Storage assembly

Abstract

The invention relates to a storage assembly, and belongs to the technical field of production line logistics. The storage assembly comprises a first guide part, two sets of second guide parts and two sets of pushing parts, the first guide part is used for bearing an appliance containing a plate, the two sets of second guide parts and the two sets of pushing parts are all arranged on the periphery of the first guide part, and the two sets of second guide parts are located on the first side and the second side adjacent to the first guide part correspondingly; the two sets of pushing parts are located on the third side and the fourth side adjacent to the first guiding part respectively, the first side is adjacent to the fourth side, the second side is adjacent to the third side, each set of second guiding part corresponds to one set of pushing part, and each set of pushing part is used for forcing the appliance to move towards the corresponding second guiding part. The position error of the AGV placing appliance can be solved, and the success rate of grabbing materials from the appliance by the robot gripper is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of logistics technology, and in particular to a storage component. Background Art

[0002] As the degree of automation in the logistics of automobile production lines increases, the application of Automated Guided Vehicle (AGV) as an important tool for automated transportation and handling has become more and more widespread in recent years. The robot is guided by vision when picking up parts. In this process, the relative position of the sheet in the tool, the position of the AGV in the tool, the accuracy of the robot, and the accuracy of the visual guidance, etc., the accumulated errors of these indicators will reduce the success rate of the robot gripper grabbing materials from the tool. Summary of the invention

[0003] In view of this, the embodiment of the present disclosure provides a storage assembly that can solve the position error of the AGV placing equipment, thereby improving the success rate of the robot gripper grabbing materials from the equipment. The technical solution is as follows:

[0004] The storage assembly comprises a first guide portion, two sets of second guide portions and two sets of pushing portions;

[0005] The first guide portion is used to carry a device loaded with a sheet material;

[0006] The two groups of second guide portions and the two groups of pushing portions are arranged at the periphery of the first guide portion, wherein the two groups of second guide portions are respectively located at a first side and a second side adjacent to the first guide portion, and the two groups of pushing portions are respectively located at a third side and a fourth side adjacent to the first guide portion, and the first side is adjacent to the fourth side, and the second side is adjacent to the third side;

[0007] Each group of the second guide parts corresponds to a group of the pushing parts, and each group of the pushing parts is used to force the tool to move toward the corresponding second guide parts.

[0008] In a possible implementation, the upper surface of the first guide portion has a plurality of first rotating bodies for supporting a device loaded with sheet materials.

[0009] In a possible implementation, the highest position of the first rotating body is located in a first plane, a first angle greater than zero is formed between the first plane and the horizontal plane, and a side of the first plane close to the pushing portion is higher than a side of the first plane close to the corresponding second guide portion.

[0010] In a possible implementation manner, the first angle is less than or equal to 3°.

[0011] In a possible implementation, each group of the second guide portions has a first side surface facing the corresponding first guide portion having a plurality of second rotating bodies for supporting the device.

[0012] In one possible implementation, the storage assembly also includes a third guide portion, which is located on the first side or the second side and corresponds to a group of second guide portions located on the same side, and the third guide portion has a second side surface facing the corresponding pushing portion, wherein the second side surface extends from the first side edge of the corresponding group of second guide portions to a side away from the other group of second guide portions and has a second angle greater than 180° with the first side surface.

[0013] In one possible implementation, the second guide portion has a proximity sensor, and the proximity sensor and a corresponding group of the pushing portions are connected to a controller signal, wherein when the proximity sensor recognizes that the device has reached a specified position, the proximity sensor sends a signal to the controller, and the controller sends a stop operation instruction to the corresponding pushing portion.

[0014] In a possible implementation, the pushing part includes a first fixed frame, a supporting member, a pushing block and a driving part, the first fixed frame and the corresponding second guide part group are respectively located on two opposite sides of the first guide part, the supporting member and the pushing block are installed on the first fixed frame through the driving part, the driving part is used to drive the supporting member and the pushing block to move toward the corresponding second guide part and force the device to move toward the corresponding second guide part through the pushing block, the highest position of the supporting member is lower than the highest position of the first rotating body, and the highest position of the pushing block is higher than the highest position of the first rotating body, wherein, when the pushing block forces the device to move, the supporting member is located below the device.

[0015] In a possible implementation, the storage assembly also includes a base and a plurality of first fixing members, the base is fixedly connected to the ground via the first fixing members, and the first guide portion, two groups of second guide portions and two groups of pushing portions are all mounted on the base.

