A stacking device and method for automated high-bay warehouse

Abstract

The present invention discloses a stacking device and method for an automated stereoscopic warehouse, comprising: a main console, a mounting mechanism, a storage rack, an external auxiliary mechanism, a discharger, a discharge conveyor belt, a transfer conveyor belt, a diversion conveyor belt, a columnar stacking mechanical arm and a pallet placement machine; the mounting mechanism is arranged on the outside of the main console; the external auxiliary mechanism is placed inside the storage rack; and two columnar stacking mechanical arms are respectively arranged on the front and rear sides of the unloading position of the diversion conveyor belt. The stacking device and method for an automated stereoscopic warehouse optimizes the existing columnar clamping stacking mechanical arm, introduces an external auxiliary modular clamping device for rapid replacement and combination, and can simultaneously carry goods of different specifications and quantities in one operation, so that the existing columnar clamping stacking mechanical arm has improved adjustability, adaptability and flexibility, thereby maximizing the handling quantity and efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automated stereoscopic warehouses, and in particular to a stacking device and method for automated stereoscopic warehouses. Background Art

[0002] An automated warehouse is a storage system that uses advanced technology and equipment to manage and operate the storage, picking and sorting of goods through an automated system. It usually includes automated conveying equipment, intelligent warehousing systems, robots and Internet of Things technologies, etc., to improve storage efficiency, reduce costs and reduce human intervention. With the development of the manufacturing and logistics industries, automated warehouses have been widely used. The application of automated warehouses can not only improve storage efficiency, but also reduce labor costs and logistics time, and help realize the intelligent and information development of the logistics industry. The stacking device for automated warehouses is an important equipment in automated warehouses. It is used to stack or palletize goods according to certain rules. These devices are usually composed of robots or automated conveying equipment. Through preset programs and algorithms, the goods are placed according to specific requirements to improve storage efficiency and space utilization.

[0003] In the prior art, columnar stacking robots in automated warehouses are limited by the specifications of the gripping modules and can only carry a specified number of goods at a time. In actual operations, as the order volume and type of goods change, the number of goods carried needs to be adjusted to adapt to fluctuations in production and order demand. However, due to current limitations, it is impossible to flexibly adjust the number of goods carried at a time without replacing the gripping modules, which leads to inefficiency and waste of resources. Summary of the invention

[0004] The object of the present invention is to provide a stacking device and method for an automated high-bay warehouse, so as to at least solve the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a stacking device for an automated stereoscopic warehouse, comprising:

[0006] Main console;

[0007] A mounting mechanism, arranged on the outside of the main console;

[0008] A storage rack, installed on the right side of the main console;

[0009] An external auxiliary mechanism is placed inside the storage rack;

[0010] A discharger is arranged at the rear side of the main console along the front-rear direction, and the discharger is electrically connected to the main console;

[0011] A discharge conveyor belt is arranged inside the discharger, the front side of the discharge conveyor belt extends outside the discharger, and the discharge conveyor belt is electrically connected to a main console;

[0012] A transfer conveyor belt is arranged on the left side of the unloading position of the unloading conveyor belt along the left-right direction, the feeding position of the transfer conveyor belt is connected with the unloading position of the unloading conveyor belt, and the transfer conveyor belt is electrically connected to the main console;

[0013] A diverter conveyor belt is arranged on the left side of the unloading position of the transfer conveyor belt, the feeding position of the diverter conveyor belt is connected with the unloading position of the transfer conveyor belt, and the diverter conveyor belt is electrically connected with the main console;

[0014] Columnar stacking mechanical arms, the number of which is two, which are respectively arranged at the front and rear sides of the unloading position of the diversion conveyor belt, and the columnar stacking mechanical arms are electrically connected to the main console;

[0015] A pallet placing machine, wherein the number of the pallet placing machines is two, and the two pallet placing machines are respectively arranged at the unloading positions of the front and rear two diversion conveyor belts, and the pallet placing machine is electrically connected to the main console.

[0016] Preferably, the installation mechanism includes: an AGV robot, a first sub-control module, a rotating platform and an installation robotic arm; the AGV robot is located outside the main console; the first sub-control module is embedded in the top front side of the AGV robot, the first sub-control module and the AGV robot are electrically connected, and the first sub-control module can be remotely connected to the main console network; the rotating platform is arranged at an opening at the top center position of the AGV robot, and the rotating platform and the first sub-control module are electrically connected; the installation robotic arm is installed at the top of the rotating end of the rotating platform, and the installation robotic arm and the first sub-control module are electrically connected.

[0017] Preferably, the external auxiliary mechanism includes: an auxiliary mechanism shell, an auxiliary stacking assembly, a second sub-control module, a transverse frame, a limiting guide rail, a mobile frame, a first electric push rod, a mounting rod, a shell, a fixing plate, a strip holder and a limiting wheel; the auxiliary mechanism shell is located inside the storage rack; the auxiliary stacking assembly is arranged on the top of the auxiliary mechanism shell; the second sub-control module is installed on the top rear side of the auxiliary mechanism shell, and the second sub-control module can be remotely connected to the main console network; the transverse frame is arranged on the inner bottom of the auxiliary mechanism shell along the left and right directions; the number of the limiting guide rails is two, and the two limiting guide rails are respectively arranged on the left and right sides of the bottom of the second sub-control module; the number of the mobile frames is two, and the two mobile frames are respectively arranged on the left and right ends of the outside of the second sub-control module, and the inner sides of the left and right limiting guide rails are respectively fixedly connected to the bottom of the limiting sliders in the left and right limiting guide rails; the There are two first electric push rods, which are respectively arranged on the left and right sides of the middle part of the second sub-control module, and the telescopic ends of the two first electric push rods on the left and right are respectively connected to the left and right moving frames, and the first electric push rod is electrically connected to the second sub-control module; there are two mounting rods, which are respectively arranged at the bottom of the left and right moving frames; there are two shells, which are respectively arranged at the bottom of the left and right mounting rods; there are two fixed plates, which are respectively arranged on the outer inner sides of the left and right shells; there are two groups of strip card seats, each group of which is two, and the two groups of strip card seats are respectively arranged at the upper and lower ends of the inner sides of the left and right fixed plates; there are two groups of limiting wheels, each group of which is two, and the two groups of limiting wheels are respectively arranged on the upper and lower sides of the inner cavity of the left and right shells.

