Intelligent circulating storage device and using method thereof

Abstract

The invention discloses an intelligent circulating storage device and a using method thereof, and belongs to the field of water-turbine generator set maintenance. According to the device, through visual identification and artificial intelligence technologies, automatic management and maintenance of maintenance tools are realized, the manpower and material resource cost is greatly reduced, and the working efficiency is improved. The device comprises a circulating track system, a single intelligent warehouse, a butt joint mechanism, a moving trolley, a robot grabbing system and the like, a three-dimensional multi-layer structural design is adopted, space utilization is optimized, and the tool storage and taking efficiency is improved. Through cooperative operation, automatic sorting, warehousing, registration, output and transportation of the maintenance tools are realized, the management process is simplified, and the management difficulty is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of maintenance equipment for hydro-generator sets, and in particular relates to an intelligent circulation storage device and a method for using the same. Background Art

[0002] During the current maintenance of hydro-turbine generator sets, maintenance personnel are faced with a vast array of tools. Due to the diverse nature of the components being repaired, the variety and quantity of tools required have also increased, making the maintenance task itself more onerous. Furthermore, the repeated borrowing and management of tools further burdens the maintenance process. Currently, the organization, inventory, and registration of maintenance tools requires dedicated personnel, which not only consumes significant manpower and material resources, but also makes the registration and statistics process quite complex.

[0003] During the maintenance of hydro-turbine generator sets, a variety of maintenance tools of different specifications are required. Currently, the organization, inventory, registration, and statistics of these tools rely entirely on manual operations. This has the following disadvantages: 1. Large consumption of manpower and material resources: There are many types of maintenance tools and they are huge in number. They rely entirely on manual sorting, inventory, registration and statistics, which consumes a lot of manpower and material resources.

[0004] 2. Low work efficiency: Manual operation is time-consuming and labor-intensive, resulting in low work efficiency and making it difficult to meet the high-efficiency requirements of turbine generator set maintenance.

[0005] 3. Error-prone: Manual operations are easily affected by factors such as fatigue and negligence, which can lead to errors in sorting, counting, registration and statistics, affecting the accuracy and reliability of maintenance work.

[0006] 4. Inconvenient management: Manual management is complicated and cumbersome, making it difficult to quickly find and locate tools, which increases the difficulty and complexity of management. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide an intelligent recycling storage device and its use method. Based on visual recognition and artificial intelligence technology, the device can perform statistical analysis of tool information through a digital management system to better manage and maintain the tools. The storage device is composed of a three-dimensional multi-layer structure composed of multiple single intelligent libraries. Through visual recognition and comprehensive calculations, instructions are sent to automatic transfer carts and storage devices to achieve automatic sorting, storage, and registration of tools. At the same time, according to usage requirements, tools can be automatically output and transported to the required location via automatic transfer carts.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is: An intelligent circulation storage device includes a circulation track system, a single intelligent library, a docking mechanism, a mobile car and a robot grasping system; wherein: The circular track system includes an outer track and an inner track, and a single intelligent library is installed on the inner track; The single intelligent library performs cyclic reciprocating motion along the inner track; The docking mechanism is installed on the outside of the outer ring track and is used to take out the tool tray from the single intelligent library; The mobile trolley is used to carry the inspection tools to the bottom of the visual camera; The robotic grasping system includes a visual camera and a six-axis robot. The visual camera is responsible for identifying the maintenance tools carried by the mobile cart and guiding the six-axis robot to perform precise grasping.

[0009] Preferably, the circulating track system further comprises a bottom base plate, on which an outer ring track and an inner ring track are provided, and both the outer ring track and the inner ring track are fixed to the bottom base plate via a track pad and a pressing plate.

[0010] Preferably, a plurality of support rods are connected between the outer ring track and the inner ring track, wherein a structural support is installed on one or several of the support rods, and a guide rail is installed on the structural support; the guide rail is in sliding cooperation with the single intelligent library.

[0011] Preferably, the circulating track system also includes a positioning guide bracket, which is installed on the bottom base plate between the outer ring track and the inner ring track. The positioning guide bracket is provided with a guide wheel, which is used to guide the single intelligent library to reach the specified position.

[0012] Preferably, an in-place detection bracket is provided next to the positioning guide bracket, and a position detection switch is provided on the in-place detection bracket.

[0013] Preferably, the single intelligent library includes a driving wheel, a passive wheel, a guide wheel and a library track guide wheel. The driving wheel is driven by a motor and drives the single intelligent library to move; the passive wheel is used to support the single intelligent library; the library track guide wheels are respectively installed on both sides of the driving wheel and the passive wheel.

[0014] Preferably, the single intelligent library further comprises a library support frame, on which a driving wheel, a passive wheel and a supporting guide wheel are mounted, and the supporting guide wheel is located inside the library support frame.

[0015] Preferably, a guide correction rod is installed at the bottom of the library support frame, and the guide correction rod is compatible with the positioning guide bracket and the guide wheel.

[0016] Preferably, the single intelligent library is provided with multiple levels of tool storage layers, tool trays are placed in the tool storage layers, and three-axis mobile picking and placing mechanisms are installed in the middle areas of the tool storage layers on both sides of the single intelligent library.