[0016] In one possible implementation, the storage component also includes a zone scanner located outside the first guide portion, and the zone scanner and the pushing portion are both connected to the controller signal, wherein when the zone scanner identifies that there is an obstacle on the inner side of the first guide portion, the zone scanner sends a signal to the controller, and the controller sends an instruction to stop running to the pushing portion.

[0017] In the scheme shown in the present disclosure, when the AGV places the tool containing the sheet material on the first guide portion, there may be a certain error in the placement position each time. After the AGV completes the placement, the two sets of pushing parts are respectively started to force the tool to move on the first guide portion toward the corresponding second guide portion until the tool abuts against the two sets of second guide portions respectively. Since the two sets of second guide portions are located on both sides adjacent to the first guide portion and their positions are fixed, the position of the tool is also fixed each time it is pushed to the final position, and no deviation will occur. Therefore, the position error of the AGV placing the tool can be solved, and the success rate of the robot gripper in grabbing materials from the tool can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a structural schematic diagram of a storage assembly provided by an embodiment of the present disclosure;

[0020] Figure 2 is a schematic top view of a storage assembly provided by an embodiment of the present disclosure;

[0021] Figure 3 is a structural schematic diagram of a first guide portion provided by an embodiment of the present disclosure;

[0022] Figure 4 is a schematic diagram of a first plane, a horizontal plane and a first angle provided by an embodiment of the present disclosure;

[0023] Figure 5 is a structural schematic diagram of a second guide portion provided by an embodiment of the present disclosure;

[0024] Figure 6 is a structural schematic diagram of a pushing portion provided by an embodiment of the present disclosure;

[0025] Figure 7 is a structural schematic diagram of a third guide portion provided by an embodiment of the present disclosure;

[0026] Figure 8 It is another schematic top view of a storage assembly provided in an embodiment of the present disclosure.

[0027] Description of Reference Numerals

[0028] 1. Grating; 2. Zone scanning; 3. Base; 31. First fixing member; 32. Second fixing member; 4. First guide portion; 41. First rotating body; 411. First plane; 412. First angle; 42. Upper surface; 43. Second fixing frame; 431. Second mounting hole; 44. Interval; 5. Second guide portion; 51. Second rotating body; 52. First side surface; 53. Proximity sensor; 54. Third fixing frame; 541. Third mounting hole; 6. Pushing portion; 61. First fixing frame; 611. First mounting hole; 62. Supporting member; 63. Pushing block; 64. First sliding member; 65. Second sliding member; 66. Driving portion; 7. Third guide portion; 71. Second angle; 8. Horizontal plane. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0030] This embodiment specifically relates to a storage component. Figure 1 What is shown is a schematic diagram of the structure of the storage component. Figure 2 The schematic top view of the storage assembly shown in FIG. Figure 3 The structural schematic diagram of the first guide portion 4 is shown in FIG. Figure 4 What is shown is a schematic diagram of the first plane, the horizontal plane and the first angle. Figure 5 The structure diagram of the second guide part is shown in FIG. Figure 6 The diagram shown is a schematic diagram of the structure of the push part. Figure 7 Shown is a schematic structural diagram of the third guide portion; Figure 8 Shown is another schematic top view of the storage assembly.

[0031] refer to Figure 1 As shown, the storage assembly at least comprises a first guide portion 4, two groups of second guide portions 5 and two groups of pushing portions 6, wherein the first guide portion 4 is used to carry a device loaded with sheet materials.

[0032] refer to Figure 2 The top view schematic diagram of the storage assembly shown shows the positional relationship between the first guide portion 4, the two groups of second guide portions 5 and the two groups of pushing portions 6. The two groups of second guide portions 5 and the two groups of pushing portions 6 are all arranged on the periphery of the first guide portion 4. The two groups of second guide portions 5 are respectively located on the first side and the second side adjacent to the first guide portion 4. The two groups of pushing portions 6 are respectively located on the third side and the fourth side adjacent to the first guide portion 4, and the first side is adjacent to the fourth side, and the second side is adjacent to the third side.

[0033] For example, the positional relationship between the first guide portion 4, the two sets of second guide portions 5 and the two sets of push portions 6 can be as follows: Figure 2As shown in , the upper side of the first guide portion 4 may be the third side, the left side of the first guide portion 4 may be the fourth side, the lower side of the first guide portion 4 may be the first side, and the right side of the first guide portion 4 may be the second side; or Figure 8 As shown, the upper side of the first guide portion 4 may be the first side, the left side of the first guide portion 4 may be the second side, the lower side of the first guide portion 4 may be the third side, and the right side of the first guide portion 4 may be the fourth side.