[0018] Preferably, the external auxiliary mechanism also includes: a mounting frame, a limiting plug-in cylinder, a plug-in rod, a mounting plate, a driving wheel and a second electric push rod; the mounting frame is installed at the bottom center position of the second sub-control module; the number of the limiting plug-in cylinders is two, and the two limiting plug-ins are respectively embedded in the left and right ends of the inner bottom of the mounting frame; the number of the plug-in rods is two, and the two plug-in rods are respectively inserted into the inner sides of the left and right limiting plug-ins along the up and down directions; the mounting plate is installed at the bottom of the left and right plug-in rods; the number of the driving wheels is two, and the two driving wheels are respectively arranged at the left and right openings on the front side of the top end of the mounting plate, and the driving wheel is electrically connected to the second sub-control module; the second electric push rod is arranged in the middle inner side of the mounting frame along the up and down direction, the telescopic end of the second electric push rod extends out of the lower surface of the mounting frame and is connected to the top of the mounting plate, and the second electric push rod is electrically connected to the second sub-control module.

[0019] Preferably, the auxiliary stacking assembly includes: a first rotating module, a mounting seat, a first rotating arm, a third electric push rod, a fixed frame, a second rotating arm and a driving motor; the first rotating module is installed at the top center position of the auxiliary mechanism housing, and the first rotating module is electrically connected to the second sub-control module; the mounting seat is installed at the top of the rotating end of the first rotating module in the up and down direction; the first rotating arm is rotatably connected to the top of the mounting seat along the front and back directions through a pin shaft; one end of the third electric push rod is rotatably connected to the inner side of the mounting seat through a pin shaft, and the other end of the third electric push rod is rotatably connected to the inner side of the first rotating arm through a pin shaft, and the third electric push rod is electrically connected to the second sub-control module; the fixed frame is installed on the front side of the first rotating arm; the end of the second rotating arm is rotatably connected to the inner side of the fixed frame through a pin shaft; the driving motor is arranged at the top of the fixed frame, the rotating end of the driving motor is connected to the axis of the second rotating arm, and the driving motor is electrically connected to the second sub-control module.

[0020] Preferably, the auxiliary stacking assembly also includes: a third rotating arm, a fourth electric push rod, a slot arm, a fifth electric push rod, a telescopic arm, a sixth electric push rod, a second rotating module and a clamping module; the third rotating arm is rotatably connected to the inner side of the other end of the second rotating arm through a pin shaft in the up and down directions; one end of the fourth electric push rod is rotatably connected to the bottom of the second rotating arm through a pin shaft seat, and the other end of the fourth electric push rod is rotatably connected to the upper left side of the third rotating arm through a pin shaft seat, and the fourth electric push rod is electrically connected to the second sub-control module; the slot arm is rotatably connected to the outer side of the bottom end of the third rotating arm through a pin shaft in the left and right directions; one end of the fifth electric push rod is rotatably connected to the slot arm through a pin shaft seat At the top of the slot arm, the other end of the fifth electric push rod is rotatably connected to the lower left side of the third rotating arm through a pin shaft seat, and the fifth electric push rod is electrically connected to the second sub-control module; the telescopic arm is inserted into the inner side of the slot arm along the left-right direction; the sixth electric push rod is arranged on the right side of the inner cavity of the slot arm along the left-right direction, and the telescopic end of the sixth electric push rod is connected to the right side of the telescopic arm, and the sixth electric push rod is electrically connected to the second sub-control module; the second rotating module is arranged on the left side of the bottom of the telescopic arm, and the second rotating module is electrically connected to the second sub-control module; the clamping module is arranged at the bottom of the rotating end of the second rotating module, and the clamping module is electrically connected to the second sub-control module.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. Move the AGV robot to the front of the storage rack, and the rotating platform drives the installation robot arm to rotate horizontally. The installation robot arm grabs the external auxiliary mechanism placed inside the storage rack. The AGV robot moves to the outer side of the columnar stacking robot arm at the corresponding position. With the cooperation of the rotating platform and the installation robot arm, the external auxiliary mechanism is placed on the outside of the robot arm of the columnar stacking robot arm. The first electric push rods on both sides are shortened to drive the mobile rack at the corresponding position to drive the installation rod to move inward. The left and right fixed plates are fitted with the left and right sides of the outside of the robot arm in the columnar stacking robot arm, and the upper and lower strip holders are clamped with the upper and lower sides of the outside of the robot arm in the columnar stacking robot arm. The second electric push rod drives the installation plate to fit with the top of the outside of the robot arm in the columnar stacking robot arm to fix the external auxiliary mechanism on the outside of the robot arm in the columnar stacking robot arm.

