Inspection robot and inspection method for intelligent warehousing system

Abstract

The invention discloses an inspection robot of an intelligent warehousing system and an inspection method. The inspection robot of the intelligent warehousing system comprises a case, an automatic guide transportation chassis, an inspection unit, a carrying unit, a material storage unit, an interaction unit and a material information acquisition unit, a mounting cavity is formed in the case; the automatic guide transportation chassis is arranged at the bottom of the case; the inspection unit is arranged at the top of the case and comprises a plurality of cameras and sensors; the storage unit is arranged in the mounting cavity and comprises a plurality of storage bins, and the storage bins can be used for storing and taking out stored materials; the carrying unit is arranged in the mounting cavity and is used for transferring the storage materials between the storage equipment and the storage bin; the interaction unit is fixed on the case; the material information obtaining unit is arranged at the top of the mounting cavity and used for obtaining image information and weight information of the stored materials. According to the invention, support can be provided for the intelligent warehousing system, and the operation efficiency of warehousing management is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to an inspection robot and an inspection method for an intelligent warehousing system. Background Art

[0002] Currently, traditional warehouse management relies mainly on manual operations and basic information systems, and suffers from the following technical flaws: Low space utilization: Cargo location management is extensive, relying on fixed partitions or empirical placement, unable to dynamically optimize storage locations, and resulting in serious waste of warehouse space. Low degree of automation: Handling, sorting, and inventorying rely on manual labor or single equipment (such as forklifts), which is inefficient and error-prone, making it difficult to adapt to the high-frequency, multi-SKU modern logistics needs. Insufficient AGV / robot collaboration: Early automated equipment (such as AGVs) could only perform simple route transportation, lacked intelligent scheduling, and could not be deeply linked with inventory management and order systems.

[0003] Therefore, there is an urgent need for an inspection robot that can provide support for intelligent warehousing systems and improve the operational efficiency of warehouse management. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides an inspection robot and an inspection method for an intelligent warehousing system, which can provide support for the intelligent warehousing system and improve the operational efficiency of warehousing management.

[0005] A first aspect of the present invention provides an inspection robot for an intelligent warehousing system, comprising a chassis, an automatic guided transport chassis, an inspection unit, a transport unit, a storage unit, an interaction unit, and a material information acquisition unit;

[0006] A mounting cavity is formed inside the chassis;

[0007] The automatic guided transport chassis is arranged at the bottom of the chassis, and the automatic guided transport chassis is used to provide autonomous movement capability;

[0008] The inspection unit is arranged on the top of the chassis, and the inspection unit includes a plurality of cameras and sensors for providing inspection capabilities;

[0009] The material storage unit is arranged in the installation cavity, and the material storage unit includes a plurality of material storage bins, and the material storage bins can be used for storing and taking out storage materials;

[0010] The transport unit is arranged in the installation cavity, and the transport unit is used to transfer storage materials between the storage equipment and the storage bin;

[0011] The interaction unit is fixed to the chassis and is used to achieve human-machine collaboration;

[0012] The material information acquisition unit is arranged on the top of the installation cavity, and is used to acquire image information and weight information of stored materials.

[0013] In the first aspect of the present invention, as a preferred embodiment, the outer appearance of the chassis is cylindrical; the storage unit includes a support plate, a layer plate and a sensor, the support plate is vertically fixed in the installation cavity, a plurality of the layer plates are linearly arrayed in the height direction of the support plate, and the storage bin is formed above the layer plate; a plurality of the sensors are fixed to the support plate, the sensors are arranged in the storage bin, and the sensors are used to detect storage status information of the storage materials in the storage bin.

[0014] In the first aspect of the present invention, as a preferred embodiment, the transport unit includes a rotating assembly, a lifting assembly and a material picking and placing assembly;

[0015] The rotating assembly includes a rotating platform and a rotating drive device. The rotating platform is rotatably connected to the chassis. The rotating platform has a rotating shaft, which is arranged parallel to the axis of the chassis. The rotating drive device is in transmission connection with the rotating shaft, and the rotating platform is driven to rotate relative to the chassis by the rotating drive device.

[0016] The lifting assembly includes a support column, a lifting seat and a lifting drive device. The bottom of the support column is fixed to the rotating platform. The lifting seat is connected to the support column through a slider guide mechanism. The lifting drive device is connected to the lifting seat through a transmission mechanism. The lifting seat is driven by the lifting drive device to move back and forth in the height direction.