[0034] Each group of second guide portions 5 may include at least one second guide portion 5, may include two second guide portions 5, or may include more than two second guide portions 5 arranged in sequence, for example Figure 2 As shown in FIG. 1 , a group of second guide portions 5 located on the upper side of the first guide portion 4 has four second guide portions 5 arranged in sequence, and a group of second guide portions 5 located on the left side of the first guide portion 4 has three second guide portions 5 arranged in sequence.

[0035] Furthermore, each group of pushing parts 6 may have at least one pushing part 6, may have two pushing parts 6, or may have more than two pushing parts 6, for example Figure 2 As shown in FIG. 1 , there are two pushing parts 6 located at the lower side of the first guide part 4 , and there are two pushing parts 6 located at the right side of the first guide part 4 .

[0036] Each set of second guide portions 5 corresponds to a set of push portions 6, and each set of push portions 6 is used to force the device to move toward the corresponding second guide portion 5. Figure 2 As shown, a group of second guide parts 5 located on the left side corresponds to a group of pushing parts 6 located on the right side, and a group of second guide parts 5 located on the upper side corresponds to a group of pushing parts 6 located on the lower side. Then, the group of pushing parts 6 located on the right side is used to force the device to move toward the left side, and the group of pushing parts 6 located on the lower side is used to force the device to move toward the upper side.

[0037] In one example, the first guide portion 4 may be an integral body.

[0038] In one example, the first guide portion 4 includes two parts, and there is a gap 44 between the two parts of the first guide portion 4. A group of second guide portions 5 and a group of pushing portions 6 corresponding to each other are respectively located on both sides of the gap 44, and another group of pushing portions 6 includes two parts and are respectively located on both sides of the gap 44.

[0039] For example Figure 2 As shown, the first guide portion 4 includes two left and right parts, and the interval 44 is located between the left and right parts. For example, the first guide portion 4 includes multiple, for example, two first guide portions 4, three first guide portions 4, or more first guide portions 4, so that the first guide portion 4 can be divided into two parts and located on the left and right sides of the interval 44.

[0040] The group of pushers 6 located at the lower side includes at least two pushers 6, for example Figure 2 As shown, the group of pushing parts 6 located at the lower side includes two pushing parts 6 , and may also be three pushing parts 6 or more pushing parts 6 , so that the group of pushing parts 6 at the lower side can be divided into two parts and located at the left and right sides of the interval 44 .

[0041] Among them, taking the example that the first guide parts 4 include four and a group of pushing parts 6 located on the lower side include two pushing parts 6, the first guide parts 4 are located on both sides of the interval 44 in pairs and form a rectangle to support the four corners of the bottom of the device. The two pushing parts 6 are respectively located on both sides of the interval 44, which can force the two sides of the device to move at the same time to avoid excessive tilting of the device.

[0042] In this way, for the pallet-type AGV robot that is currently more widely used, it is possible to lift the tool to a position above the highest point of the second guide portion 5 and move it to just above the first guide portion 4, and then drag the tool downward with the pallet until it is placed on the first guide portion 4. After that, the pallet can be taken out from the gap 44 under the tool to complete the placement of the tool.

[0043] When it is necessary to take out an instrument, the pallet-type AGV robot extends the pallet into the gap 44 below the instrument, moves the pallet upward, carries the instrument on the pallet, and continues to move upward until the instrument is lifted to a position exceeding the highest point of the second guide portion 5, and then moves it out from directly above the first guide portion 4 to complete the removal of the instrument.

[0044] As described above, when the AGV places the tool with the sheet material on the first guide portion 4, there may be a certain error in the position of each placement. After the AGV completes the placement, the two sets of pushing parts 6 are respectively started to force the tool to move on the first guide portion 4 toward the corresponding second guide portion 5 until the third side and the fourth side of the tool are respectively in contact with the two sets of second guide portions 5, for example Figure 2 The tool in the middle will be located near the upper left side. Since the two sets of second guides 5 are located on both sides adjacent to the first guide 4 and are fixed in position, the tool position is also fixed each time it is pushed to the final position, and no deviation will occur. The position error of the AGV placing the tool is solved, thereby improving the success rate of the robot gripper grabbing materials from the tool. Moreover, before forcing the tool to move on the first guide 4, a certain space is reserved for the movement of the tool, so that tools of different sizes can be placed on the first guide 4, solving the position error when the AGV places tools of different sizes.