[0023] 2. When the columnar stacking robot arm performs handling and stacking operations, the first rotating module drives the mounting seat to rotate and change the direction of the clamping module, the third electric push rod drives the first rotating arm to rotate up and down to change the pitch angle of the clamping module, the driving motor drives the second rotating arm to rotate inside the fixed frame to change the direction and position of the clamping module, the fourth electric push rod drives the third rotating arm to rotate, and the fifth electric push rod drives the slot arm to rotate, so as to realize the folding between the second rotating arm, the third rotating arm and the slot arm to adjust the height position of the clamping module, the sixth electric push rod drives the telescopic arm to telescope a specified length in the inner cavity of the slot arm to change the position of the clamping module, the second rotating module drives the sixth electric push rod to rotate to change the direction of the clamping module, and the internal motor of the driving wheel drives the roller to rotate to move the external auxiliary mechanism along the external front and rear direction of the robot arm in the columnar stacking robot arm, and the clamping module cooperates with the columnar stacking robot arm to assist in clamping and stacking the goods.

[0024] In summary, the present invention optimizes the existing columnar clamping and stacking robot arm, introduces an external auxiliary modular clamping device for rapid replacement and combination, and can simultaneously transport goods of different specifications and quantities in one operation, so that the existing columnar clamping and stacking robot arm has improved adjustability, adaptability and flexibility, thereby maximizing the transport quantity and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the present invention;

[0026] Figure 2 for Figure 1 Exploded diagram of the installation mechanism;

[0027] Figure 3 for Figure 1 Exploded diagram of external auxiliary mechanism;

[0028] Figure 4 for Figure 3 A magnified image of point A;

[0029] Figure 5 for Figure 3 Exploded view of the auxiliary stacking assembly.

[0030] In the figure: 1, main console, 2, mounting mechanism, 21, AGV robot, 22, first sub-control module, 23, rotating platform, 24, mounting robot arm, 3, storage rack, 4, external auxiliary mechanism, 41, auxiliary mechanism housing, 42, second sub-control module, 43, horizontal rack, 44, limiting guide rail, 45, mobile rack, 46, first electric push rod, 47, mounting rod, 48, housing, 49, fixing plate, 410, strip card seat, 411, limiting wheel, 412, mounting rack, 413, limiting plug cylinder, 414, plug rod, 415, mounting plate, 416, driving wheel, 417 , second electric push rod, 5, auxiliary stacking assembly, 51, first rotating module, 52, mounting seat, 53, first rotating arm, 54, third electric push rod, 55, fixed frame, 56, second rotating arm, 57, driving motor, 58, third rotating arm, 59, fourth electric push rod, 510, slot arm, 511, fifth electric push rod, 512, telescopic arm, 513, fifth electric push rod, 514, second rotating module, 515, clamping module, 6, unloader, 7, unloading conveyor belt, 8, transfer conveyor belt, 9, diversion conveyor belt, 10, columnar stacking robot arm, 11, pallet placement machine. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-5The present invention provides a technical solution: a stacking device for an automated stereoscopic warehouse, comprising: a main console 1, an installation mechanism 2, a storage rack 3, an external auxiliary mechanism 4, a discharger 6, a discharge conveyor belt 7, a transfer conveyor belt 8, a diversion conveyor belt 9, a columnar stacking mechanical arm 10 and a pallet placement machine 11. The main console 1 is provided with a preset program inside, which can be operated manually or automatically by a staff member according to actual needs; the installation mechanism 2 is arranged on the outside of the main console 1; the storage rack 3 is installed on the right side of the main console 1; the external auxiliary mechanism 4 is placed inside the storage rack 3; the discharger 6 is arranged on the rear side of the main console 1 along the front-to-back direction, and the discharger 6 is electrically connected to the main console 1. The unloader 6 is controlled by the main console 1. The unloader 6 unloads external goods through its own internal automation equipment and places the goods on the surface of the unloader conveyor belt 7. The unloader conveyor belt 7 is arranged inside the unloader 6. The front side of the unloader conveyor belt 7 extends out of the unloader 6. The unloader conveyor belt 7 is electrically connected to the main console 1. The unloader conveyor belt 7 is controlled by the main console 1. The unloader conveyor belt 7 moves the goods to its own unloading position out of the unloader 6 and moves the goods to the loading position of the transfer conveyor belt 8. The transfer conveyor belt 8 is arranged on the left side of the unloading position of the unloader conveyor belt 7 in the left-right direction. The feeding position of the transfer conveyor belt 8 is aligned with the unloading position of the unloader conveyor belt 7. The transfer conveyor belt 8 is connected to the main console 1, the transfer conveyor belt 8 is electrically connected to the main console 1, the transfer conveyor belt 8 is controlled by the main console 1, the transfer conveyor belt 8 moves the goods to the left along the set path to the feeding position of the diverter conveyor belt 9; the diverter conveyor belt 9 is arranged on the left side of the unloading position of the transfer conveyor belt 8, the feeding position of the diverter conveyor belt 9 is connected to the unloading position of the transfer conveyor belt 8, the diverter conveyor belt 9 is electrically connected to the main console 1, the diverter conveyor belt 9 is controlled by the main console 1, the diverter conveyor belt 9 can classify the goods and distribute them to the position to be transported under the front and rear two columnar stacking mechanical arms 10; the number of columnar stacking mechanical arms 10 is two, and the two columnar stacking mechanical arms 10 are divided into The columnar stacking robot 10 is respectively arranged at the front and rear sides of the unloading position of the diverter conveyor belt 9. The columnar stacking robot arm 10 is electrically connected to the main console 1, and the columnar stacking robot arm 10 is controlled by the main console 1. The columnar stacking robot arm 10 can grab the corresponding goods from the unloading positions on the front and rear sides of the diverter conveyor belt 9, and accurately transport them to the top pallet of the pallet placement machine 11 for stacking; the number of pallet placement machines 11 is two, and the two pallet placement machines 11 are respectively arranged at the unloading positions of the front and rear diverter conveyor belts 9, the pallet placement machine 11 is electrically connected to the main console 1, and the pallet placement machine 11 is controlled by the main console 1, and the surface of the pallet placement machine 11 can place cargo pallets.