[0017] Preferably, the three-axis mobile pick-and-place mechanism includes an X-axis guide rail, an X-axis rack, a Z-axis support beam, an X-axis drive motor and an X-axis support member, the X-axis support member is fixed to the top of the library support frame, and the X-axis guide rail and the X-axis rack are both fixed to the X-axis support member by bolts; The Z-axis support beam is fixed on the X-axis guide rail, the X-axis drive motor is fixed to one end of the Z-axis support beam, and the end of the X-axis drive motor is equipped with an X-axis gear.

[0018] Preferably, the three-axis mobile pick-and-place mechanism also includes a Z-axis rack and a Z-axis guide rail, which are connected to the Z-axis guide rail by bolts and fixed on the Z-axis support beam; the Z-axis guide rail is connected to and fixed on the Y-axis support frame, and a Z-axis drive motor is installed on the Y-axis support frame, which drives the Z-axis gear to rotate, and the Z-axis gear is engaged with the Z-axis rack.

[0019] Preferably, the Y-axis support frame is equipped with a Y-axis drive motor, a Y-axis drive gear set, a Y-axis guide and a Y-axis middle support member; The Y-axis middle support member can slide on the Y-axis support frame. Both sides of the Y-axis middle support member are equipped with Y-axis slide grooves, which slide in conjunction with the Y-axis guide member. Preferably, the Y-axis drive motor cooperates with the Y-axis drive gear set to drive the Y-axis sprocket to rotate, the Y-axis sprocket drives the Y-axis chain transmission, and the Y-axis chain is connected to the movable carrier.

[0020] Preferably, the docking mechanism is installed on the outside of the outer ring track, and the docking mechanism is evenly distributed on both sides of the stop position of the circulating track system; The docking mechanism includes a docking support seat, which is fixed on the ground. Bushing fixing seats are evenly fixed on both sides of the docking support seat. A bushing is fixed on each bushing fixing seat. The bushing cooperates with the docking guide shaft. The docking guide shaft is installed on the first docking bearing plate. The first docking bearing plate is connected to the docking longitudinal guide rail. The docking longitudinal guide rail is installed on the docking telescopic lower frame.

[0021] Preferably, the docking telescopic lower frame is connected to the first docking bearing plate via a docking chain, a docking chain mounting seat is installed on the first docking bearing plate, a docking support hinge seat is installed on the side of the docking telescopic lower frame, a docking sprocket is installed on the docking support hinge seat, and the docking sprocket is adapted to the docking chain; A docking drive motor is installed on the first docking bearing plate, and the docking mechanism is longitudinally reciprocated and retracted by the docking drive motor; the upper part of the docking telescopic lower frame and the lower part of the docking telescopic upper frame are connected by a guide rail.

[0022] Preferably, a docking transverse drive motor, a docking transverse gear set, and a docking transverse guide block are fixed to the upper part of the docking telescopic upper frame; the docking transverse guide blocks are located on both sides of the slot plate of the docking telescopic upper frame, the docking transverse gear set is located in the middle of the slot plate of the docking telescopic upper frame, and a docking transverse drive motor is installed on the other side of the slot plate, and the end of the motor shaft of the docking transverse drive motor is connected to a gear in the docking transverse gear set; The docking telescopic upper frame is adapted to the docking transverse slide groove, the docking transverse slide groove is installed on both sides of the docking transverse support frame, and the docking transverse support frame is slidably matched with the second docking bearing plate.

[0023] Preferably, a drag chain slot plate is installed at one end of the docking telescopic upper frame, and the drag chain slot plate is used to carry the drag chain; a docking detection switch is installed at the bottom of the second docking bearing plate, which is used to detect whether the tool tray is grabbed.

[0024] Preferably, the robot grasping system includes a fixed base, a six-axis robot, a visual fixed seat, a visual camera and a robot end actuator. The six-axis robot is installed on the fixed base, and the robot end actuator is configured at the end of the six-axis robot.

[0025] Preferably, the end effector of the robot includes a grasping support, a vacuum suction cup, an electromagnetic suction cup, a passive synchronous wheel, a synchronous belt, an active synchronous wheel, a grasping drive motor, a screw and a mobile grasping claw; the flange end of the grasping support is connected to the end of the six-axis robot; a vacuum suction cup and an electromagnetic suction cup are installed on one side of the grasping support, and a screw is installed on the other side of the grasping support, the screw is connected to the mobile grasping claw, one end of the screw is equipped with a passive synchronous wheel, and the other end of the flange of the grasping support is installed with a grasping drive motor, and the end of the grasping drive motor is installed with an active synchronous wheel, the two active synchronous wheels are connected by a synchronous belt, and the position of the mobile grasping claw is adjusted by the grasping drive motor.

[0026] Preferably, the vision fixed seat is installed on the ground directly in front of the six-axis robot, and the vision camera is installed at the end of the vision fixed seat; the vision camera is responsible for identifying the maintenance tools carried on the mobile cart and guiding the six-axis robot to accurately grasp them; the mobile cart moves to the designated position and carries the maintenance tools to the bottom of the vision camera; after the vision camera identifies the specifications of the maintenance tools, the six-axis robot is responsible for grasping them and placing them in the material tray taken out by the docking mechanism from the single intelligent warehouse, and then sending them into the corresponding single intelligent warehouse.