[0045] In one example, when each group of pushing parts 6 forces the tool to move toward the corresponding second guide part 5, friction will be generated between the bottom of the tool and the first guide part 4. Figure 3As shown, the first guide part 4 has a second fixing frame 43, the top surface of the second fixing frame 43 is an upper surface 42 and has a plurality of first rotating bodies 41 for carrying a device loaded with sheet materials. The first rotating body 41 may be a ball, and the upper surface 42 of the first guide part 4 is evenly provided with a plurality of first limiting grooves for constraining the translation of the first rotating body 41, and the first limiting grooves are spherical, so that the first rotating body 41 can rotate freely in the first limiting grooves, but will not roll out of the first limiting grooves.

[0046] In this way, when the tool is placed on the first guide portion 4, the tool is supported by a plurality of first rotating bodies 41 that rotate freely in the first limiting groove. When the tool moves on the first guide portion 4, the first rotating body 41 at the bottom of the tool can rotate in the first limiting groove, so that the sliding friction when the tool moves on the first guide portion 4 is converted into rolling friction.

[0047] As described above, on the one hand, the tool will not vibrate violently due to the friction at the bottom when moving, and the material in the tool will not be offset or damaged due to the vibration. On the other hand, the push part 6 can more easily force the tool to move on the first guide part 4, so there will be no situation where the tool cannot move to the expected final position due to the tool getting stuck, resulting in deviation in the tool position. In addition, since the first rotating body 41 is free to roll in the first limiting groove, the first rotating body 41 can achieve the effect of converting sliding friction into rolling friction when the directions in which the two sets of pushing parts 6 force the tool to move are different.

[0048] In one example, reference Figure 3 Combined with Figure 4 As shown, the highest position of the first rotating body 41 is located in the first plane 411, the first plane 411 and the horizontal plane 8 have a first angle 412 greater than zero, and the side of the first plane 411 close to the pushing portion 6 is higher than the side of the first plane 411 close to the corresponding second guide portion 5. Figure 2 As shown, the position of the first plane 411 close to the lower side is higher than the position close to the upper side, and the position of the first plane 411 close to the right side is higher than the position close to the left side.

[0049] Among them, since the highest position of the first rotating body 41 of the first guide part 4 for carrying the equipment is located in the first plane 411, the highest position of the first rotating body 41 on the first guide part 4 close to the pushing part 6 is higher than the highest position of the first rotating body 41 on the side close to the second guide part 5. Then, after the equipment is placed on the first rotating body 41, the pushing part 6 can more easily push the equipment toward the corresponding second guide part 5, which can reduce the problem of the equipment being difficult to push due to its overweight, so that the position error of the AGV placing a heavier equipment loaded with materials can be solved.

[0050] In one example, the first angle 412 is less than or equal to 3°. This can prevent the device from being placed on the first rotating body 41 with a slope that is too large, causing the pushing portion 6 to move too fast when forcing the device to move, and the device from starting to move due to gravity when the device is just placed on the first rotating body 41 but has not yet forced the device to move.

[0051] In one example, since the deviation of the utensil when it is initially placed on the first guide portion 4 is not fixed, when the two sets of pushing portions 6 simultaneously force the utensil to move toward the corresponding second guide portions 5, the third side and the fourth side of the utensil may not simultaneously abut against the two sets of second guide portions 5.

[0052] For example, the third side of the device may first contact a group of second guide portions 5, while the fourth side of the device is still a certain distance away from another group of second guide portions 5. At this time, the pushing portion 6 corresponding to the other group of second guide portions 5 will still force the device to move toward the group of second guide portions 5.

[0053] Thus, before the fourth side surface abuts against another set of second guide portions 5, friction and vibration will be generated between the third side surface of the tool and the second guide portion 5. On the one hand, the vibration may cause the material in the tool to shift or be damaged, and on the other hand, the tool may become stuck and unable to move to the expected final position, resulting in deviation of the tool position.

[0054] Therefore, reference Figure 5 Combined with Figure 2 As shown, the second guide portion 5 has a third fixing frame 54, one side of the third fixing frame 54 is facing the first side surface 52 of the corresponding first guide portion 4, and has a plurality of second rotating bodies 51 for supporting the tool. The second rotating bodies 51 are used to support the reciprocating motion of the tool along one direction, and convert the sliding friction of the tool reciprocating along the direction into rolling friction.

[0055] For example, the second rotating body 51 can be a ball bearing that is the same as the first rotating body 41, and the first side surface 52 of the second guide portion 5 facing the corresponding first guide portion 4 has a plurality of second limiting grooves that are evenly distributed and used to constrain the translation of the second rotating body 51, so that the second rotating body 51 can rotate freely in the second limiting groove or can only rotate around a fixed first rotation axis in the second limiting groove, wherein the first rotation axis is perpendicular to the reciprocating motion direction corresponding to the device and the rotation direction is tangent to the reciprocating motion direction corresponding to the device, but will not roll out of the second spherical groove.