[0033] As a preferred solution, further, Figure 2As shown, the installation mechanism 2 includes: an AGV robot 21, a first sub-control module 22, a rotating platform 23 and an installation mechanical arm 24; the AGV robot 21 is located outside the main console 1, and the AGV robot 21 is controlled by the first sub-control module 22 to move along a predetermined route; the first sub-control module 22 is embedded in the front side of the top of the AGV robot 21, the first sub-control module 22 and the AGV robot 21 are electrically connected, the first sub-control module 22 can be remotely connected to the main console 1 through a network, the first sub-control module 22 can remotely receive control instructions from the main console 1, and the internal program of the first sub-control module 22 controls the AGV robot 21, the rotating platform 23 and the installation mechanical arm 24. The moving platform 23 and the installation robot arm 24 start and perform their respective tasks; the rotating platform 23 is set at the opening at the top center position of the AGV robot 21, the rotating platform 23 is electrically connected to the first sub-control module 22, and the rotating platform 23 is controlled by the first sub-control module 22 to drive the installation robot arm 24 to rotate clockwise or counterclockwise; the installation robot arm 24 is installed at the top of the rotating end of the rotating platform 23, the installation robot arm 24 is electrically connected to the first sub-control module 22, and the installation robot arm 24 is controlled by the first sub-control module 22, and the internal robot arm of the installation robot arm 24 can drive the clamping claw to clamp and move the external auxiliary mechanism 4.

[0034] As a preferred solution, further, Figure 3 and Figure 4As shown, the external auxiliary mechanism 4 includes: an auxiliary mechanism shell 41, an auxiliary stacking assembly 5, a second sub-control module 42, a transverse frame 43, a limiting guide rail 44, a mobile frame 45, a first electric push rod 46, a mounting rod 47, a shell 48, a fixing plate 49, a strip card seat 410, a limiting wheel 411, a mounting frame 412, a limiting plug cylinder 413, a plug rod 414, a mounting plate 415, a driving wheel 416 and a second electric push rod 417; the auxiliary mechanism shell 41 is located inside the storage rack 3; the auxiliary stacking assembly 5 is arranged on the top of the auxiliary mechanism shell 41; the second sub-control module 42 is installed on the top rear side of the auxiliary mechanism shell 41, and the second sub-control module 42 can be remotely connected to the main console 1 through a network, and the second sub-control module 42 can be remotely connected to the main console 1 through a network. The program receives the control command of the main console 1; the horizontal frame 43 is arranged at the inner bottom of the auxiliary mechanism housing 41 along the left and right directions; the number of limit guide rails 44 is two, and the two limit guide rails 44 are respectively arranged on the left and right sides of the bottom of the second sub-control module 42, and the limit guide rails 44 adopt a structure in which the outer side of the guide rail is sleeved with a limit slider; the number of mobile frames 45 is two, and the two mobile frames 45 are respectively arranged on the left and right ends of the outer side of the second sub-control module 42, and the inner sides of the left and right limit guide rails 44 are respectively fixedly connected to the bottom of the limit slider in the left and right limit guide rails 44; the number of first electric push rods 46 is two, and the two first electric push rods 46 are respectively arranged on the left and right sides of the middle part of the second sub-control module 42, and the extension of the left and right first electric push rods 46 The retracted ends are respectively connected to the left and right moving frames 45, the first electric push rod 46 is electrically connected to the second sub-control module 42, the first electric push rod 46 is controlled by the first sub-control module 22, and the first electric push rod 46 can drive the moving frame 45 to move inward or outward by its own extension and shortening; the number of mounting rods 47 is two, and the two mounting rods 47 are respectively arranged at the bottom of the left and right moving frames 45; the number of shells 48 is two, and the two shells 48 are respectively arranged at the bottom of the left and right mounting rods 47; the number of fixing plates 49 is two, and the two fixing plates 49 are respectively arranged on the outer inner side of the left and right shells 48; the number of strip card holders 410 is two groups, and the number of each group of strip card holders 410 is two, and the two groups of strip card holders 410 are respectively arranged at the upper and lower ends of the inner side of the left and right fixed plates 49; there are two groups of limiting wheels 411, each group of limiting wheels 411 has two, and the two groups of limiting wheels 411 are respectively arranged at the upper and lower sides of the inner cavity of the left and right shells 48; the mounting frame 412 is installed at the bottom center of the second sub-control module 42; there are two limiting plug cylinders 413, and the two limiting plug cylinders 413 are respectively embedded at the left and right ends of the inner bottom of the mounting frame 412; there are two plug rods 414, and the two plug rods 414 are respectively inserted into the inner side of the left and right limiting plug cylinders 413 along the up and down direction, and the plug rods 414 can move up and down on the inner side of the limiting plug cylinder 413; the mounting plate 415 is installed at the bottom of the left and right plug rods 414;There are two driving wheels 416, which are respectively arranged at the left and right openings at the front side of the top of the mounting plate 415, and the driving wheels 416 are electrically connected to the second sub-control module 42; the second electric push rod 417 is arranged in the middle of the inner side of the mounting frame 412 along the up-down direction, and the telescopic end of the second electric push rod 417 extends out of the lower surface of the mounting frame 412 and is connected to the top of the mounting plate 415, and the second electric push rod 417 is electrically connected to the second sub-control module 42, and the second electric push rod 417 is controlled by the first sub-control module 22, and the second electric push rod 417 can drive the mounting plate 415 to move up and down by its own extension and contraction.;

