RGV capable of entering cabinet automatically

Abstract

The invention relates to the technical field of energy storage device production equipment, and discloses an automatic cabinet entering RGV which comprises a support, a lifting portal frame mechanism, a transverse movement driving mechanism, a lifting platform mechanism and a platform lifting driving mechanism. The lifting portal frame mechanism is vertically arranged on the transverse movement guide mechanism in a sliding mode, and the lifting platform mechanism is arranged on the lifting portal frame mechanism in a sliding mode. The lifting platform mechanism comprises a lifting main frame, a telescopic pallet fork, a 3D camera, a material pushing and cabinet entering mechanism and a material fine adjustment platform, the 3D camera is used for shooting the height of the cabinet position in the storage cabinet, the telescopic pallet fork and the material fine adjustment platform are slidably arranged on the lifting main frame, the telescopic pallet fork can be driven by the pallet fork lifting driving mechanism to reciprocate in the vertical direction, and the material fine adjustment platform can be driven by the fine adjustment driving mechanism to reciprocate in the vertical direction. And the material pushing and cabinet entering mechanism is used for pushing the materials on the material fine adjustment platform into the cabinet positions of the storage cabinets. The RGV can avoid extrusion or friction between the battery pack and the cabinet body when the battery pack enters the cabinet.

Description

Technical Field

[0001] The present invention relates to the technical field of energy storage device production equipment, and in particular to an automatic cabinet entry RGV. Background Art

[0002] During the manufacturing process of the energy storage cabinet, the battery pack needs to be placed in the energy storage cabinet. In order to improve the energy storage density of the energy storage cabinet, the spacing between each cabinet position in the energy storage cabinet will not be too wide. Due to the limitation of welding accuracy, the height and spacing of each cabinet position of the energy storage cabinet have slight errors. As a result, when using traditional RGV equipment to put the battery pack into the cabinet, the error between the cabinet position in the actual energy storage cabinet and the preset cabinet position may cause the battery pack and the cabinet position to be misaligned when entering the cabinet. When entering the cabinet, the battery pack may be squeezed between the energy storage cabinet and cause the battery pack to be deformed or scratched, which will increase the risk of combustion and explosion of the battery pack and bring safety hazards to the energy storage cabinet. For this reason, it is necessary to design a new RGV device that can automatically adapt to the height error of cabinet positions in different energy storage cabinets. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide an automatic cabinet entry RGV, which can automatically detect the height of the cabinet position that needs to be entered, and fine-tune the cargo height according to the height difference between the cabinet position and the cargo plane, so as to avoid the battery pack from being scratched and squeezed against the cabinet body during the cabinet entry process, thereby reducing the safety hazards of the energy storage cabinet.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is as follows: an automatic cabinet entry RGV, comprising: a bracket, provided with a transverse guide mechanism; a lifting gantry mechanism, provided with a vertical guide mechanism, and vertically slidably arranged on the transverse guide mechanism; a transverse drive mechanism, arranged on the bracket or the lifting gantry mechanism, used to drive the lifting gantry mechanism to reciprocate along the transverse guide mechanism; a lifting platform mechanism, slidably arranged on the lifting gantry mechanism, including a lifting main frame and a telescopic fork arranged on the lifting main frame, a 3D camera, a material pushing mechanism and a material fine-tuning platform, wherein the 3D camera is arranged on a side of the lifting main frame close to the storage cabinet, and the 3D camera is used to push the material into the cabinet. When photographing the cabinet height in the storage cabinet, the telescopic fork is slidably arranged on the lifting main frame, and the telescopic fork can reciprocate in the vertical direction relative to the lifting main frame under the drive of the fork lifting drive mechanism. The material fine-adjustment platform is slidably arranged on the side of the lifting main frame close to the storage cabinet, and the material fine-adjustment platform can reciprocate in the vertical direction relative to the lifting main frame under the drive of the fine-adjustment drive mechanism. The material pushing mechanism into the cabinet is used to push the material on the material fine-adjustment platform into the cabinet of the storage cabinet; the platform lifting drive mechanism is arranged on the lifting platform mechanism or the lifting gantry mechanism, and is used to drive the lifting platform mechanism to reciprocate along the vertical guide mechanism.