[0027] A method for using an intelligent circulation storage device includes the following methods: S1. Check the installation stability of all components of the circulating track system: the bottom plate is fixed to the ground, the outer and inner tracks are connected by support rods, and the track pads and pressure plates lock the tracks without displacement. S2. Debug the single-unit intelligent storage system: Start the motor driving the active wheel. Verify that the storage track guide wheel and support guide wheel are in contact with the track when the storage body circulates along the inner track, and that the guide correction rod and the guide wheel of the positioning guide bracket are properly aligned. S3 calibration docking mechanism motion trajectory: drive docking drive motor and lateral drive motor, verify the first docking carrier plate and the second docking carrier plate along the guide rail telescopic, sliding into place, in place detection switch and docking detection switch feedback signal is normal; S4. Calibrate the robotic gripping system: The visual camera identifies standard tools and completes the coordinate mapping of the six-axis robot's end effector. S5. Move the tool on the trolley to the position directly below the camera, ensuring that the tool plane is perpendicular to the camera's optical axis. S6. The visual camera identifies the tool specifications and generates the robot's grasping coordinates. The end effector selects the grasping mode based on the material. S7. The robot places the tool into the tool tray of the docking mechanism, and the docking mechanism moves the tray to the single intelligent library stop position through the vertical and horizontal drive; S8. The three-axis mobile pick-and-place mechanism in the single intelligent library is linked to store the material tray in the corresponding tool storage layer; S9. The remote command triggers the intelligent control system, which dispatches the target intelligent storage unit to move along the inner track to the stop position. The in-place detection switch then provides a position signal. S10. The three-axis pick-and-place mechanism of the single intelligent library locates the target tray and moves it to the outbound position. The docking mechanism grabs the tray and places it on the carrier plate. S11. The six-axis robot grabs tools from the tray by type and places them on the mobile cart. S12. The mobile vehicle transports the tool to the designated location along the preset path.

[0028] The present invention can achieve the following beneficial effects: 1. The intelligent recycling storage device and its use method provided by the present invention realize the automated management and maintenance of maintenance tools based on the digital management system, greatly reducing manpower and material costs and improving work efficiency.

[0029] 2. By utilizing visual recognition and artificial intelligence technologies, the present invention can quickly identify and accurately locate maintenance tools, reducing errors caused by manual operation and ensuring the accuracy and reliability of maintenance work.

[0030] 3. The intelligent circulation storage device of the present invention adopts a three-dimensional multi-layer structure design, which optimizes space utilization and improves the storage and retrieval efficiency of tools.

[0031] 4. Through the coordinated operation of the circulating track system, single-unit intelligent library, docking mechanism, mobile cart and robot grasping system, the present invention realizes the automatic sorting, warehousing, registration, output and transportation of maintenance tools, simplifies the management process and reduces the management difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below with reference to the accompanying drawings and examples: Figure 1 This is a front view of an intelligent circulation storage device of the present invention; Figure 2 This is an axonometric diagram of an intelligent circulation storage device of the present invention; Figure 3 yes Figure 1 Structure diagram of the medium-circulation track system; Figure 4 yes Figure 1 Front view of the middle monomer intelligent library; Figure 5 yes Figure 1 Side view of the middle monomer intelligent library; Figure 6 yes Figure 4 Front view of part A; Figure 7 yes Figure 4 Axonometric drawing of section A; Figure 8 yes Figure 1 Structure diagram of the docking mechanism; Figure 9 yes Figure 1 The robot end effector of the robotic grasping system.

[0033] In the figure: 101-circulating track system; 102-single intelligent warehouse; 103-docking mechanism; 104-mobile trolley; 105-robot grasping system; 1-bottom base plate; 2-outer ring track; 3-inner ring track; 4-track pad; 5-pressing plate; 6-support rod; 7-structural bracket; 8-guide rail; 9-positioning guide bracket; 10-guide wheel; 11-in-place detection bracket; 12-in-place detection switch; 13-warehouse support frame; 14-driving wheel; 15-passive wheel; 16-warehouse track guide wheel; 17-guide correction Rod; 18-Support guide wheel; 19-Tool tray; 20-X-axis support; 21-X-axis guide rail; 22-X-axis rack; 23-X-axis gear; 24-X-axis drive motor; 25-Z-axis support beam; 26-Z-axis rack; 27-Z-axis guide rail; 28-Z-axis gear; 29-Z-axis drive motor; 30-Y-axis support frame; 31-Y-axis drive motor; 32-Y-axis drive gear set; 33-Y-axis rack; 34-Y-axis slideway; 35-Y-axis guide; 36-Y-axis middle support; 37-Y-axis sprocket; 38-Y Axis chain; 39-Y axis detection switch; 40-movable bearing member; 41-docking support seat; 42-shaft sleeve fixing seat; 43-shaft sleeve; 44-docking guide shaft; 45-first docking bearing plate; 46-docking support hinge seat; 47-docking sprocket; 48-docking chain; 49-docking chain mounting seat; 50-docking drive motor; 51-docking longitudinal guide rail; 52-docking telescopic lower frame; 53-docking telescopic upper frame; 54-docking transverse drive motor; 55-docking transverse gear set; 56-docking transverse guide block; 57-docking Connecting transverse rack; 58-docking transverse support frame; 59-docking transverse slide; 60-drag chain trough plate; 61-drag chain; 62-second docking bearing plate; 63-docking detection switch; 64-grabbing support; 65-vacuum suction cup; 66-electromagnetic suction cup; 67-passive synchronous wheel; 68-synchronous belt; 69-active synchronous wheel; 70-grabbing drive motor; 71-screw; 72-movable grasping claw; 73-grabbing detection switch; 74-robot fixed seat; 75-six-axis robot; 76-vision fixed seat; 77-vision camera. DETAILED DESCRIPTION

[0034] An intelligent circulation storage device and its use method, referring to Figure 1 As shown, it includes a circulating track system 101, a single intelligent library 102, a docking mechanism 103, a mobile vehicle 104, and a robotic grasping system 105. The device is designed to improve the management efficiency of turbine maintenance tools, reduce manpower and material resources, and ensure rapid and accurate access to maintenance tools.