[0035] As a preferred solution, further, Figure 5As shown, the auxiliary stacking assembly 5 includes: a first rotating module 51, a mounting seat 52, a first rotating arm 53, a third electric push rod 54, a fixing frame 55, a second rotating arm 56, a driving motor 57, a third rotating arm 58, a fourth electric push rod 59, a slot arm 510, a fifth electric push rod 511, a telescopic arm 512, a sixth electric push rod 513, a second rotating module 514 and a clamping module 515; the first rotating module 51 is installed at the top center position of the auxiliary mechanism housing 41, the first rotating module 51 is electrically connected to the second sub-control module 42, the first rotating module 51 is controlled by the second sub-control module 42, and the first rotating module 51 is extended and shortened by itself. Drive the mounting seat 52 to rotate; the mounting seat 52 is installed at the top of the rotating end of the first rotating module 51 along the up and down direction; the first rotating arm 53 is rotatably connected to the top of the mounting seat 52 through a pin shaft along the front and rear direction, and the third rotating arm 58 can rotate clockwise or counterclockwise at the top of the mounting seat 52; one end of the third electric push rod 54 is rotatably connected to the inner side of the mounting seat 52 through a pin shaft, and the other end of the third electric push rod 54 is rotatably connected to the inner side of the first rotating arm 53 through a pin shaft. The third electric push rod 54 is electrically connected to the second sub-control module 42, and the third electric push rod 54 is controlled by the second sub-control module 42. The third electric push rod 54 drives the first rotating arm 52 by its own extension and contraction. The movable arm 53 rotates, and the third electric push rod 54 can rotate inside the mounting seat 52 during its own extension and contraction process; the fixed frame 55 is installed on the front side of the first rotating arm 53; the second rotating arm 56 end is rotatably connected to the inner side of the fixed frame 55 through a pin shaft, and the third rotating arm 58 can rotate clockwise or counterclockwise inside the fixed frame 55; the driving motor 57 is arranged on the top of the fixed frame 55, and the rotating end of the driving motor 57 is connected to the axis of the second rotating arm 56, and the driving motor 57 is electrically connected to the second sub-control module 42; the third rotating arm 58 is rotatably connected to the inner side of the other end of the second rotating arm 56 through a pin shaft in the up and down direction, and the third rotating arm 58 can The inner side of the second rotating arm 56 rotates clockwise or counterclockwise; one end of the fourth electric push rod 59 is rotatably connected to the bottom of the second rotating arm 56 through a pin shaft seat, and the other end of the fourth electric push rod 59 is rotatably connected to the upper left side of the third rotating arm 58 through a pin shaft seat. The fourth electric push rod 59 is electrically connected to the second sub-control module 42, and the fourth electric push rod 59 is controlled by the second sub-control module 42. The fourth electric push rod 59 drives the third rotating arm 58 to move by its own extension and shortening. The fourth electric push rod 59 can rotate at the bottom of the second rotating arm 56 during its own extension and shortening process; the slot arm 510 is rotatably connected to the outer side of the bottom end of the third rotating arm 58 along the left and right directions through a pin shaft;One end of the fifth electric push rod 511 is rotatably connected to the top of the slot arm 510 through a pin shaft seat, and the other end of the fifth electric push rod 511 is rotatably connected to the lower left side of the third rotating arm 58 through a pin shaft seat. The fifth electric push rod 511 is electrically connected to the second sub-control module 42, and the fifth electric push rod 511 is controlled by the second sub-control module 42. The fifth electric push rod 511 drives the slot arm 510 to move by its own extension and shortening. The fifth electric push rod 511 can rotate at the top of the slot arm 510 during its own extension and shortening process; the telescopic arm 512 is plugged into the inner side of the slot arm 510 along the left-right direction, and the telescopic arm 512 can be extended and retracted to a specified length on the inner side of the slot arm 510; the sixth electric push rod 513 is arranged on the right side of the inner cavity of the slot arm 510 along the left-right direction, and the telescopic end of the sixth electric push rod 513 is connected to the telescopic arm 512 The right side of the second sub-control module 42 is connected, the sixth electric push rod 513 is electrically connected to the second sub-control module 42, the sixth electric push rod 513 is controlled by the second sub-control module 42, and the sixth electric push rod 513 drives the telescopic arm 512 to move by its own extension and contraction; the second rotation module 514 is arranged at the bottom left side of the telescopic arm 512, the second rotation module 514 is electrically connected to the second sub-control module 42, the second rotation module 514 is controlled by the second sub-control module 42, and the second rotation module 514 can drive the clamping module 515 to rotate clockwise or counterclockwise; the clamping module 515 is arranged at the bottom of the rotating end of the second rotation module 514, the clamping module 515 is electrically connected to the second sub-control module 42, the clamping module 515 is controlled by the second sub-control module 42, and the clamping module 515 can clamp the goods. ;

[0036] Here’s how it works:

[0037] Step 1: The preset program inside the main console controls the unloader 6, unloading conveyor belt 7, transfer conveyor belt 8, diversion conveyor belt 9, columnar stacking robot arm 10 and pallet placement machine 11 to start and ensure that each device works according to the specified sequence and operation requirements;

[0038] Step 2: The unloader 6 unloads the external goods through automated equipment and places the goods on the surface of the unloading conveyor belt 7;

[0039] Step 3: The unloading conveyor belt 7 moves the goods to its own unloading position out of the unloader 6, and moves the goods to the loading position of the transfer conveyor belt 8. The transfer conveyor belt 8 moves the goods to the left along the set path to the feeding position of the diverter conveyor belt 9. The diverter conveyor belt 9 classifies and distributes the goods to the position to be transported under the front and rear columnar stacking mechanical arms 10;

[0040] Step 4: The front and rear two columnar stacking robot arms 10 grab the corresponding goods from the diversion conveyor belt 9 and accurately transport them to the top pallet surface of the pallet placement machine 11. The front and rear two columnar stacking robot arms 10 stack the goods neatly on the top pallet surface of the pallet placement machine 11;

[0041] Step 5: The main console 1 sends a command to remotely control the first sub-control module 22 to start, and the internal program of the first sub-control module 22 controls the AGV robot 21, the rotating platform 23 and the installation robot arm 24 to start and prepare to perform their respective tasks;

[0042] Step 6: The AGV robot 21 moves to the external position of the storage rack 3 according to the preset path, and the rotating platform 23 drives the installation mechanical arm 24 to rotate horizontally, adjusts the installation mechanical arm 24 to the correct position, and the installation mechanical arm 24 grabs the external auxiliary mechanism 4 placed inside the storage rack 3;

[0043] Step 7: The AGV robot 21 moves to the outer side of the columnar stacking robot arm 10 at the corresponding position according to the system instruction, and places the external auxiliary mechanism 4 outside the robot arm of the columnar stacking robot arm 10 under the cooperation of the rotating platform 23 and the installation robot arm 24;

[0044] Step 8: The main console 1 remotely issues a command to control the second sub-control module 42 to start, the first electric push rods 46 on both sides shorten to drive the corresponding position of the upper movable frame 45 to move inward, the left and right fixing plates 49 fit with the left and right sides of the outer side of the columnar stacking robot arm 10, the upper and lower strip holders 410 are clamped with the upper and lower sides of the outer side of the columnar stacking robot arm 10, and the second electric push rod 417 extends to drive the mounting plate 415 to fit with the top of the outer side of the columnar stacking robot arm 10, so as to fix the external auxiliary mechanism 4 to the outer side of the columnar stacking robot arm 10;