[0017] The material picking and releasing component is used for grabbing and releasing stored materials.

[0018] In the first aspect of the present invention, as a preferred embodiment, the material taking and placing assembly includes a connecting seat and a material taking and placing seat;

[0019] The connecting seat is fixed to the lifting seat; a first telescopic structure, a second telescopic structure and an opening mechanism are provided on the material taking and placing seat, and a material taking and placing station is formed between the first telescopic structure, the second telescopic structure and the opening mechanism; a translation axis mechanism is provided between the lifting seat and the material taking and placing seat, and the material taking and placing seat is driven by the translation axis mechanism to translate relative to the connecting seat, thereby adjusting the position of the material taking and placing station on the horizontal plane.

[0020] In the first aspect of the present invention, as a preferred embodiment, the connecting seat has a connecting vertical plate and a connecting horizontal plate, and the material taking and placing seat has a material taking and placing vertical plate and a material taking and placing horizontal plate;

[0021] The translation axis mechanism includes a first guide rail slider device, a second guide rail slider device, a translation rack, a translation gear and a translation axis driving device;

[0022] The connecting vertical plate is slidably connected to the material picking and unloading vertical plate through a first guide rail slider device, and the connecting horizontal plate is slidably connected to the material picking and unloading horizontal plate through a second guide rail slider device; the translation rack is horizontally fixed to the material picking and unloading seat; the translation axis driving device is fixed to the connecting seat through a motor seat, and the translation axis driving device has an output shaft, the output shaft is fixed to the translation gear, and the translation gear is engaged with the translation rack.

[0023] In the first aspect of the present invention, as a preferred embodiment, a first side plate and a second side plate are respectively provided on both sides of the material taking and placing seat;

[0024] The opening mechanism includes a first opening slide and a second opening slide, and the first opening slide and the second opening slide are respectively slidably connected to the material taking and placing seat through guide rods;

[0025] The opening mechanism also includes an opening drive device and a bidirectional screw rod; the opening drive device is fixed to the middle part of the material taking and unloading seat, and the two ends of the bidirectional screw rod are respectively connected to the first side plate and the second through the bearing seat, and the bidirectional screw rod is transmission connected to the opening drive device; the two ends of the bidirectional screw rod are respectively screwed with the first ball nut seat and the second ball nut seat, the first ball nut seat is fixed to the first opening slide, and the second ball nut seat is fixed to the second opening slide.

[0026] In the first aspect of the present invention, as a preferred embodiment, the first telescopic structure includes a first fixed arm and a first telescopic arm, and the second telescopic structure includes a second fixed arm and a second telescopic arm;

[0027] The first fixed arm is connected to the first open slide via a first connecting rod, the first connecting rod is rotatably connected to the first side plate via a bearing, one end of the first connecting rod is fixed to the first open slide, and the other end is fixed to the end of the first fixed arm; the second fixed arm is connected to the second open slide via a second connecting rod; the second connecting rod is rotatably connected to the second side plate via a bearing, one end of the second connecting rod is fixed to the second open slide, and the other end is fixed to the end of the second fixed arm;

[0028] The first telescopic arm is sleeved on the outside of the first fixed arm, and the first telescopic arm can be extended or retracted relative to the first fixed arm. The first telescopic arm has a first lifting plate and a first clamping plate. The first lifting plate is set upward, and the first clamping plate is set toward the material taking and placing station; the second telescopic arm is sleeved on the outside of the second fixed arm, and the second telescopic arm can be extended or retracted relative to the second fixed arm. The second telescopic arm has a second lifting plate and a second clamping plate. The second lifting plate is set upward, and the second clamping plate is set toward the material taking and placing station.

[0029] In the first aspect of the present invention, as a preferred embodiment, the first telescopic structure further includes a first telescopic drive device and a first telescopic transmission device; the first telescopic transmission device includes a telescopic driving wheel, a telescopic driven wheel, and a telescopic synchronous belt, the telescopic driving wheel and the telescopic driven wheel are respectively connected to opposite ends of the first fixed arm through bearing seats, and the telescopic synchronous belt is sleeved around the telescopic driving wheel and the telescopic driven wheel; a synchronous belt splint is provided on the telescopic synchronous belt, and the synchronous belt splint is connected to the first telescopic arm; the first telescopic drive device is connected to the telescopic driving wheel;

[0030] A first limit block and a second limit block are also provided in the material taking and unloading station. The first limit block is fixed to the first fixed arm, and the second limit block is fixed to the second fixed arm. The first limit block and the second limit block are both arranged close to the material taking and unloading seat to limit the further displacement of the stored materials toward the material taking and unloading seat.

