity). The bottom of the stand is slidably arranged on the two longitudinal slide rails. Among them, the driving mechanism includes a longitudinal driving mechanism 325 and a vertical driving mechanism 326. The longitudinal driving mechanism drives the bracket to move forward and backward along the longitudinal slide rail, that is, drives the storage and retrieval robot to move forward and backward, so that the storage and retrieval robot moves to the front end to grab the material from the material receiving mechanism, and then moves backward to the side of the storage rack. The vertical driving mechanism drives the slide to move up and down along the vertical slide rail to the corresponding height position.

[0082] Among them, in this embodiment, the longitudinal drive mechanism includes a vertical motor and a gear, the middle part of the gear is connected to the output shaft at the bottom of the vertical motor, and the vertical motor drives the gear to rotate. A rack 327 parallel to the longitudinal slide rail is set on the side wall of a longitudinal slide rail, and the gear is meshed with the rack, so that when the gear rotates, the gear and the rack are meshed, and the stand is driven to move along the longitudinal slide rail. The vertical drive mechanism includes a second motor, a second belt, an upper pulley and a lower pulley, and the upper and lower pulleys are respectively rotatably installed on the top and bottom of the stand, and the second motor drives the upper pulley to rotate or drives the lower pulley to rotate. The second belt is wound on the upper pulley and the lower pulley. When the slide is slidably set on the vertical slide rail, it is also connected to the front side of the second belt, so that during the second belt transmission process, the front side of the second belt will move up and down, thereby driving the slide to move up and down. Of course, the vertical drive mechanism may include a second motor and a vertical ball screw. The first vertical ball screw is arranged parallel to the side of the vertical slide rail, and its two ends are rotatably connected to the vertical frame. The second motor drives the vertical ball screw to rotate, and the vertical ball screw is screwed to the slide (or the vertical ball screw is connected to the slide via a screw pair). The rotation of the vertical ball screw drives the slide to move up and down along the vertical slide rail.

[0083] See also Figures 8 to 11 As shown, the storage and retrieval robot 31 includes a pallet 310, a mounting frame 311, a rotating drive member 312 and a first drive member 313. One end of the mounting frame 311 is mounted on the slide 322 via the rotating drive member 313. The rotating drive member 312 is configured to drive the mounting frame 311 to rotate around the slide 322. The rotating drive member is a rotating cylinder or a rotating motor. In this embodiment, the rotating drive member is a rotating motor, and the rotating motor drives the mounting frame to rotate relative to the slide.

[0084] The mounting frame 311 is provided with a slide rail 314, which is arranged parallel to the extension direction of the mounting frame 311. The tail end of the support plate 310 is slidably installed on the slide rail 314. The first driving member 313 is configured to drive the support plate 310 to slide along the slide rail 314 so that the head of the support plate 310 extends out of the slide rail, or the head of the support plate 310 moves above the slide rail 314.

[0085] The rear end of the mounting frame is connected to the rotary driving member, and the two ends of the slide rail are respectively arranged close to the head and the rear of the mounting frame.

[0086] In this embodiment, a plurality of cavities are provided on the inner side surface of the storage rack from front to back, and a plurality of U-shaped plates 22 are provided in each cavity from top to bottom. The top of each U-shaped plate constitutes a material storage position, and the width of the U-shaped opening of the U-shaped plate is greater than the width of the pallet, but the width of the U-shaped opening is less than the outer diameter of the tray. The U-shaped opening of the storage rack on the left is set to the right, and the U-shaped opening of the storage rack on the right is set to the left. In this embodiment, the left end of the left slide is slidably connected to the vertical slide rail on the left stand, the right end of the left slide is on the right side of the stand, and the left storage and retrieval robot is installed at the right end of the left slide. The right end of the right slide is slidably connected to the vertical slide rail on the right stand, the left end of the right slide is on the left side of the stand, and the right storage and retrieval robot is installed at the left end of the right slide. The left end of the right slide and the right end of the left slide are directly opposite to the docking station, that is, the left end of the right slide and the right end of the left slide and the first material receiving trough and the second material receiving trough are arranged on the same straight line. Taking the storage and retrieval robot on the left as an example, the rotary drive component of the storage and retrieval robot is installed on the right end of the slide, and the rotary drive component is directly opposite to the docking station. The rotary drive component of the storage and retrieval robot on the right will also be directly opposite to the docking station.