[0045] Step 9: The first rotating module 51 drives the mounting seat 52 to rotate to change the direction of the clamping module 515. The third electric push rod 54 drives the first rotating arm 53 to rotate up and down to change the pitch angle of the clamping module 515. The driving motor 57 drives the second rotating arm 56 to rotate to change the direction and position of the clamping module 515. The fourth electric push rod 59 drives the third rotating arm 58 to rotate. The fifth electric push rod 511 extends and shortens to drive the slot arm 510 to rotate, so as to realize the folding between the second rotating arm 56, the third rotating arm 58 and the slot arm 510 to be in the telescopic arm 512. The height position of the clamping module 515 is adjusted in cooperation with the second rotating module 514, the sixth electric push rod 513 drives the telescopic arm 512 to extend and retract a specified length in the inner cavity of the slot arm 510 to change the position of the clamping module 515, the second rotating module 514 drives the clamping module 515 to rotate to change the direction of the clamping module 515, and the internal motor of the driving wheel 416 drives the roller to rotate to move the external auxiliary mechanism 4 along the front and rear direction of the outside of the columnar stacking robot arm 10, and the clamping module 515 cooperates with the columnar stacking robot arm 10 to assist in clamping and stacking the goods.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A stacking device for an automated high-bay warehouse, characterized in that: include: Main console (1); A mounting mechanism (2) is arranged on the outside of the main console (1); A storage rack (3) installed on the right side of the main console (1); An external auxiliary mechanism (4) is placed inside the storage rack (3); A discharger (6) is arranged on the rear side of the main console (1) along the front-rear direction, and the discharger (6) and the main console (1) are electrically connected; A discharge conveyor belt (7) is arranged inside the discharge machine (6), the front side of the discharge conveyor belt (7) extends outside the discharge machine (6), and the discharge conveyor belt (7) is electrically connected to the main console (1); A transfer conveyor belt (8) is arranged on the left side of the unloading position of the unloading conveyor belt (7) in the left-right direction, the feeding position of the transfer conveyor belt (8) is connected to the unloading position of the unloading conveyor belt (7), and the transfer conveyor belt (8) is electrically connected to the main control console (1); A diverter conveyor belt (9) is arranged on the left side of the unloading position of the transfer conveyor belt (8), the feeding position of the diverter conveyor belt (9) is connected to the unloading position of the transfer conveyor belt (8), and the diverter conveyor belt (9) is electrically connected to the main console (1); Columnar stacking mechanical arms (10), the number of the columnar stacking mechanical arms (10) being two, the two columnar stacking mechanical arms (10) being respectively arranged at the front and rear sides of the unloading position of the diversion conveyor belt (9), and the columnar stacking mechanical arms (10) being electrically connected to the main console (1); A pallet placement machine (11), wherein the number of the pallet placement machines (11) is two, and the two pallet placement machines (11) are respectively arranged at the unloading positions of the front and rear two diversion conveyor belts (9), and the pallet placement machine (11) is electrically connected to the main console (1); The mounting mechanism (2) comprises: An AGV robot (21) is located outside the main console (1); A first sub-control module (22) is embedded in the front side of the top end of the AGV robot (21), the first sub-control module (22) and the AGV robot (21) are electrically connected, and the first sub-control module (22) can be remotely connected to the main console (1) via a network; A rotating platform (23) is arranged at an opening at the top center of the AGV robot (21), and the rotating platform (23) is electrically connected to the first sub-control module (22); An installation mechanical arm (24) is installed on the top of the rotating end of the rotating platform (23), and the installation mechanical arm (24) is electrically connected to the first sub-control module (22); The external auxiliary mechanism (4) comprises: An auxiliary mechanism housing (41) located inside the storage rack (3); An auxiliary stacking assembly (5) arranged on the top of the auxiliary mechanism housing (41); A second sub-control module (42) is installed on the top rear side of the auxiliary mechanism housing (41), and the second sub-control module (42) can be remotely connected to the main console (1) via a network; A transverse frame (43) arranged along the left-right direction at the inner bottom of the auxiliary mechanism housing (41); Limiting guide rails (44), the number of the limiting guide rails (44) being two, and the two limiting guide rails (44) being respectively arranged on the left and right sides of the bottom of the second sub-control module (42); A movable frame (45), wherein the number of the movable frames (45) is two, and the two movable frames (45) are respectively arranged at the left and right ends of the outside of the second sub-control module (42), and the inner sides of the left and right two limit guide rails (44) are respectively fixedly connected to the bottoms of the limit slide blocks in the left and right two limit guide rails (44); A first electric push rod (46), wherein the number of the first electric push rods (46) is two, and the two first electric push rods (46) are respectively arranged on the left and right sides of the middle of the second sub-control module (42), and the telescopic ends of the left and right two first electric push rods (46) are respectively connected to the left and right two movable frames (45), and the first electric push rod (46) is electrically connected to the second sub-control module (42); A mounting rod (47), wherein the number of the mounting rods (47) is two, and the two mounting rods (47) are respectively arranged at the bottom of the left and right movable frames (45); A housing (48), wherein the number of the housings (48) is two, and the two housings (48) are respectively arranged at the bottom of the left and right mounting rods (47); A fixing plate (49), wherein the number of the fixing plates (49) is two, and the two fixing plates (49) are respectively arranged on the outer inner sides of the left and right shells (48); Strip card holders (410), the strip card holders (410) being provided in two groups, each group of the strip card holders (410) being provided with two strip card holders, the two groups of the strip card holders (410) being provided at the upper and lower ends of the inner sides of the left and right fixing plates (49), respectively; Limiting wheels (411), the limiting wheels (411) being provided in two groups, each group of limiting wheels (411) being provided with two limiting wheels, the two groups of limiting wheels (411) being provided at the upper and lower sides of the inner cavity of the left and right shells (48), respectively; A mounting frame (412) mounted at the bottom center of the second sub-control module (42); A limiting insert (413), wherein the number of the limiting inserts (413) is two, and the two limiting inserts (413) are respectively embedded in the left and right ends of the inner bottom of the mounting frame (412); Insertion rods (414), the number of the insertion rods (414) being two, and the two insertion rods (414) being inserted into the inner sides of the two left and right limiting insertion cylinders (413) respectively along the up-down direction; A mounting plate (415) mounted on the bottom of the left and right plug rods (414); A driving wheel (416), the number of the driving wheels (416) being two, the two driving wheels (416) being respectively arranged at the left and right openings at the front side of the top end of the mounting plate (415), the driving wheel (416) being electrically connected to the second sub-control module (42); The second electric push rod (417) is arranged in the middle of the inner side of the mounting frame (412) along the up-down direction, and the telescopic end of the second electric push rod (417) extends out of the lower surface of the mounting frame (412) and is connected to the top of the mounting plate (415), and the second electric push rod (417) is electrically connected to the second sub-control module (42).

2. The stacking device for an automated high-bay warehouse according to claim 1, characterized in that: The auxiliary stacking assembly (5) comprises: A first rotating module (51) is mounted at the top center of the auxiliary mechanism housing (41), and the first rotating module (51) is electrically connected to the second sub-control module (42); A mounting seat (52) mounted on the top of the rotating end of the first rotating module (51) in the up-down direction; A first rotating arm (53) is rotatably connected to the top of the mounting seat (52) via a pin in the front-to-back direction; A third electric push rod (54), one end of which is rotatably connected to the inner side of the mounting seat (52) via a pin shaft, the other end of the third electric push rod (54) is rotatably connected to the inner side of the first rotating arm (53) via a pin shaft, and the third electric push rod (54) is electrically connected to the second sub-control module (42); A fixing frame (55) mounted on the front side of the first rotating arm (53); A second rotating arm (56), an end of which is rotatably connected to the inner side of the fixing frame (55) via a pin; The drive motor (57) is arranged on the top of the fixing frame (55), the rotating end of the drive motor (57) is connected to the axis of the second rotating arm (56), and the drive motor (57) is electrically connected to the second sub-control module (42).