[0035] For details, please refer to Figure 3As shown, the circulating track system 101 is composed of several components, including a bottom base plate 1, an outer ring track 2, an inner ring track 3, a track pad 4, a pressure plate 5, support rods 6, a structural bracket 7, a guide track 8, a positioning guide bracket 9, a guide wheel 10, an in-position detection bracket 11, and an in-position detection switch 12. The bottom base plate 1 is firmly connected to the ground via expansion bolts to ensure the stability of the entire device. In the circulating track system, the outer ring track 2 and the inner ring track 3 are connected by multiple support rods 6. These support rods 6 are firmly connected to the outer ring track 2 and the inner ring track 3 via bolts and are mounted on the base plate to support the movement of the single intelligent library 102. The track pad 4 and pressure plate 5 are used to secure the track, ensuring its stability and preventing displacement or loosening. The structural bracket 7 is fixed at the center of the bottom base plate 1, and the guide track 8 is bolted and fixed to the structural bracket 7 to ensure that the moving parts can move along the predetermined path, thereby improving the safety and reliability of the system. At the center of the horizontal section of the circulating track system, a positioning guide bracket 9 is bolted to the bottom base plate between the inner and outer tracks. Mounted on this bracket are two rows of four groups of guide wheels 10, which guide the individual intelligent storage units 102 to their designated locations. Next to the guide bracket are multiple in-place detection brackets 11, each equipped with an in-place detection switch. These switches, through a specific digital combination, identify and detect the type of individual intelligent storage unit arriving at its location and transmit the detected information signals back to the intelligent management and control system.

[0036] For details, please refer to Figure 4 The single intelligent library 102 performs a cyclic reciprocating motion along the circulating track system 101. Its bottom is equipped with a motion system, including a driving wheel 14, a passive wheel 15 and a guide wheel 10. The driving wheel 14 is driven by a motor to drive the single intelligent library 102 to move; the passive wheel 15 plays a supporting role; the library track guide wheels 16 are respectively installed on both sides of the driving wheel and the passive wheel. During the movement of the single intelligent library, they are close to both sides of the inner and outer ring tracks to provide guidance for the single intelligent library 102. The driving wheel 14 and the passive wheel 15 are both installed at the bottom of the library support frame 13. The single intelligent library 102 is provided with a supporting guide wheel 18 on one side of the inner ring walking track. The guide wheel is fixed to the library support frame 13. It ensures the stable movement of the single intelligent library 102 by rolling with the guide track of the circulating track system 101. In addition, the guide mechanism equipped on the single intelligent library 102 is intended to ensure that it can be correctly guided along the guide track during movement.

[0037] Please refer to Figure 4A guide correction rod 17 is installed at the bottom of the library support frame 13. When the single intelligent library 102 moves to the operation stop position of the circulating track system 101, the position of the single intelligent library is corrected by the combination of the positioning guide bracket 9 and the guide wheel 10 in the circulating track system 101 to ensure the accuracy of its stop position.

[0038] Specifically, the intelligent single-unit library 102 is equipped with multiple levels of tool storage, with two columns on each side, each column further divided into multiple levels, and each level equipped with tool trays 19 for storing tools. A three-axis mobile access mechanism is installed in the middle area of the tool storage layers on both sides of the intelligent single-unit library 102. Its range of motion covers all tool storage layers, allowing tool trays to be quickly retrieved or returned according to actual needs.

[0039] Please refer to Figure 6 / 7, the three-axis mobile pick-and-place mechanism is responsible for movement in the X, Y, and Z directions. The X-axis support member 20 is fixed to the top of the library support frame 13, and the X-axis guide rail 21 and the X-axis rack 22 are both bolted to the X-axis support member 20. The Z-axis support beam 25 is fixed to the X-axis guide rail 21, and the X-axis drive motor 24 is fixed to one end of the Z-axis support beam 25. The end of the X-axis drive motor 24 is equipped with an X-axis gear 23. The X-axis is driven by the X-axis drive motor 24, which drives the X-axis gear 23 to engage the X-axis rack 22 along the guide rails, driving the other two axes to reciprocate.

[0040] Specifically, the Z-axis rack 26 and Z-axis guide rail 27 are bolted together and fixed to the Z-axis support beam 25. The Y-axis support frame 30 is connected to and fixed to the Z-axis guide rail 27, while the Z-axis drive motor 29 is mounted on the Y-axis support frame 30, with the Z-axis gear 28 mounted on its end. The operation of the motor causes the gear to engage with the rack, thereby driving the Y-axis assembly to perform vertical reciprocating motion up and down along the guide rail.