[0005] Compared with the prior art, the beneficial effect of the present invention is that after the telescopic fork takes the battery pack that needs to be put into the cabinet from the shelf, the battery pack is placed on the material fine-tuning platform. When the lifting platform mechanism is driven by the platform lifting drive mechanism and the transverse drive mechanism to the cabinet side of the energy storage cabinet that needs to be put into the cabinet, the 3D camera takes a stereoscopic image of the cabinet, identifies the actual height of the cabinet, and adjusts the height of the material fine-tuning platform according to the height difference between the cabinet height and the loading plane of the material fine-tuning platform, so that the height of the battery pack is flush with the height of the cabinet, so that the material pushing mechanism can smoothly push the battery pack into the corresponding cabinet, avoiding the battery pack from being squeezed or scratched with the cabinet body during the cabinet entry process, thereby ensuring that the battery pack can be intactly loaded into the energy storage cabinet and reducing the safety hazards of the energy storage cabinet.

[0006] In the above-mentioned automatic cabinet RGV, a material centering mechanism is also provided on the lifting main frame, and the material centering mechanism is used to push the material on the material fine-tuning platform to the center position in the left and right directions.

[0007] The above-mentioned automatic cabinet entry RGV, the material fine-tuning platform includes two fine-tuning movable brackets, the two fine-tuning movable brackets are symmetrically arranged on the left and right sides of the lifting main frame, the two fine-tuning movable brackets are slidably connected to the lifting main frame through a plurality of fine-tuning slide rails vertically arranged on the lifting main frame, and smooth strips are arranged on the upper end surfaces of the two fine-tuning movable brackets.

[0008] The above-mentioned automatic cabinet entry RGV, the pushing and rail entry mechanism includes a pushing screw pair, a pushing guide rail, a pushing motor and a pushing top block, the telescopic fork is arranged between the two fine-tuning movable brackets, the pushing guide rail and the pushing screw pair are arranged between the two fork arms of the telescopic fork, the output shaft of the pushing motor is transmission connected to the screw of the pushing screw pair, and the pushing top block is connected to the screw nut of the pushing screw pair and the slider of the pushing guide rail.

[0009] The above-mentioned automatic cabinet entry RGV, the fine-tuning drive mechanism includes a fine-tuning motor, a fine-tuning connecting rod and a fine-tuning eccentric wheel, the upper end of the fine-tuning connecting rod is rotatably connected to the material fine-tuning platform, the lower end of the fine-tuning connecting rod is rotatably connected to the eccentric rotating shaft of the fine-tuning eccentric wheel, and the rotating shaft of the fine-tuning eccentric wheel is drivingly connected to the output shaft of the fine-tuning motor.

[0010] In the above-mentioned automatic cabinet entry RGV, the telescopic fork is arranged on the fork movable bracket, and the fork movable bracket is slidably connected to the lifting main frame through a plurality of fork lifting rails vertically arranged on the lifting main frame.

[0011] The above-mentioned automatic cabinet entry RGV, the fork lifting drive mechanism includes a lifting motor, a lifting connecting rod and a lifting eccentric wheel, the upper end of the lifting connecting rod is rotatably connected to the telescopic fork, the lower end of the lifting connecting rod is rotatably connected to the eccentric shaft of the lifting eccentric wheel, and the rotating shaft of the lifting eccentric wheel is transmission-connected to the output shaft of the lifting motor.

[0012] In the above-mentioned automatic cabinet entry RGV, two of the 3D cameras and two sets of the fine-tuning drive mechanisms are symmetrically arranged on the lifting main frame, and the two fine-tuning movable brackets are respectively connected to the two sets of the fine-tuning drive mechanisms.

[0013] In the above-mentioned automatic cabinet feeding RGV, the material centering mechanism includes two centering push plates, which are symmetrically arranged on the left and right sides of the material fine-tuning platform. The centering push plates are slidably arranged on the lifting main frame, and the centering push plates can reciprocate in the width direction of the material fine-tuning platform under the drive of the centering drive mechanism.