3. The stacking device for an automated high-bay warehouse according to claim 2, characterized in that: The auxiliary stacking assembly (5) further comprises: A third rotating arm (58) is rotatably connected to the inner side of the other end of the second rotating arm (56) via a pin in the up-down direction; A fourth electric push rod (59), one end of which is rotatably connected to the bottom of the second rotating arm (56) via a pin shaft seat, and the other end of the fourth electric push rod (59) is rotatably connected to the upper left side of the third rotating arm (58) via a pin shaft seat, and the fourth electric push rod (59) is electrically connected to the second sub-control module (42); The slot arm (510) is rotatably connected to the outer side of the bottom end of the third rotating arm (58) via a pin in the left-right direction; A fifth electric push rod (511), one end of which is rotatably connected to the top of the slot arm (510) via a pin shaft seat, the other end of the fifth electric push rod (511) is rotatably connected to the lower left side of the third rotating arm (58) via a pin shaft seat, and the fifth electric push rod (511) is electrically connected to the second sub-control module (42); A telescopic arm (512) is inserted into the inner side of the slot arm (510) along the left-right direction; A sixth electric push rod (513) is arranged on the right side of the inner cavity of the slot arm (510) along the left-right direction, the telescopic end of the sixth electric push rod (513) is connected to the right side of the telescopic arm (512), and the sixth electric push rod (513) is electrically connected to the second sub-control module (42); A second rotation module (514) is arranged on the left side of the bottom of the telescopic arm (512), and the second rotation module (514) is electrically connected to the second sub-control module (42); The clamping module (515) is arranged at the bottom of the rotating end of the second rotating module (514), and the clamping module (515) is electrically connected to the second sub-control module (42).

4. The method for using the stacking device for an automated high-bay warehouse according to claim 3, characterized in that: The steps include: Step 1: The preset program inside the main console controls the unloader (6), the unloading conveyor belt (7), the transfer conveyor belt (8), the diversion conveyor belt (9), the columnar stacking robot arm (10) and the pallet placement machine (11) to start and ensure that each device works according to the specified sequence and operation requirements; Step 2: The unloader (6) unloads the external goods through automated equipment and places the goods on the surface of the unloading conveyor belt (7); Step 3: The unloading conveyor belt (7) moves the goods to its own unloading position out of the unloading machine (6), and moves the goods to the loading position of the transfer conveyor belt (8). The transfer conveyor belt (8) moves the goods to the left along the set path to the feeding position of the diversion conveyor belt (9). The diversion conveyor belt (9) classifies the goods and distributes them to the positions to be transported below the front and rear columnar stacking mechanical arms (10); Step 4: The front and rear columnar stacking robot arms (10) grab the corresponding goods from the diversion conveyor belt (9) and accurately transport them to the top pallet surface of the pallet placement machine (11). The front and rear columnar stacking robot arms (10) stack the goods neatly on the top pallet surface of the pallet placement machine (11); Step 5: The main console (1) sends a command to remotely control the first sub-control module (22) to start, and the internal program of the first sub-control module (22) controls the AGV robot (21), the rotating platform (23) and the installation robot arm (24) to start and prepare to perform their respective tasks; Step 6: The AGV robot (21) moves to the external position of the storage rack (3) according to the preset path, and the rotating platform (23) drives the installation mechanical arm (24) to rotate horizontally, adjusts the installation mechanical arm (24) to the correct position, and the installation mechanical arm (24) grabs the external auxiliary mechanism (4) placed inside the storage rack (3); Step 7: The AGV robot (21) moves to the outer side of the columnar stacking robot arm (10) at the corresponding position according to the system instruction, and places the external auxiliary mechanism (4) outside the robot arm of the columnar stacking robot arm (10) under the cooperation and coordination of the rotating platform (23) and the installation robot arm (24); Step 8: The main control station (1) remotely issues a command to control the second sub-control module (42) to start, the first electric push rods (46) on both sides shorten to drive the corresponding position of the upper movable frame (45) to move inward, the left and right fixing plates (49) fit with the left and right sides of the outer side of the mechanical arm in the columnar stacking mechanical arm (10), the upper and lower strip-shaped holders (410) are clamped with the upper and lower sides of the outer side of the mechanical arm in the columnar stacking mechanical arm (10), and the second electric push rod (417) extends to drive the mounting plate (415) to fit with the top of the outer side of the mechanical arm in the columnar stacking mechanical arm (10), so as to fix the external auxiliary mechanism (4) to the outer side of the mechanical arm in the columnar stacking mechanical arm (10); Step nine: The first rotating module (51) drives the mounting seat (52) to rotate to change the direction of the clamping module (515); the third electric push rod (54) drives the first rotating arm (53) to rotate up and down to change the pitch angle of the clamping module (515); the driving motor (57) drives the second rotating arm (56) to rotate to change the direction position of the clamping module (515); the fourth electric push rod (59) drives the third rotating arm (58) to rotate; the fifth electric push rod (511) extends and shortens to drive the slot arm (510) to rotate, thereby realizing the folding between the second rotating arm (56), the third rotating arm (58) and the slot arm (510) to form a foldable space between the telescopic arm (51 2) and the second rotating module (514) adjust the height position of the clamping module (515), the sixth electric push rod (513) drives the telescopic arm (512) to extend and retract a specified length in the inner cavity of the slot arm (510) to change the position of the clamping module (515), the second rotating module (514) drives the clamping module (515) to rotate to change the direction of the clamping module (515), the internal motor of the driving wheel (416) drives the roller to rotate so that the external auxiliary mechanism (4) moves along the front-rear direction of the outer part of the mechanical arm in the columnar stacking mechanical arm (10), and the clamping module (515) cooperates with the columnar stacking mechanical arm (10) to assist in clamping and stacking the goods.

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