[0056] For another example, the second rotating body 51 can be a cylindrical roller, and the first side surface 52 of the second guide portion 5 facing the corresponding first guide portion 4 has a plurality of evenly distributed third limiting grooves for constraining the translation of the second rotating body 51, so that the second rotating body 51 can rotate around a fixed second rotation axis in the second limiting groove, wherein the second rotation axis coincides with the axis of the second rotating body 51, and is perpendicular to the reciprocating motion direction corresponding to the device and has a rotation direction tangent to the reciprocating motion direction corresponding to the device, but will not roll out of the second spherical groove.

[0057] As described above, the present invention can support the third side or the fourth side through the second rotating body 51 when the third side or the fourth side first abuts against a group of second guide parts 5, so that the friction between the third side or the fourth side and the second guide part 5 is converted into rolling friction, thereby reducing vibration and avoiding jamming.

[0058] Furthermore, since the two groups of pushing parts 6 simultaneously force the device to move toward the corresponding second guide parts 5, the device may be unstable when moving. Therefore, in one example, the two groups of pushing parts 6 may be started separately and sequentially.

[0059] For example, one group of pushing parts 6 can be started first to force the device to move toward a group of second guide parts 5, and the third side can be abutted against the second rotating body 51 of the group of second guide parts 5. Then, another group of pushing parts 6 can be started to force the device to move toward another group of second guide parts 5, and the fourth side can be abutted against the second rotating body 51 of the other group of second guide parts 5.

[0060] It is also possible to first start a group of pushing parts 6 to force the device to move toward a group of second guide parts 5, and make the fourth side abut against the second rotating body 51 of the group of second guide parts 5, and then start another group of pushing parts 6 to force the device to move toward another group of second guide parts 5, and make the third side abut against the second rotating body 51 of the other group of second guide parts 5.

[0061] In one example, the storage assembly also includes a third guide portion 7, which is located on the first side or the second side and corresponds to a group of second guide portions 5 located on the same side, and the third guide portion 7 has a second side surface 71 facing the corresponding pushing portion 6, wherein the second side surface 71 extends from an edge of the first side surface 52 of the corresponding group of second guide portions 5 to a side away from the other group of second guide portions 5 and has a second angle 711 greater than 180° with the first side surface 52.

[0062] For example Figure 2 As shown, the third guide portion 7 is located on the left side of the first guide portion 4 and corresponds to the second guide portion 5 which is also located on the left side. Then, the third guide portion 7 has a reference position facing a group of push portions 6 located on the right side. Figure 7 The second side 71 shown, continue to refer to Figure 2 As shown, the second side surface 71 extends from the edge of the first side surface 52 of a second guide portion 5 located at the lowest side in a group of second guide portions 5 located on the left side toward a side away from another group of second guide portions 5, and has a second angle 711 greater than 180° between the second side surface 711 and the corresponding first side surface 52.

[0063] In this way, when the AGV places an appliance from the outer periphery of the first guide portion 4 to the first guide portion 4, if the AGV causes the appliance to accidentally hit the second guide portion 5 located at the bottom due to an error, the third guide portion 7 can guide the appliance through the second side surface 71, so that the appliance can be smoothly transported to the first guide portion 4, thereby preventing the appliance from tipping over or excessive position deviation.

[0064] In one example, the second guide portion 5 has a proximity sensor 53, and the proximity sensor 53 and a corresponding group of pushing portions 6 are both connected to the controller signal, wherein when the proximity sensor 53 recognizes that the device has reached a specified position, the proximity sensor 53 sends a signal to the controller, and the controller sends a stop operation instruction to the corresponding pushing portion 6.

[0065] For example Figure 5 As shown, the proximity sensor 53 is installed on one side of the third fixing frame 54. Since each time the device reaches the final position, the distance between the third side or the fourth side and the proximity sensor 53 when it abuts against the first side 52 is consistent, the proximity sensor 53 can recognize the approach of the device when the device reaches the final position and transmit the proximity signal to the controller. The controller sends a stop operation instruction to the corresponding pushing part 6, so that the pushing part 6 stops running, thereby preventing the device from failing to move to the fixed final position, or preventing the device from being forced to move after reaching the final position, causing damage to the device or the pushing part 6 or the second guide part 5.