[0014] The above-mentioned automatic cabinet entry RGV, the centering drive mechanism includes a centering electric cylinder, a centering guide plate, a centering bracket and a centering connecting rod, the centering drive mechanism and the centering bracket are provided with linear bearings, a guide rod is passed through the linear bearing, the guide rod is connected to the side of the centering push plate facing away from the center of the material fine-tuning platform, one end of the centering connecting rod is connected to the piston of the centering electric cylinder, the centering guide plate is arranged on the side of the centering push plate facing away from the center of the material fine-tuning platform, the centering guide plate is provided with a guide hole inclined at a certain angle, the centering connecting rod is provided with a guide wheel, and the guide wheel is slidably arranged in the guide hole.

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic cabinet entry RGV according to an embodiment of the present invention;

[0017] Figure 2 A side view of the automatic cabinet entry RGV according to an embodiment of the present invention;

[0018] Figure 3 It is a structural schematic diagram of a transverse driving mechanism according to an embodiment of the present invention;

[0019] Figure 4 A schematic structural diagram of a lifting platform structure according to an embodiment of the present invention;

[0020] Figure 5 It is a structural schematic diagram of a centering drive mechanism according to an embodiment of the present invention;

[0021] Figure 6Schematic diagram of the structure of the fine-tuning drive mechanism according to an embodiment of the present invention.

[0022] Description of Figure Numbers:

[0023] 100 bracket, 110 lateral guide mechanism, 111 upper guide rail, 112 lower guide rail, 200 lifting gantry mechanism, 210 door frame, 211 upper auxiliary wheel, 212 lower auxiliary wheel, 213 rack, 220 vertical guide mechanism, 230 anti-fall device, 300 lateral drive mechanism, 310 lateral drive motor, 320 friction wheel, 400 lifting platform mechanism, 410 lifting main frame, 420 3D camera, 430 telescopic fork, 431 fork movable bracket, 432 fork lifting slide rail, 440 material fine-tuning platform, 441 fine-tuning movable bracket, 442 smooth bar, 443 fine-tuning slide rail, 450 material pushing mechanism into cabinet, 451 material pushing top block, 452 material pushing guide rail, 453 material pushing screw pair, 454 material pushing motor, 460 fork lifting drive mechanism, 461 lifting motor, 462 lifting eccentric wheel, 463 lifting connecting rod, 470 fine-tuning drive mechanism, 471 fine-tuning motor, 472 fine-tuning eccentric wheel, 473 fine-tuning connecting rod, 480 material centering mechanism, 481 centering push plate, 482 centering electric cylinder, 483 centering guide plate, 4831 guide hole, 484 centering bracket, 485 guide rod, 500 platform lifting drive mechanism, 510 climbing drive motor, 520 lifting gear. DETAILED DESCRIPTION

[0024] The embodiments of the present invention are described in detail below. Figure 1 , Figure 2 and Figure 4The embodiment of the present invention provides an automatic cabinet entry RGV, including a bracket 100, a lifting gantry mechanism 200 and a lifting platform mechanism 400. The bracket 100 is provided with a transverse guide mechanism 110, the lifting gantry mechanism 200 is vertically slidably arranged on the transverse guide mechanism 110, the bracket 100 or the lifting gantry mechanism 200 is provided with a transverse drive mechanism 300, and the transverse drive mechanism 300 is used to drive the lifting gantry mechanism 200 to reciprocate along the transverse guide mechanism 110. The lifting platform mechanism 400 is slidably arranged on the lifting gantry mechanism 200, and the lifting gantry mechanism 200 is provided with a vertical guide mechanism 220, and the lifting gantry mechanism 200 or the lifting platform mechanism 400 is provided with a platform lifting drive mechanism 500, and the platform lifting drive mechanism 500 is used to drive the lifting platform mechanism 400 to reciprocate along the vertical guide mechanism 220. The lifting platform mechanism 400 includes a lifting main frame 410, and a telescopic fork 430, a 3D camera 420, a material pushing mechanism 450 and a material fine-tuning platform 440 arranged on the lifting main frame 410. The 3D camera 420 is arranged on the side of the lifting main frame 410 close to the energy storage cabinet, and is used to shoot the height of the cabinet in the storage cabinet. The telescopic fork 430 is slidably arranged on the lifting main frame 410, and can reciprocate in the vertical direction relative to the lifting main frame 410 under the drive of the fork lifting drive mechanism 460. The material fine-tuning platform 440 is slidably arranged on the side of the lifting main frame 410 close to the storage cabinet, and can reciprocate in the vertical direction relative to the lifting main frame 410 under the drive of the fine-tuning drive mechanism 470. The material pushing mechanism 450 is used to push the material on the material fine-tuning platform 440 into the cabinet of the energy storage cabinet.