[0087] During the process of storing and retrieving materials, the connecting component drives the storage and retrieval robot to move to the front side of the longitudinal slide rail, and then the rotating driving member drives the mounting frame to rotate so that the mounting frame is parallel to the longitudinal slide rail. At this time, the pallet will also be set parallel to the longitudinal slide rail. Then the connecting component adjusts the height of the storage and retrieval robot so that the pallet will face the second strip groove. Then the first driving member drives the pallet to move along the slide rail toward the head of the slide rail, that is, the first driving member drives the pallet to move forward along the slide rail so that the head of the pallet extends out of the front end of the mounting frame and the pallet extends into the second strip groove. Then the connecting component drives the slide frame to move upward, that is, drives the pallet to rise, so that the pallet supports the material tray and drives the material tray (material) to leave the first material receiving trough or the second material receiving trough, so that the material is above the receiving table. Then the first driving member drives the pallet to move backward, so that the pallet retracts to the mounting frame. Above, the connecting component drives the slide and the storage and retrieval robot to move to the side of the material storage position corresponding to the storage rack. Taking the storage rack on the right as an example, the connecting component drives the storage and retrieval robot to move to the corresponding longitudinal position and height position, and then the rotating drive member drives the mounting frame to rotate, so that the mounting frame is arranged horizontally, that is, one end of the mounting frame is above the right side of the top of the slide, and the other end of the mounting frame is above the right end of the slide, and the other end of the mounting frame will be close to the storage rack on the right. Then the first driving member drives the pallet to move to the right, so that the pallet moves into the U-shaped opening, and the material tray is above the U-shaped plate. Then the connecting component drives the slide to descend, that is, the pallet moves downward, so that the pallet and the material tray are separated, so that the bottom outer edge of the material tray is against the U-shaped plate, and the material tray is supported and supported by the U-shaped plate to store the material. Then the first driving member drives the pallet to move to the left, so that it moves to the top of the mounting frame, and the material storage action can be completed. Similarly, when taking materials, the pallet is inserted into the U-shaped opening, the pallet is under the material tray, and then the pallet moves up to lift the material tray off the U-shaped plate, and then the pallet moves to the discharge port to unload the materials, and so on. In order to prevent the two sets of storage and retrieval manipulators and the two sets of connection mechanisms from colliding during movement, they will be controlled by the controller. When the two sets of storage and retrieval manipulators are intertwined with each other, the corresponding connection components will adjust the height difference between the corresponding slides to prevent collision.

[0088] Preferably, in the present embodiment, the support plate is a U-shaped structure with an opening at the head, and a strip plate 48 is provided in the middle of the second strip groove 46, and the top surface of the strip plate and the bottom surface of the second material receiving trough are on the same plane, so that when the support plate is inserted into the second strip groove, the strip plate is in the opening of the support plate, which does not affect the insertion of the support plate into the second strip groove to lift the material tray, and at the same time, the arrangement of the strip plate, when the material tray is placed in the second material receiving trough or the first material receiving trough, the strip plate can support and support the material tray, thereby ensuring the stability of the material tray support and preventing uneven force on the material tray.