[0066] Among them, the proximity sensor 53 is a device that can detect the approach of an object in a non-contact manner, also called a "proximity switch". According to the detection method, it can be a capacitive proximity sensor, an inductive proximity sensor, a photoelectric proximity sensor, etc. According to the type of detectable object, it can be an inductive proximity sensor that detects the presence of metal or an electrostatic capacitance proximity sensor that detects the presence of metal and non-metallic objects. For example, if the appliance is made of metal, the proximity sensor 53 can be an inductive proximity sensor. For another example, if the appliance is made of non-metallic material, the proximity sensor 53 can be an electrostatic capacitance proximity sensor.

[0067] In one example, reference Figure 6As shown, the pushing portion 6 includes a first fixed frame 61, a supporting member 62, a pushing block 63 and a driving portion 66. The first fixed frame 61 and the corresponding second guide portion 5 group are respectively located on the opposite sides of the first guide portion 4. The supporting member 62 and the pushing block 63 are installed on the first fixed frame 61 through the driving portion 66. The driving portion 66 is used to drive the supporting member 62 and the pushing block 63 to move toward the corresponding second guide portion 5 and force the device to move toward the corresponding second guide portion 5 through the pushing block 63.

[0068] In one example, since the driving part is used to drive the supporting member 62 and the pushing block 63 to move toward the corresponding second guide part 5 on the first fixed frame 61, correspondingly, the supporting member 62 and the pushing block 63 have a first sliding member 64, and the first fixed frame 61 has a second sliding member 65. The supporting member 62 and the pushing block 63 are slidably connected to the first fixed frame 61 through the first sliding member 64 and the second sliding member 65.

[0069] In one example, one of the first sliding member 64 and the second sliding member 65 is a slider and the other is a slide rail, for example Figure 6 As shown, the first sliding member 64 is a slide rail, and the second sliding member 65 is a slider. For another example, the first sliding member 64 is a slider, and the second sliding member 65 is a slide rail.

[0070] In one example, the driving part 66 may be a cylinder, the fixed end of the cylinder is connected to the first fixed frame 61, and the telescopic end is connected to the supporting member 62 and the pushing block 63, and the supporting member 62 and the pushing block 63 are driven to move by the telescopic movement of the cylinder.

[0071] In another example, the driving part 66 may be a hydraulic cylinder, the fixed end of which is connected to the first fixed frame 61, and the telescopic end is connected to the supporting member 62 and the pushing block 63, and the supporting member 62 and the pushing block 63 are driven to move by the telescopic movement of the hydraulic cylinder.

[0072] In another example, the driving part 66 can be a motor, the output shaft of the motor is connected to the screw in the screw slider mechanism through a coupling, and the slider in the screw slider mechanism is fixedly connected to the support member 62 and the push block 63. For example, the slider in the screw slider mechanism is welded to the support member 62 and the push block 63 or fixedly connected by screws or bolts, and the screw is driven to rotate by the rotation of the motor output shaft, so that the slider drives the support member 62 and the push block 63 to move.

[0073] In one example, the supporting member 62 and the pushing block 63 may be connected to the driving part and the first mounting frame 61 respectively, or the supporting member 62 and the pushing block 63 may be fixedly connected, and one of the supporting member 62 or the pushing block 63 is further connected to the driving part 66 and the first mounting frame 61. Figure 6As shown, the push block 63 is fixedly connected to the supporting member 62 , and the supporting member 62 is installed on the first fixing frame 61 through the driving part 66 , and is slidably connected to the first fixing frame 61 through the first sliding member 64 and the second sliding member 65 .

[0074] At the same time, the highest position of the supporting member 62 is lower than the highest position of the first rotating body 41, and the highest position of the pushing block 63 is higher than the highest position of the first rotating body 41. When the pushing block 63 forces the tool to move, the supporting member 62 is located below the tool. In this way, the pushing block 63 can push on the tool when it is at a higher position than the highest position of the first rotating body 41. At the same time, when the tool is forced to tilt during movement by the pushing block 63, the supporting member 62 can support the tool to a certain extent, so that the possible tilt angle of the tool is small, thereby preventing the tool from falling.

[0075] In one example, the first guide portion 4, the two groups of second guide portions 5 and the two groups of pushing portions 6 may all be installed on the ground.

[0076] In another example, the storage assembly further includes a base 3 and a plurality of first fixing members 31 , and the base 3 is fixedly connected to the ground via the first fixing members 31 .