[0025] The automatic cabinet entry RGV of the embodiment of the present invention is arranged between the shelf where the battery pack is stored and the energy storage cabinet that needs to be installed. When working, the lifting platform mechanism 400 is first moved to the battery pack that needs to be installed on the shelf under the drive of the transverse drive mechanism 300 and the platform lifting drive mechanism 500, and the fork lifting drive mechanism 460 drives the telescopic fork 430 to descend, and the fork arm of the telescopic fork 430 extends toward the shelf and extends under the battery pack. The fork lifting drive mechanism 460 drives the telescopic fork 430 to lift and lift the battery pack on the shelf; then the fork arm of the telescopic fork 430 is retracted and extended in the opposite direction to the top of the material fine-tuning platform 440; then the fork lifting drive mechanism 460 drives the telescopic fork 430 to descend, and after the battery pack is placed on the material fine-tuning platform 440, the telescopic fork 430 retracts the fork arm to its original position. After the battery pack is placed on the material fine-tuning platform 440, the lifting platform mechanism 400 is driven by the lateral drive mechanism 300 and the platform lifting drive mechanism 500 to move to the side of the cabinet where the energy storage cabinet needs to be placed. The 3D camera 420 takes a picture of the height of the cabinet, and according to the height difference between the cabinet and the cargo plane of the material fine-tuning platform 440, the height of the material fine-tuning platform 440 is adjusted through the fine-tuning drive mechanism 470, so that the cargo plane of the battery pack on the material fine-tuning platform 440 is flush with the cargo plane of the cabinet. Finally, the material pushing mechanism 450 pushes the battery pack on the material fine-tuning platform 440 into the cabinet of the energy storage cabinet to complete the installation of the battery pack. Because the battery pack takes a stereoscopic image of the cabinet of the energy storage cabinet through the 3D camera 420 before entering the cabinet, the height of the cargo plane of the cabinet can be identified through the stereoscopic image of the cabinet, so that the height of the battery pack can be adjusted according to the height difference between the cargo plane of the cabinet and the cargo plane of the material fine-tuning platform 440, so that the battery pack can be smoothly pushed into the energy storage cabinet, avoiding the battery pack from being squeezed or scratched with the cabinet body during the entry process due to the spacing and height differences of the cabinets in the energy storage cabinet due to welding accuracy, thereby avoiding damage to the battery pack during the entry process and reducing the safety hazards of the energy storage cabinet. It can be understood that the automatic cabinet entry RGV of the embodiment of the present invention can not only be used for the automatic installation of battery packs in energy storage cabinets, but also can be used in the storage scenarios of other valuable products.