[0041] Specifically, the Y-axis drive motor 31 is installed and fixed on the Y-axis support frame 30. A Y-axis drive gear set 32 is assembled on the vertical slot plate of the Y-axis support frame 30, and one of the gears is installed on the end of the output shaft of the Y-axis drive motor 31. A plurality of Y-axis guides 35 are evenly distributed and installed on both sides of the vertical slot plate. Y-axis slide grooves 34 are provided on both sides of the Y-axis middle support member 36. Through the sliding connection between these slide grooves and the Y-axis guide members 35, the Y-axis middle support member 36 can move on the Y-axis support frame 30. Similarly, the movable carrier 40 is also fixed to the Y-axis support frame 30 through the sliding connection between the slide grooves and the guide members.

[0042] Specifically, the X- and Z-axes are driven by motors, whose rotational motion is converted into linear motion along the guide rails via gears. The Y-axis is also driven by a motor, with its motion converted into linear motion via an internal Y-axis sprocket 37 and Y-axis chain 38. The Z-axis's overall mechanism is designed as a two-stage, double-stroke structure, resulting in a more compact structure. A movable support 40 is incorporated into the Z-axis's motion mechanism to ensure stable access to and placement of inspection tools and trays.

[0043] Please refer to Figure 8 The docking mechanism 103 is mounted on the outside of the outer ring track 2, evenly distributed on both sides of the stop position of the circulating track system 101. The docking support seat 41 is fixed to the ground, with sleeve fixing seats 42 evenly fixed on both sides. Each sleeve fixing seat 42 is fixed with a sleeve 43. Four docking guide shafts 44 are fixed below the first docking bearing plate 45 and are slidably connected to the sleeves 43. The docking longitudinal guide rail 51 is installed at the bottom of the docking telescopic lower frame 52, and the first docking bearing plate 45 is connected to the docking longitudinal guide rail 51. The docking support hinge seat 46 is installed on the side of the docking telescopic lower frame 52, and the docking sprocket 47 is installed on the docking support hinge seat 46. The docking chain mounting seat 49 is installed on the first docking bearing plate 45, and the docking telescopic lower frame 52 is connected to the first docking bearing plate 45 via the docking chain 48. The upper portion of the docking telescopic lower frame 52 is connected to the lower portion of the docking telescopic upper frame 53 by a guide rail. A docking drive motor 50 is mounted on the first docking support plate 45 , and the docking mechanism 103 is driven to reciprocate and extend longitudinally by the drive motor.

[0044] Specifically, a docking transverse drive motor 54, a docking transverse gear set 55, and a docking transverse guide block 56 are fixed to the top of the telescopic docking upper frame 53. The docking transverse guide blocks 56 are located on either side of the slot plate of the telescopic docking upper frame 53. The docking transverse gear set 55 is located in the middle of the slot plate of the telescopic docking upper frame 53. The docking transverse drive motor 54 is mounted on the other side of the slot plate, and the end of the motor shaft of the docking transverse drive motor 54 is connected to a gear in the docking transverse gear set 55. The docking transverse support frame 58 is fixed with docking transverse chutes 59 on both sides, connecting it to the telescopic docking upper frame 53 through a sliding fit. Similarly, the bottom of the second docking support plate 62 is equipped with docking transverse chutes on both sides, connecting it to the docking transverse support frame 58 through a sliding fit. The drag chain slot plate 60 is fixed to one end of the telescopic docking upper frame 53 and is used to support the drag chain 61. A docking detection switch is also mounted on the bottom of the second docking support plate 62 to detect whether the tool tray 19 is being grasped. Therefore, the docking mechanism 103 is driven by a motor, and the telescopic structure achieves its lifting and lowering function. The telescopic mechanism adopts a two-stage design, and the motor drives the gear and rack to engage, allowing the mechanism to move along the guide rail. The pick-and-place mechanism uses the same movement as the telescopic mechanism.

[0045] Please refer to Figure 2 The robotic grasping system 105 consists of a fixed base 74, a six-axis robot 75, a visual fixed base 76, a visual camera 77, and a robot end effector. The fixed base 74 is firmly connected to the ground via bolts, the six-axis robot 75 is mounted on the fixed base 74, and the robot end effector is located at the end of the six-axis robot.

[0046] Please refer to Figure 9 The robot's end effector mechanism consists of multiple components, including a gripping support 64, a vacuum suction cup 65, an electromagnetic suction cup 66, a passive synchronous pulley 67, a synchronous belt 68, an active synchronous pulley 69, a gripping drive motor 70, a screw 71, and a mobile gripping claw 72. The flange end of the gripping support 64 is connected to the end of the six-axis robot 75. On one side of the gripping support 64 in the direction of the rod length, a vacuum suction cup 65 and an electromagnetic suction cup 66 are installed respectively. These devices are used to grip a single metal or non-metallic tool. On the other side of the rod length, a screw 71 is installed, which is connected to the mobile gripping claw 72. One end of the screw 71 is equipped with a passive synchronous pulley 67. The other end of the flange of the gripping support 64 is equipped with a gripping drive motor 70, and the end of the gripping drive motor 70 is equipped with an active synchronous pulley 69. The two active synchronous pulleys 69 are connected by a synchronous belt 68. By adjusting the position of the mobile grabbing claw 72 through the grabbing drive motor 70, the system can adaptively grab boxed tools of different sizes.

[0047] Specifically, the visual fixed base 76 is installed and fixed on the ground in front of the six-axis robot, and the visual camera 77 is installed at the end of the visual fixed base 76. The visual camera 77 is responsible for identifying the maintenance tools carried on the mobile cart and guiding the six-axis robot to perform precise grasping.