[0089] In this embodiment, the first driving member includes a first motor, a first belt and two groups of pulleys, the two groups of pulleys are rotatably mounted on the head and tail of the mounting frame, the first belt is wound around the two groups of pulleys, the first motor is mounted on the mounting frame, the first motor drives a pulley to rotate, the tail of the pallet slides on the slide rail, and at the same time, the tail of the pallet is also connected to one side of the first belt, so that during the first belt transmission process, the pallet can be driven to move along the slide rail. Of course, the first driving member can also be a combination of a first motor and a first ball screw, the first ball screw is parallelly arranged on the side of the slide rail, the two ends of the first ball screw are rotatably connected to the mounting frame, the first motor drives the first ball screw to rotate, the tail end of the pallet is connected to the first ball screw, and when the first ball screw rotates, it drives the pallet to move along the slide rail.

[0090] See also Figures 8 to 11 As shown, two groups of material positioning mechanisms are also provided on the mounting frame 311, and the two groups of material positioning mechanisms are arranged at intervals. The material positioning mechanism includes a connecting plate 315, a positioning rod 316 and a vertical driving member 317. The top of the positioning rod 316 is installed on the connecting plate 315, and the vertical driving member 317 is installed on the mounting frame 311 beside the slide rail 314. One end of the connecting plate 315 is connected to the vertical driving member 317. The vertical driving member 317 is configured to drive the connecting plate 315 to move vertically so that the bottom of the positioning rod 316 is close to or away from the top surface of the support plate 310.

[0091] Among them, two positioning rods are installed on the connecting plate of one group of material positioning mechanisms, which are used to position two small-sized material trays. Another group of material positioning mechanisms has a positioning rod installed on the connecting plate, which is used to position a large-sized material tray.

[0092] Furthermore, in this embodiment, the material tray (with a hole in the center) may shift or fall on the pallet when the connection assembly drives the storage and retrieval robot to move. Therefore, in order to ensure that the material tray can be stably placed on the pallet when the storage and retrieval robot drives the material tray to move, two sets of material positioning mechanisms are provided, one set of material positioning mechanisms is used to position the two sets of small-sized material trays, and the other set of material positioning mechanisms is used to position the large-sized material trays. When accessing the large-sized material trays, the pallet only lifts one material tray at a time, and when accessing the small-sized material trays, the pallet lifts two material trays at a time, and the two material trays are spaced apart along the extension direction of the pallet. When positioning a large-sized tray, the head of the support plate first extends out of the mounting frame, and after lifting the tray, the support plate moves back slowly to the top of the mounting frame, where it is below the connecting plate. At this time, the material positioning mechanism with only one positioning rod works, and the vertical drive member drives the connecting plate to move downward. At the same time, this positioning rod moves downward and is inserted into the hole in the center of the tray to position the tray, so that the tray will not move horizontally or vertically, and it plays a role in limiting the tray, and it will not move upward and separate from the support plate. If it is positioning a small-sized tray, the support plate drives the two trays to move onto the mounting frame, and the material positioning mechanism with two positioning rods works. The vertical drive member drives the connecting plate to move downward, so that the two positioning rods are respectively inserted into the positioning holes in the middle of the two trays, thereby realizing the positioning of the two trays. When the material tray needs to be unloaded, before the support plate is extended out of the mounting frame, the vertical drive member works to drive the connecting plate and the positioning rod to move upward, so that the positioning rod is separated from the hole in the middle of the material tray, and then the support plate can move to drive the material tray to move for unloading.

[0093] Among them, a plurality of photoelectric sensors are arranged on the mounting frame, and the photoelectric sensors are electrically connected to the vertical drive of the corresponding material positioning mechanism, or are electrically connected to the controller. After the pallet retracts and moves to the mounting frame, the corresponding photoelectric sensor will detect the material tray. If it is a small-sized material tray, the corresponding two photoelectric sensors will detect the material tray respectively, and then the corresponding vertical drive drives the corresponding connecting plate to move downward, so that the positioning rod is inserted into the hole of the material tray to limit the material tray. Among them, the vertical drive adopts a vertical cylinder, and the corresponding connecting plate is driven to rise and fall by extending and retracting the output shaft of the vertical cylinder.