[0026] Reference Figures 4 to 6In practice, since the cargo plane of the cabinet in the energy storage cabinet is usually supported by two parallel L-shaped plates, the two L-shaped plates support the two sides of the battery pack respectively. Due to the limited welding accuracy, there may also be a height difference between the two L-shaped plates in the cabinet, resulting in an angle between the cargo plane of the cabinet and the horizontal plane. In order to make the battery pack parallel to the cargo plane of the cabinet when entering the cabinet, and further avoid the battery pack from being squeezed or scratched by the cabinet body when entering the cabinet, in this embodiment, the material fine-tuning platform 440 includes two fine-tuning movable brackets 441, and the two fine-tuning movable brackets 441 are symmetrically arranged on the left and right sides of the lifting main frame 410. The fine-tuning movable brackets 441 are slidably connected to the lifting main frame 410 through a number of fine-tuning slide rails 443 vertically arranged on the lifting main frame 410. The upper surface of the fine-tuning movable bracket 441 is provided with a smooth strip 442 to reduce the friction force on the battery pack when entering the cabinet, and avoid sliding friction between the battery pack and the cargo plane of the material fine-tuning platform 440. Correspondingly, two 3D cameras 420 and two sets of fine-tuning drive mechanisms 470 are provided on the lifting main frame 410. The two sets of fine-tuning drive mechanisms 470 are respectively used to drive the fine-tuning movable brackets 441 on the corresponding sides to move in the vertical direction, so that the heights of the fine-tuning movable brackets 441 on both sides can be adjusted independently. Before the battery pack is put into the cabinet, the two 3D cameras 420 will respectively take stereoscopic images of the two L-shaped plates of the cabinet to be placed, identify the heights of the two L-shaped plates, and adjust the height of the fine-tuning movable bracket 441 according to the height difference between the L-shaped plate and the fine-tuning movable bracket 441 on the same side. When there is a height difference between the two L-shaped plates, the height difference between the two fine-tuning movable brackets 441 after adjustment will be consistent with the height difference between the two L-shaped plates, so that the battery pack on the material fine-tuning platform 440 can be parallel to the cargo plane formed by the two L-shaped plates, avoiding the battery pack being sent horizontally into the energy storage cabinet, resulting in squeezing or scratching between the battery pack and the L-shaped plate on one side.

[0027] It is understandable that the fork lifting drive mechanism 460 and the fine-tuning drive mechanism 470 can be a combination of an electric cylinder, a motor and a lead screw pair, or a combination of a motor and a micrometer platform, etc. Figure 6In this embodiment, the telescopic fork 430 is arranged on the fork movable bracket 431, and the fork movable bracket 431 is slidably connected to the lifting main frame 410 through a plurality of fork lifting rails 432 vertically arranged on the lifting main frame 410. The fork lifting drive mechanism 460 includes a lifting motor 461, a lifting eccentric wheel 462 and a lifting connecting rod 463, and the fine-tuning drive mechanism 470 includes a fine-tuning motor 471, a fine-tuning eccentric wheel 472 and a fine-tuning connecting rod 473. The upper end of the lifting connecting rod 463 is rotatably connected to the fork movable bracket 431, and the lower end is rotatably connected to the eccentric shaft of the lifting eccentric wheel 462. The rotating shaft of the lifting eccentric shaft is connected to the output shaft of the lifting motor 461 through a reducer, a synchronous wheel mechanism and a rotating shaft. The upper end of the fine-tuning connecting rod 473 is rotatably connected to the fine-tuning movable bracket 441 on the corresponding side, and the lower end is rotatably connected to the eccentric shaft of the fine-tuning eccentric wheel 472. The rotating shaft of the fine-tuning eccentric wheel 472 is transmission-connected to the output shaft of the fine-tuning motor 471 through a reducer. The rotating shafts of the lifting eccentric wheel 462 and the fine-tuning eccentric wheel 472 are both horizontal. When both rotate, the height of the eccentric shaft will change. The angles of the lifting eccentric wheel 462 and the fine-tuning eccentric wheel 472 are adjusted by the lifting motor 461 and the fine-tuning motor 471, thereby adjusting the height of the eccentric shaft, thereby realizing stepless adjustment of the height of the telescopic fork 430 and the material fine-tuning platform 440. By using an eccentric wheel mechanism as the fork lifting drive mechanism 460 and the fine-tuning drive mechanism 470, high-precision stepless adjustment of the height of the telescopic fork 430 and the material fine-tuning platform 440 can be achieved in a smaller space, which is convenient for integration into a lifting platform mechanism 400 with limited space, thereby reducing the weight of the lifting platform mechanism 400 and increasing the load capacity of the lifting platform mechanism 400.