[0048] Specifically, the mobile cart 104 moves to a designated location and carries the maintenance tool directly under the visual camera 77. After the visual camera 77 identifies the tool's specifications, the six-axis robot 75 grabs it and places it on a tray removed from the single-unit intelligent storage 102 by the docking mechanism 103, and then delivers it to the corresponding single-unit intelligent storage.

[0049] Specifically, the operator uses a remote controller to send instructions to the intelligent management system. Based on the tool storage information, the system retrieves the corresponding single-unit intelligent storage from the intelligent circulation storage device and transfers it to the designated location of the circular track system 101. Next, the three-axis pick-and-place mechanism within the single-unit intelligent storage is responsible for removing the corresponding tool tray 19 from the storage and placing it at the outbound location. The docking mechanism 103 completes the removal of the tool tray 19. Subsequently, the six-axis robot system 105 removes the required tool from the tool tray and places it on the mobile cart 104, which finally transports the maintenance tool to the operator.

[0050] A method for using an intelligent circulation storage device, characterized by comprising the following steps: S1. Check the stability of the installation of each component of the loop track system 101: the bottom base plate 1 is fixed to the ground, the outer track 2 and the inner track 3 are connected by support rods 6, the track pad 4 and the pressure plate 5 lock the track without displacement; S2 debugging single intelligent library 102 motion system: start the motor drive pulley 14, confirm the library body along the inner ring track 3 cycle, the library track guide wheel 16, the support guide wheel 18 fits the track, the guide correction rod 17 and the guide wheel 10 of the positioning guide bracket 9 cooperates normally; S3 calibration docking mechanism 103 motion trajectory: drive docking drive motor 50 and the lateral drive motor 54, verify the first docking carrier plate 45 and the second docking carrier plate 62 along the rail telescopic, sliding into place, in place detection switch 12 and docking detection switch 63 feedback signal is normal; S4 calibration robot grasping system 105: visual camera 77 recognition standard tool, complete the six-axis robot 75 end effector vacuum chuck 65, electromagnetic chuck 66, the coordinate mapping of the mobile grasping claw 72; S5. The mobile carriage 104 carries the tool to the visual camera 77 directly below, ensuring that the tool plane is perpendicular to the camera optical axis; S6. The visual camera 77 identifies the tool specifications, generates the robot grasping coordinates, and the end effector selects the grasping mode electromagnetic / vacuum suction cup or gripper according to the material; S7. The robot places the tool into the tool tray 19 of the docking mechanism 103, and the docking mechanism drives the tray to the single intelligent library 102 stop position via the vertical and horizontal drives; S8. The three-axis mobile pick-and-place mechanism within the single intelligent warehouse works in conjunction with the X / Y / Z axes to deposit the material tray into the corresponding tool storage layer. S9 remote command triggers the intelligent control system, scheduling the target single intelligent library 102 along the inner track 3 moves to the stop position, in place detection switch 12 feedback position signal; S10 single intelligent library three-axis pick and place mechanism positioning target tray 19, transferred to the warehouse location, the docking mechanism 103 grabs the tray to the carrier plate 62; S11 six-axis robot 75 grabs the tool tray by tool type and puts it on the mobile cart 104; S12. The mobile vehicle transports the tool to the designated location along the preset path; S13 regularly check the positioning guide bracket 9 and the guide correction rod 17 of the clearance to ensure the accuracy of the single intelligent library stop position; S14. When visual recognition is abnormal or the docking mechanism is stuck, stop the machine and inspect the drive motor, gear rack and chain transmission components.

[0051] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An intelligent circulation storage device, characterized by: It includes a circulating track system (101), a single intelligent library (102), a docking mechanism (103), a mobile car (104) and a robot grasping system (105); wherein: The circulating track system (101) includes an outer track (2) and an inner track (3), and a single intelligent library (102) is installed on the inner track (3); The single intelligent library (102) performs cyclic reciprocating motion along the inner track (3); The docking mechanism (103) is installed on the outside of the outer ring track (2) and is used to take out the tool tray (19) from the monomer intelligent library (102); The mobile trolley (104) is used to carry the inspection tool to the position directly below the visual camera (77); The robot grasping system (105) includes a visual camera (77) and a six-axis robot (75). The visual camera (77) is responsible for identifying the maintenance tools carried by the mobile vehicle (104) and guiding the six-axis robot (75) to accurately grasp the tools.

2. The intelligent circulation storage device according to claim 1, characterized in that: The circulating track system (101) further comprises a bottom base plate (1), on which an outer ring track (2) and an inner ring track (3) are provided, and both the outer ring track (2) and the inner ring track (3) are fixed to the bottom base plate (1) via a track pad (4) and a pressing plate (5).

3. The intelligent circulation storage device according to claim 2, characterized in that: A plurality of support rods (6) are connected between the outer ring track (2) and the inner ring track (3), wherein a structural support (7) is installed on one or more of the support rods (6), and a guide rail (8) is installed on the structural support (7); the guide rail (8) is slidably matched with the single intelligent library (102).

4. The intelligent circulation storage device according to claim 3, characterized in that: The circulating track system (101) further includes a positioning guide bracket (9), which is mounted on the bottom base plate (1) between the outer ring track (2) and the inner ring track (3), and a guide wheel (10) is provided on the positioning guide bracket (9), and the guide wheel (10) is used to guide the single intelligent library (102) to reach a specified position.