[0094] See also Fig.10 , 11As shown, the connecting plate 315 is provided with a strip through groove 318, and the strip through groove 318 is arranged parallel to the slide rail 314, and the top of the positioning rod 316 is installed in the strip through groove 318 via a locking member; the arrangement of the strip through groove makes it easy to adjust the position of the positioning rod to use the position of the material tray to ensure that when the connecting plate moves downward, the positioning rod can be accurately inserted into the positioning hole of the material tray.

[0095] See also Figure 1 , 2 As shown in , 4 and 5, each storage cavity 11 is provided with two discharge ports 13;

[0096] Two discharging conveyor belts 17 are provided in the storage cavity 11, and each of the discharging conveyor belts 17 is respectively arranged below a group of the storage racks 2, and the discharging end of the discharging conveyor belt 17 is arranged opposite to one of the discharging ports;

[0097] A baffle 18 is provided on the inner side surface of the discharge conveyor belt 17 , and a plurality of notches 19 are provided at intervals on the baffle plate 18 . The plurality of notches 19 are arranged at intervals along the extension direction of the discharge conveyor belt 17 , and the width of the notches 19 is greater than the width of the support plate 310 .

[0098] When it is necessary to take materials, after the storage and retrieval robot takes the material tray off the storage rack, the connecting assembly does not need to move longitudinally, but only needs to move the pallet back to detach from the storage rack. Then it can move directly down so that its height is below the storage rack, and then the pallet is extended and moved to the top of the discharge conveyor belt, wherein each notch will be set below the cavity of each storage rack, at which time the pallet will be in the notch, and then the pallet retracts and moves to the mounting frame, and it detaches from the discharge conveyor belt. In this process, the width of the notch will be smaller than the outer diameter of the material tray, so that the material tray will be blocked by the baffle, causing it to fall onto the discharge conveyor belt, and then be sent to the discharge port by the discharge conveyor belt.

[0099] In this way, the unloading efficiency is high, and the storage and retrieval robot no longer needs to move longitudinally to the discharge port to unload materials, which improves the unloading efficiency and saves energy.

[0100] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships 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 the description of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0101] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral one; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, for example, the two can form a mechanical abutment or abutment connection through abutment, contact, etc., the two can also be directly hung or hung through an intermediate medium, etc., or it can be the internal connection of the two elements or the interaction relationship between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A high-speed intelligent storage device based on multiple storage and retrieval robots in parallel, characterized by: include: A storage body, wherein at least one storage cavity is provided in the storage body; At least one feed inlet, each of the feed inlets being in communication with one of the storage chambers; At least one storage mechanism, each of which is arranged on a storage cavity, and the storage mechanism comprises two groups of storage racks, each of which is provided with a plurality of material storage positions, and the two groups of storage racks are arranged at intervals on both sides of the storage cavity at the rear end of the feed port; At least one storage and retrieval assembly, each of which is arranged in a storage cavity, and the storage and retrieval assembly is arranged between two groups of storage racks corresponding to the rear side of the feed port; the storage and retrieval assembly includes two groups of storage and retrieval robots arranged side by side, and each of the storage and retrieval robots is arranged close to one side of the storage rack; At least one material receiving mechanism, each of which is disposed in a storage cavity at a material inlet; At least one discharge port, each of which is connected to one of the storage chambers, and the discharge port is arranged on the opposite side of the feed port; The storage and retrieval robot is used to grab the materials on the material receiving mechanism and store them in the material storage positions on both sides, or the storage and retrieval robot is used to grab the materials in the material storage positions on both sides and send them out from the discharge port; The material receiving mechanism comprises a material receiving platform, and a first material receiving trough is provided on the top surface of the material receiving platform; A first strip groove penetrating through the middle of the first material receiving trough is provided in the middle of the receiving platform, and the bottom surface of the first strip groove is arranged below the bottom surface of the first material receiving trough; A second material receiving platform is provided in the first strip-shaped groove, and the top surface height of the second material receiving platform is not higher than the bottom surface height of the first material receiving groove; Two second material receiving troughs are provided at intervals on the top surface of the second material receiving platform; A second strip groove is provided in the middle of the second material receiving platform, the second strip groove runs through the middle of the two second material receiving grooves, and the bottom surface of the second strip groove is arranged below the bottom surface of the second material receiving groove; A material receiving driving member is also provided in the first strip groove to drive the second material receiving platform to move along the extension direction of the first strip groove; the material receiving driving member drives the second material receiving platform to move, so that the two second material receiving troughs are sequentially coaxially arranged with the first material receiving trough.