[0028] Reference Figure 4 and Figure 5 In this embodiment, the telescopic fork 430 is arranged between two fine-tuning movable brackets 441, and the material pushing mechanism 450 is arranged between the two fork arms of the telescopic fork 430. The material pushing mechanism 450 includes a material pushing top block 451, two material pushing guide rails 452, a material pushing screw pair 453 and a material pushing motor 454. The material pushing screw pair 453 is arranged on the lifting main frame 410 along the in and out direction of the battery pack, and the two material pushing guide rails 452 are arranged on both sides of the material pushing screw pair 453 in parallel along the direction of the material pushing screw pair 453. The output shaft of the material pushing motor 454 is connected to the screw of the material pushing screw pair 453 through a reducer, and the two material pushing top blocks 451 are connected to the screw nut on the material pushing screw pair 453 and the sliders on the two material pushing guide rails 452 through an adapter plate. After the material fine-tuning platform 440 is adjusted, the pushing motor 454 pushes the pushing top block 451 toward the energy storage cabinet through the pushing screw pair 453, and pushes the battery pack into the cabinet position of the energy storage cabinet.

[0029] Reference Figure 4 and Figure 5In this embodiment, a material centering mechanism 480 is also provided on the lifting platform mechanism 400, which is used to push the battery pack on the material fine-tuning platform 440 to the center position in the left and right directions of the material fine-tuning platform 440, so as to further reduce the probability of the battery pack being squeezed or scratched by the cabinet during the process of entering the cabinet. The material centering mechanism 480 includes two centering push plates 481, and the two centering push plates 481 are symmetrically arranged on the left and right sides of the material fine-tuning platform 440. The centering push plate 481 is slidably arranged on the lifting main frame 410, and the centering push plate 481 can reciprocate in the width direction of the material fine-tuning platform 440 under the drive of the centering drive mechanism. The centering drive mechanism can also adopt a linear drive mechanism such as a cylinder, an electric cylinder, or a combination of a motor and a lead screw pair. In this embodiment, the centering drive mechanism includes a centering electric cylinder 482, a centering guide plate 483, a centering bracket 484 and a centering connecting rod. A linear bearing is provided on the centering bracket 484, and a guide rod 485 is passed through the linear bearing. The guide rod 485 is arranged along the left and right direction of the material fine-tuning platform 440, and the guide rod 485 is connected to the side of the centering push plate 481 facing away from the center of the material fine-tuning platform 440. One end of the centering connecting rod is connected to the piston of the centering electric cylinder 482, and the centering electric cylinder 482 and the centering connecting rod are arranged along the front and rear direction of the lifting main frame 410, and a plurality of guide wheels are arranged on the centering connecting rod. A centering guide plate 483 corresponding to the number of guide wheels is provided on the side of the centering push plate 481 facing away from the center of the material fine-tuning platform 440. The centering guide plate 483 is horizontally arranged on the centering push plate 481. The centering push plate 481 is provided with a guide hole 4831 inclined at a certain angle to the left and right horizontal direction. The guide wheel is slidably arranged in the guide hole 4831. When the centering electric cylinder 482 drives the centering connecting rod to move in the front and rear direction of the material fine-tuning platform 440, since the centering push plate 481 can only move in the left and right direction of the material fine-tuning platform 440, the centering push plate 481 moves in the left and right direction under the action of the component force of the pressure between the guide wheel and the guide hole 4831 in the left and right directions, thereby realizing the centering of the battery pack and the resetting of the centering push plate 481.