5. The intelligent circulation storage device according to claim 4, characterized in that: An in-place detection bracket (11) is provided beside the positioning guide bracket (9), and a position detection switch (12) is provided on the in-place detection bracket (11).

6. The intelligent circulation storage device according to claim 1, characterized in that: The single intelligent library (102) includes a driving wheel (14), a passive wheel (15), a guide wheel (10) and a library track guide wheel (16). The driving wheel (14) is driven by a motor and drives the single intelligent library (102) to move; the passive wheel (15) is used to support the single intelligent library (102); and the library track guide wheel (16) is respectively installed on both sides of the driving wheel (14) and the passive wheel (15).

7. The intelligent circulation storage device according to claim 6, characterized in that: The single intelligent library (102) further comprises a library support frame (13), on which a driving wheel (14), a passive wheel (15) and a supporting guide wheel (18) are mounted, and the supporting guide wheel (18) is located inside the library support frame (13).

8. The intelligent circulation storage device according to claim 7, characterized in that: A guide correction rod (17) is provided at the bottom of the library support frame (13), and the guide correction rod (17) is adapted to the positioning guide bracket (9) and the guide wheel (10).

9. The intelligent circulation storage device according to claim 8, characterized in that: The single intelligent library (102) is provided with a plurality of tool storage layers, wherein tool trays (19) are placed in the tool storage layers, and a three-axis movable pick-and-place mechanism is installed in the middle area of the tool storage layers on both sides of the single intelligent library (102).

10. The intelligent circulation storage device according to claim 9, characterized in that: The three-axis mobile pick-and-place mechanism includes an X-axis guide rail (21), an X-axis rack (22), a Z-axis support beam (25), an X-axis drive motor (24) and an X-axis support member (20), wherein the X-axis support member (20) is fixed to the top of the library support frame (13), and the X-axis guide rail (21) and the X-axis rack (22) are both fixed to the X-axis support member (20) by bolt connection; The Z-axis support beam (25) is fixed on the X-axis guide rail (21), the X-axis drive motor (24) is fixed to one end of the Z-axis support beam (25), and the end of the X-axis drive motor (24) is equipped with an X-axis gear (23).

11. The intelligent circulation storage device according to claim 10, characterized in that: The three-axis mobile pick-and-place mechanism also includes a Z-axis rack (26) and a Z-axis guide rail (27). The Z-axis rack (26) and the Z-axis guide rail (27) are connected to and fixed on the Z-axis support beam (25) by bolts; the Z-axis guide rail (27) is connected to and fixed on the Y-axis support frame (30). A Z-axis drive motor (29) is installed on the Y-axis support frame (30). The Z-axis drive motor (29) drives the Z-axis gear (28) to rotate, and the Z-axis gear (28) is engaged with the Z-axis rack (26).

12. The intelligent circulation storage device according to claim 11, characterized in that: The Y-axis support frame (30) is equipped with a Y-axis drive motor (31), a Y-axis drive gear set (32), a Y-axis guide member (35) and a Y-axis middle support member (36); The Y-axis middle layer support member (36) can slide on the Y-axis support frame (30), and the Y-axis middle layer support member (36) is provided with a Y-axis slide groove (34) on both sides, and the Y-axis slide groove (34) is slidably matched with the Y-axis guide member (35).

13. The intelligent circulation storage device according to claim 12, characterized in that: The Y-axis drive motor (31) cooperates with the Y-axis drive gear set (32) to drive the Y-axis sprocket (37) to rotate, and the Y-axis sprocket (37) drives the Y-axis chain (38) to transmit, and the Y-axis chain (38) is connected to the mobile bearing (40).

14. The intelligent circulation storage device according to claim 13, characterized in that: The docking mechanism (103) is installed on the outside of the outer ring track (2), and the docking mechanism (103) is evenly distributed on both sides of the stop position of the circulating track system (101); The docking mechanism (103) includes a docking support seat (41), the docking support seat (41) is fixed on the ground, and sleeve fixing seats (42) are evenly fixed on both sides of the docking support seat (41), and a sleeve (43) is fixed on each sleeve fixing seat (42). The sleeve (43) cooperates with the docking guide shaft (44), and the docking guide shaft (44) is installed on a first docking bearing plate (45). The first docking bearing plate (45) is connected to the docking longitudinal guide rail (51), and the docking longitudinal guide rail (51) is installed on the docking telescopic lower frame (52).

15. The intelligent circulation storage device according to claim 14, characterized in that: The docking telescopic lower frame (52) and the first docking bearing plate (45) are connected via a docking chain (48), a docking chain mounting seat (49) is installed on the first docking bearing plate (45), a docking support hinge seat (46) is installed on the side of the docking telescopic lower frame (52), a docking sprocket (47) is installed on the docking support hinge seat (46), and the docking sprocket (47) is adapted to the docking chain (48); A docking drive motor (50) is mounted on the first docking bearing plate (45), and the docking mechanism (103) is longitudinally reciprocated and telescopically moved by the docking drive motor (50); the upper portion of the docking telescopic lower frame (52) and the lower portion of the docking telescopic upper frame (53) are connected by a guide rail.