2. The high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel according to claim 1 is characterized in that: Two sets of longitudinal guides are respectively and parallelly arranged in each storage cavity, and each storage and retrieval robot slides on a longitudinal guide via a connecting assembly; The connection assembly includes a stand, a slide and a driving mechanism, the storage and retrieval robot is mounted on the slide, the bottom of the stand is slidably arranged on the longitudinal guide, the stand is provided with a vertical slide rail, and the slide is slidably arranged on the vertical slide rail; The driving mechanism is configured to drive the stand to move along the longitudinal guide so that the stand is close to or away from the material receiving mechanism; the driving mechanism is configured to drive the slide to move up and down along the vertical slide rail.

3. The high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel according to claim 2 is characterized in that: The storage and retrieval robot comprises a pallet, a mounting frame, a rotary drive member and a first drive member, one end of the mounting frame is mounted on the slide frame via the rotary drive member, and the rotary drive member is configured to drive the mounting frame to rotate around the slide frame; The mounting frame is provided with a slide rail, and the rear end of the pallet is slidably mounted on the slide rail. The first driving member is configured to drive the pallet to slide along the slide rail so that the head of the pallet extends out of the slide rail, or the head of the pallet moves above the slide rail.

4. The high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel according to claim 3 is characterized by: The rear end of the mounting frame is connected to the rotary driving member, and the two ends of the slide rail are respectively arranged close to the head and the rear of the mounting frame.

5. The high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel according to claim 3 is characterized in that: The mounting frame is also provided with two groups of material positioning mechanisms, which are arranged at intervals. The material positioning mechanism includes a connecting plate, a positioning rod and a vertical driving member. The top of the positioning rod is installed on the connecting plate, and the vertical driving member is installed on the mounting frame beside the slide rail. One end of the connecting plate is connected to the vertical driving member. The vertical driving member is configured to drive the connecting plate to move vertically so that the bottom of the positioning rod is close to or away from the top surface of the support plate.

6. The high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel according to claim 5 is characterized in that: The connecting plate is provided with a strip-shaped through groove, the strip-shaped through groove is arranged parallel to the slide rail, and the top of the positioning rod is installed in the strip-shaped through groove via a locking member; And / or, two positioning rods are installed on the connecting plates of one group of the material positioning mechanisms, and one positioning rod is installed on the connecting plates of another group of the material positioning mechanisms.

7. The high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel according to claim 3 is characterized by: Each storage cavity is provided with two discharge ports; Two discharging conveyor belts are arranged in the storage cavity, each of which is arranged below a group of the storage racks, and the discharging end of the discharging conveyor belt is arranged opposite to one of the discharging ports; A baffle is provided on the inner side surface of the discharge conveyor belt, and a plurality of notches are provided at intervals on the baffle plate. The plurality of notches are arranged at intervals along the extension direction of the discharge conveyor belt, and the width of the notches is greater than the width of the support plate.

8. The high-speed intelligent storage equipment based on multiple storage and retrieval robots in parallel according to claim 1 is characterized in that: Two skewer feeders are respectively provided in the storage chambers on both sides of each feed port, and a grabbing robot is also provided in the storage chamber at the feed port. The grabbing robot is movably arranged above the skewer feeder and the material receiving mechanism. The grabbing robot grabs the material on the skewer feeder and places it on the material receiving mechanism.

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