[0030] Reference Figure 1 and Figure 2In this embodiment, the support 100 is used to guide the movement of the lifting gantry mechanism 200 along the direction of the shelf and the energy storage cabinet, and prevent the lifting gantry mechanism 200 from tipping over. The transverse guide mechanism 110 includes an upper guide rail 111 arranged on the upper side of the support 100 and a lower guide rail 112 arranged on the ground, and the positions of the upper guide rail 111 and the lower guide rail 112 coincide. Correspondingly, the lifting gantry mechanism 200 includes a door frame 210, and the upper edge of the door frame 210 is provided with a plurality of pairs of upper auxiliary wheels 211, and the spacing between the two upper auxiliary wheels 211 in each pair matches the width of the upper guide rail 111, and the upper guide rail 111 passes between the two upper auxiliary wheels 211, and the two sides of the upper guide rail 111 are respectively in contact with the wheel surfaces of the two upper auxiliary wheels 211, and the upper auxiliary wheels 211 can roll on the side of the upper guide rail 111. A plurality of pairs of lower auxiliary wheels 212 are provided at the lower edge of the door frame 210. The spacing between the two lower auxiliary wheels 212 in each pair matches the width of the lower guide rail 112. The lower auxiliary wheels 212 can roll on the side of the lower guide rail 112. In this embodiment, the transverse drive mechanism 300 is provided on the lower edge of the door frame 210, and includes a transverse drive motor 310 and a friction wheel 320. The friction wheel 320 is connected to the output shaft of the transverse drive motor 310 through a reducer. The wheel surface of the friction wheel 320 contacts the upper surface of the lower guide rail 112. The transverse drive motor 310 drives the friction wheel 320 to roll along the upper surface of the lower guide rail 112 to drive the lifting gantry mechanism 200 to reciprocate along the transverse guide mechanism 110.

[0031] The vertical guide mechanism 220 includes two vertical guide rails, which are arranged on the left and right sides of the door frame 210. The lifting main frame 410 of the lifting platform mechanism 400 is connected to the sliders on the vertical guide rails on the door frame 210. It can be understood that the platform lifting drive mechanism 500 can be a winch or a combination of a motor, a rack 213 and a gear. Figure 2 and Figure 3 In this embodiment, two racks 213 are symmetrically arranged on the left and right sides of the door frame 210, and a climbing drive motor 510 is arranged on the lifting main frame 410. The output shaft of the climbing drive motor 510 is connected to a reducer with two output shafts. The two output shafts of the reducer are respectively connected to two lifting gears 520 through transmission shafts, and the two lifting gears 520 are respectively engaged with the two racks 213. A fall arrester 230 is arranged between the door frame 210 and the lifting main frame 410. The fall arrester 230 prevents the lifting platform mechanism 400 from falling when the climbing drive motor 510 cannot be locked.

[0032] It should be noted that in the description of the present invention, if there are any orientation descriptions, such as up, down, front, back, left, right, etc., the orientations or positional relationships indicated are all based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and cannot be understood as a limitation on the present invention.

[0033] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0034] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0035] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. An automatic cabinet entry RGV, characterized in that: include: The support (100) is provided with a transverse guide mechanism (110); The lifting gantry mechanism (200) is provided with a vertical guide mechanism (220) which is vertically slidably arranged on the transverse guide mechanism (110); A transverse driving mechanism (300) is arranged on the support (100) or the lifting gantry mechanism (200) and is used to drive the lifting gantry mechanism (200) to reciprocate along the transverse guiding mechanism (110); A lifting platform mechanism (400) is slidably arranged on the lifting gantry mechanism (200), comprising a lifting main frame (410) and a telescopic fork (430) arranged on the lifting main frame (410), a 3D camera (420), a material pushing mechanism (450) and a material fine-tuning platform (440), wherein the 3D camera (420) is arranged on a side of the lifting main frame (410) close to the storage cabinet, and the 3D camera (420) is used to photograph the cabinet height in the storage cabinet, and the telescopic fork (430) is slidably arranged on the lifting main frame (410). The telescopic fork (430) can reciprocate in the vertical direction relative to the lifting main frame (410) under the drive of the fork lifting drive mechanism (460); the material fine-tuning platform (440) is slidably arranged on a side of the lifting main frame (410) close to the storage cabinet; the material fine-tuning platform (440) can reciprocate in the vertical direction relative to the lifting main frame (410) under the drive of the fine-tuning drive mechanism (470); and the material pushing mechanism (450) is used to push the material on the material fine-tuning platform (440) into the cabinet position of the storage cabinet; The platform lifting drive mechanism (500) is arranged on the lifting platform mechanism (400) or the lifting gantry mechanism (200) and is used to drive the lifting platform mechanism (400) to reciprocate along the vertical guide mechanism (220).

2. The automatic cabinet entry RGV according to claim 1, characterized in that: The lifting main frame (410) is also provided with a material centering mechanism (480), and the material centering mechanism (480) is used to push the material on the material fine-tuning platform (440) to a central position in the left-right direction.