[0077] For example, the first fixing member 31 can be an anchor rod. For example, the base 3 has multiple fourth mounting holes, the first end of the anchor rod has a limiting cap, the second end of the anchor rod passes through the fourth mounting hole on the base 3 and is inserted into the ground, and the limiting cap is against the base 3, so that the base 3 is fixed to the ground through the first fixing member 31.

[0078] In one example, the first fixing member 31 can be a bolt. For example, the base 3 has a plurality of fourth mounting holes. The first end of the bolt passes through the fourth mounting hole on the base 3 and is screwed into the ground. The nut of the bolt rests on the base 3, so that the base 3 is fixed to the ground by the first fixing member 31.

[0079] In one example, the first guide portion 4 , the two groups of second guide portions 5 and the two groups of pushing portions 6 are all installed on the base 3 .

[0080] The base 3 may be a steel plate, and the first guide portion 4, the two sets of second guide portions 5 and the two sets of push portions 6 may be all or partly mounted on the base 3. Figure 2 And refer to Figure 1 As shown, only the leftmost second guide part 5 of the group of second guide parts 5 located on the upper side is installed on the base 3, and the remaining second guide parts 5 are installed on the ground, while the three second guide parts 5 of the group of second guide parts 5 located on the left side are all installed on the base 3. For another example, the first guide parts 4 are all installed on the base 3.

[0081] In this way, compared with the previous example, this example can ensure the stable installation of the first guide part 4, the two groups of second guide parts 5 and the two groups of pushing parts 6 by fixing the base 3 on the ground, and avoid the displacement of the second guide part 5 and the two groups of pushing parts 6 due to excessive force caused by the pushing of the pushing part 6, which makes the final position of the device deviate.

[0082] In one example, the first guide portion 4, the two groups of second guide portions 5, the two groups of pushing portions 6 and the base 3 can be non-detachably fixedly connected by welding or other means.

[0083] In one example, the storage assembly further includes a second fixing member 32 , and the first guide portion 4 , the two groups of second guide portions 5 , and the two groups of pushing portions 6 are all detachably connected to the base 3 via the second fixing member 32 .

[0084] For example, the second fixing member 32 can be a screw, the second fixing frame 43 has a plurality of first mounting holes 611, the second fixing frame 43 has a plurality of second mounting holes 431, the third fixing frame 54 has a plurality of third mounting holes 541, and the base 3 has a plurality of fifth mounting holes corresponding to the positions of the first mounting holes 611, the second mounting holes 431 and the third mounting holes 541, the screw cap of the screw abuts against the second fixing member 32, the second fixing frame 43 or the third mounting hole 541, and the second end of the screw passes through the first mounting hole 611, the second mounting hole 431 or the third mounting hole 541 and is screwed into the fifth mounting hole, wherein the fifth mounting hole is a screw hole.

[0085] Compared with the previous example, this example can replace or correct the first guide portion 4, the two groups of second guide portions 5 and the two groups of pushing portions 6 when they are damaged or offset.

[0086] In one example, reference Figure 1 and Figure 2 As shown, the storage component also includes a zone scan 2 and a grating 1 located on the periphery of the first guide portion 4. The zone scan 2, the grating 1 and the pushing portion 6 are all connected to the controller signal. When the zone scan 2 identifies that there is an obstacle on the inner side of the first guide portion 4, the zone scan 2 sends a signal to the controller, and the controller sends a stop operation instruction to the pushing portion 6. When the grating 1 identifies that there is an obstacle on the periphery of the first guide portion 4, the grating 1 sends a signal to the controller, and the controller sends a stop operation instruction to the corresponding pushing portion 6.

[0087] The number of the zone scans 2 may be one or more, and the number of the zone scans 2 is not given in this embodiment. Figure 2 As shown, it includes two pairs located on the upper and lower sides of the first guide portion 4, and there may be more.

[0088] In this way, on the one hand, the safety of personnel can be guaranteed, and on the other hand, problems with the placement of the equipment caused by the presence of obstacles can be avoided, such as falling or tilting due to obstruction.

[0089] In the embodiment of the present disclosure, when the AGV places the tool with the sheet material on the first guide portion 4, there may be a certain error in the position of each placement. After the AGV completes the placement, the two groups of pushing parts 6 are respectively started to force the tool to move on the first guide portion 4 toward the corresponding second guide portion 5 until the third side and the fourth side of the tool are respectively in contact with the two groups of second guide portions 5, for example Figure 2 The tool in the middle will be located near the upper left side. Since the two sets of second guides 5 are located on both sides adjacent to the first guide 4 and are fixed in position, the tool position is also fixed each time it is pushed to the final position, and no deviation will occur. The position error of the AGV placing the tool is solved, thereby improving the success rate of the robot gripper grabbing materials from the tool. Moreover, before forcing the tool to move on the first guide 4, a certain space is reserved for the movement of the tool, so that tools of different sizes can be placed on the first guide 4, solving the position error of the AGV placing tools of different sizes.