16. The intelligent circulation storage device according to claim 15, characterized in that: A docking transverse drive motor (54), a docking transverse gear set (55), and a docking transverse guide block (56) are fixed to the upper portion of the docking telescopic upper frame (53); the docking transverse guide blocks (56) are located on both sides of the slot plate of the docking telescopic upper frame (53); the docking transverse gear set (55) is located in the middle of the slot plate of the docking telescopic upper frame (53); a docking transverse drive motor (54) is installed on the other side of the slot plate; the end of the motor shaft of the docking transverse drive motor (54) is connected to a gear in the docking transverse gear set (55); The docking telescopic upper frame (53) is adapted to the docking transverse chute (59), the docking transverse chute (59) is installed on both sides of the docking transverse support frame (58), and the docking transverse support frame (58) is slidably matched with the second docking bearing plate (62).

17. The intelligent circulation storage device according to claim 16, characterized in that: A drag chain slot plate (60) is installed at one end of the docking telescopic upper frame (53), and the drag chain slot plate (60) is used to carry the drag chain (61); a docking detection switch is installed at the bottom of the second docking bearing plate (62) for detecting whether the tool tray (19) is grabbed.

18. The intelligent circulation storage device according to claim 17, characterized in that: The robot grasping system (105) includes a fixed base (74), a six-axis robot (75), a visual fixed base (76), a visual camera (77) and a robot end actuator. The six-axis robot (75) is installed on the fixed base (74), and the robot end actuator is configured at the end of the six-axis robot (75).

19. The intelligent circulation storage device according to claim 18, characterized in that: The end actuator of the robot includes a grasping support (64), a vacuum suction cup (65), an electromagnetic suction cup (66), a passive synchronous wheel (67), a synchronous belt (68), an active synchronous wheel (69), a grasping drive motor (70), a screw rod (71) and a movable grasping claw (72); the flange end of the grasping support (64) is connected to the end of the six-axis robot (75); the vacuum suction cup (65) and the electromagnetic suction cup (66) are installed on one side of the grasping support (64), and the grasping support (75) is connected to the end of the six-axis robot (75); the vacuum suction cup (65) and the electromagnetic suction cup (66) are installed on one side of the grasping support (64). A screw rod (71) is installed on the other side of (64), and the screw rod (71) is connected to the mobile grabbing claw (72). One end of the screw rod (71) is equipped with a passive synchronous wheel (67). The other end of the flange of the grabbing support (64) is equipped with a grabbing drive motor (70). The end of the grabbing drive motor (70) is equipped with an active synchronous wheel (69). The two active synchronous wheels (69) are connected by a synchronous belt (68), and the position of the mobile grabbing claw (72) is adjusted by the grabbing drive motor (70).

20. The intelligent circulation storage device according to claim 19, characterized in that: The visual fixed seat (76) is installed on the ground directly in front of the six-axis robot (75), and the visual camera (77) is installed at the end of the visual fixed seat (76); the visual camera (77) is responsible for identifying the maintenance tools carried on the mobile trolley and guiding the six-axis robot (75) to accurately grasp them; the mobile trolley (104) moves to the designated position and carries the maintenance tools to the position directly below the visual camera (77); after the visual camera (77) identifies the specifications of the maintenance tools, the six-axis robot (75) is responsible for grasping them and placing them in the material tray taken out from the single intelligent library (102) by the docking mechanism (103), and then sending them into the corresponding single intelligent library.

21. A method for using the intelligent circulation storage device according to claims 1-20, characterized in that This includes the following methods: S1. Check the installation stability of each component of the circulation track system (101): the bottom base plate (1) is fixed to the ground, the outer ring track (2) and the inner ring track (3) are connected by support rods (6), and the track pad (4) and the pressure plate (5) lock the track without displacement; S2. Debug the motion system of the single intelligent library (102): Start the motor to drive the active wheel (14), confirm that when the library body circulates along the inner ring track (3), the library track guide wheel (16) and the support guide wheel (18) fit the track, and the guide correction rod (17) and the guide wheel (10) of the positioning guide bracket (9) cooperate normally; S3. Calibrate the motion trajectory of the docking mechanism (103): drive the docking drive motor (50) and the lateral drive motor (54), verify that the first docking carrier plate (45) and the second docking carrier plate (62) are telescopically and slideably positioned along the guide rail, and that the feedback signals of the position detection switch (12) and the docking detection switch (63) are normal; S4. Calibration of the robot grasping system (105): The visual camera (77) identifies the standard tool and completes the coordinate mapping of the end effector of the six-axis robot (75); S5. Move the trolley (104) carrying the tool to the bottom of the visual camera (77), ensuring that the tool plane is perpendicular to the camera optical axis; S6. The visual camera (77) identifies the tool specifications, generates the robot grasping coordinates, and the end effector selects the grasping mode according to the material; S7. The robot places the tool into the tool tray (19) of the docking mechanism (103), and the docking mechanism moves the tray to the stop position of the monomer intelligent library (102) by longitudinal and transverse driving; S8. The three-axis mobile pick-and-place mechanism in the single intelligent library is linked to store the material tray in the corresponding tool storage layer; S9. The remote command triggers the intelligent control system, dispatching the target single intelligent library (102) along the inner track (3) to the stop position, and the in-place detection switch (12) feedbacks the position signal; S10. The three-axis pick-and-place mechanism of the single intelligent library locates the target tray (19), transfers it to the outbound position, and the docking mechanism (103) grabs the tray to the carrier plate (62); S11. The six-axis robot (75) grabs the tool in the tray according to the tool type and places it on the mobile cart (104); S12. The mobile vehicle transports the tool to the designated location along the preset path.

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