3. The automatic cabinet entry RGV according to claim 1, characterized in that: The material fine-tuning platform (440) includes two fine-tuning movable supports (441), which are symmetrically arranged on the left and right sides of the lifting main frame (410), and the two fine-tuning movable supports (441) are slidably connected to the lifting main frame (410) through a plurality of fine-tuning slide rails (443) vertically arranged on the lifting main frame (410), and smooth strips (442) are arranged on the upper end surfaces of the two fine-tuning movable supports (441).

4. The automatic cabinet entry RGV according to claim 3 is characterized in that: The push-in-rail mechanism comprises a push screw pair (453), a push guide rail (452), a push motor (454) and a push ejector block (451); the telescopic fork (430) is arranged between the two fine-tuning movable brackets (441); the push guide rail (452) and the push screw pair (453) are arranged between the two fork arms of the telescopic fork (430); the output shaft of the push motor (454) is transmission-connected with the screw of the push screw pair (453); the push ejector block (451) is connected with the screw nut of the push screw pair (453) and the slider of the push guide rail (452).

5. The automatic cabinet entry RGV according to claim 1, characterized in that: The fine-tuning drive mechanism (470) comprises a fine-tuning motor (471), a fine-tuning connecting rod (473) and a fine-tuning eccentric wheel (472); the upper end of the fine-tuning connecting rod (473) is rotationally connected to the material fine-tuning platform (440); the lower end of the fine-tuning connecting rod (473) is rotationally connected to the eccentric rotating shaft of the fine-tuning eccentric wheel (472); the rotating shaft of the fine-tuning eccentric wheel (472) is drivingly connected to the output shaft of the fine-tuning motor (471).

6. The automatic cabinet entry RGV according to claim 1, characterized in that: The telescopic fork (430) is arranged on a fork movable bracket (431), and the fork movable bracket (431) is slidably connected to the lifting main frame (410) via a plurality of fork lifting slide rails (432) vertically arranged on the lifting main frame (410).

7. The automatic cabinet entry RGV according to claim 1, characterized in that: The fork lifting drive mechanism (460) comprises a lifting motor (461), a lifting connecting rod (463) and a lifting eccentric wheel (462); the upper end of the lifting connecting rod (463) is rotationally connected to the telescopic fork (430); the lower end of the lifting connecting rod (463) is rotationally connected to the eccentric shaft of the lifting eccentric wheel (462); the rotating shaft of the lifting eccentric wheel (462) is transmission-connected to the output shaft of the lifting motor (461).

8. The automatic cabinet entry RGV according to claim 3, characterized in that: The lifting main frame (410) is symmetrically provided with two 3D cameras (420) and two sets of fine-tuning driving mechanisms (470), and the two fine-tuning movable brackets (441) are respectively connected to the two sets of fine-tuning driving mechanisms (470).

9. The automatic cabinet entry RGV according to claim 2, characterized in that: The material centering mechanism (480) includes two centering push plates (481), which are symmetrically arranged on the left and right sides of the material fine-tuning platform (440). The centering push plates (481) are slidably arranged on the lifting main frame (410), and the centering push plates (481) can reciprocate in the width direction of the material fine-tuning platform (440) under the drive of the centering drive mechanism.

10. The automatic cabinet entry RGV according to claim 9, characterized in that: The centering drive mechanism comprises a centering electric cylinder (482), a centering guide plate (483), a centering bracket (484) and a centering connecting rod. A linear bearing is arranged on the centering drive mechanism and the centering bracket (484). A guide rod (485) is passed through the linear bearing. The guide rod (485) is connected to the side of the centering push plate (481) facing away from the center of the material fine-tuning platform (440). One end of the centering connecting rod is connected to the piston of the centering electric cylinder (482). The centering guide plate (483) is arranged on the side of the centering push plate (481) facing away from the center of the material fine-tuning platform (440). A guide hole (4831) inclined at a certain angle is arranged on the centering guide plate (483). A guide wheel is arranged on the centering connecting rod. The guide wheel is slidably arranged in the guide hole (4831).

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