[0090] It should be noted that the upper side, lower side, left side and right side mentioned in the embodiments of the present disclosure are all references to Figure 2 The direction proposed in the.

[0091] Furthermore, the terms "first", "second", etc. in the specification and claims of the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0092] The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A storage component, characterized in that: The storage assembly comprises a first guide portion (4), two groups of second guide portions (5) and two groups of pushing portions (6); The first guide portion (4) is used to carry a device loaded with sheet material; The two groups of second guide portions (5) and the two groups of pushing portions (6) are arranged on the periphery of the first guide portion (4), wherein the two groups of second guide portions (5) are respectively located on a first side and a second side adjacent to the first guide portion (4), and the two groups of pushing portions (6) are respectively located on a third side and a fourth side adjacent to the first guide portion (4), and the first side is adjacent to the fourth side, and the second side is adjacent to the third side; Each group of the second guide parts (5) corresponds to a group of the pushing parts (6), and each group of the pushing parts (6) is used to force the device to move towards the corresponding second guide parts (5).

2. The storage assembly according to claim 1, characterized in that: The upper surface (42) of the first guide portion (4) has a plurality of first rotating bodies (41) for supporting a device loaded with sheet materials.

3. The storage assembly according to claim 2, characterized in that: The highest position of the first rotating body (41) is located in the first plane (411), a first angle (412) greater than zero is formed between the first plane (411) and the horizontal plane (8), and a side of the first plane (411) close to the pushing portion (6) is higher than a side of the first plane (411) close to the corresponding second guide portion (5).

4. The storage assembly according to claim 3, characterized in that: The first angle (412) is less than or equal to 3°.

5. The storage assembly according to claim 1, characterized in that: The first side surface (52) of each group of the second guide parts (5) facing the corresponding first guide part (4) has a plurality of second rotating bodies (51) for supporting the device.

6. The storage assembly according to claim 1, characterized in that: The storage assembly further comprises a third guide portion (7), the third guide portion (7) being located on the first side or the second side and corresponding to a group of the second guide portions (5) located on the same side, the third guide portion (7) having a second side surface (71) facing the corresponding pushing portion (6), wherein the second side surface (71) extends from an edge of the first side surface (52) of the corresponding group of the second guide portions (5) to a side away from the other group of the second guide portions (5) and has a second angle (711) greater than 180° with the first side surface (52).

7. The storage assembly according to claim 1, characterized in that: The second guide portion (5) has a proximity sensor (53), and the proximity sensor (53) and a corresponding group of the pushing portions (6) are both connected to a controller signal, wherein when the proximity sensor (53) recognizes that the device has reached a specified position, the proximity sensor (53) sends a signal to the controller, and the controller sends a stop operation instruction to the corresponding pushing portion (6).

8. The storage assembly according to claim 1, characterized in that: The pushing portion (6) comprises a first fixed frame (61), a supporting member (62), a pushing block (63) and a driving portion (66); the first fixed frame (61) and the corresponding second guide portion (5) group are respectively located on two opposite sides of the first guide portion (4); the supporting member (62) and the pushing block (63) are installed on the first fixed frame (61) through the driving portion (66); the driving portion (66) is used to drive the supporting member (62) and the pushing block (63) to move toward the corresponding second guide portion (5) and force the device to move toward the corresponding second guide portion (5) through the pushing block (63); the highest position of the supporting member (62) is lower than the highest position of the first rotating body (41), and the highest position of the pushing block (63) is higher than the highest position of the first rotating body (41); wherein, when the pushing block (63) forces the device to move, the supporting member (62) is located below the device.

9. The storage assembly according to claim 1, characterized in that: The storage assembly further comprises a base (3) and a plurality of first fixing members (31); the base (3) is fixedly connected to the ground via the first fixing members (31); and the first guide portion (4), two groups of second guide portions (5) and two groups of pushing portions (6) are all mounted on the base (3).

10. The storage assembly according to claim 1, characterized in that: The storage component also includes a zone scanner (2) located outside the first guide portion (4), and the zone scanner (2) and the pushing portion (6) are both connected to the controller signal, wherein when the zone scanner (2) identifies that there is an obstacle on the inner side of the first guide portion (4), the zone scanner (2) sends a signal to the controller, and the controller sends a stop operation instruction to the pushing portion (6).

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