[0031] In the first aspect of the present invention, as a preferred embodiment, the material information acquisition unit includes a connecting bottom plate, a connecting top plate, a first door plate, and a second door plate; the connecting bottom plate and the connecting top plate are respectively fixed in the installation cavity, so that an information acquisition chamber is formed between the connecting bottom plate, the connecting top plate, and the chassis; an access window is opened on the chassis, and the access window allows stored materials to enter and exit the information acquisition chamber;

[0032] The edge of the connecting bottom plate is provided with an arc-shaped limiting channel, and the edge of the connecting top plate is provided with an arc-shaped limiting groove; the arc-shaped limiting channel and the arc-shaped limiting groove are arranged opposite to each other, and the arc-shaped limiting channel and the arc-shaped limiting groove are arranged near the access window;

[0033] The tops of the first door panel and the second door panel are connected to the arc-shaped limiting groove through a pulley set, and the bottoms of the first door panel and the second door panel are connected to the arc-shaped limiting channel through a pulley set; thereby, the first door panel and the second door panel can slide relative to the access window to close or open the access window;

[0034] A first door panel driving device and a second door panel driving device are provided on the connecting top plate, the first door panel driving device is transmission-connected to the first door panel, and the second door panel driving device is transmission-connected to the second door panel, and the first door panel driving device and the second door panel are respectively driven by the first door panel driving device and the second door panel to slide relative to the access window to close or open the access window;

[0035] A weighing device and a photographing device are provided in the information acquisition warehouse; the weighing device is fixed to the connecting base plate and is used to obtain weight information of the stored materials; the photographing device is fixed above the weighing device in a liftable manner and is used to obtain picture information of the stored materials.

[0036] A second aspect of the present invention provides an inspection method, comprising the following steps:

[0037] An intelligent warehousing system is provided, comprising a central control platform, a storage area, and an inspection robot of the intelligent warehousing system according to any one of the first aspects of the present invention; storage facilities and storage equipment for storing storage materials are provided in the storage area; the storage materials include material racks and products;

[0038] An inspection task is issued through the central control platform, and the inspection task includes a target area. The inspection robot obtains the inspection task, generates an inspection path according to the target area, and performs environmental monitoring, shelf inspection, and security patrol on the storage materials, storage equipment, storage facilities, and storage environment in the target area according to the inspection path, obtains detection information data, and transmits the detection information data back to the central control platform in real time.

[0039] The outbound task is issued through the central control platform, and the outbound task includes the target material frame ID; the inspection robot obtains the outbound task, generates an inbound and outbound path according to the target material frame ID, and moves to the front of the storage equipment corresponding to the target material frame ID according to the inbound and outbound path; the rotating component drives the lifting component and the material picking and placing component to rotate out, and the lifting component drives the material picking and placing component to rise and fall to the storage material height corresponding to the target material frame ID; the material picking and placing seat is driven to move in the horizontal direction by the translation axis mechanism to compensate for the horizontal position error, the first telescopic arm and the second telescopic arm are extended to the two sides of the storage material corresponding to the target material frame ID, and the opening mechanism drives the first telescopic structure and the second telescopic structure to move together synchronously, automatically clamping and positioning the storage material, and stably maintaining it at the material picking and placing station; the first telescopic arm and the second telescopic arm are retracted to remove the storage material from the storage equipment The material is taken out and the translation axis mechanism is reset to move the stored material to the center position. The rotating component drives the stored material to rotate and transfers the stored material to the storage bin; it moves to the outbound position according to the inbound and outbound path, and controls the first door panel and the second door panel through the first door panel driving device and the second door panel driving device to open the inbound and outbound window, and places the stored material in the storage bin in the information acquisition bin, closes the first door panel and the second door panel to form a closed independent space for the information acquisition bin, and obtains the weight information and image information of the stored material through the weighing device and the shooting device respectively, and transmits the weight information and image information back to the central control platform. The central control platform obtains the material frame ID and product content information based on the obtained weight information and image information, compares the material frame ID and product content information with the outbound task, and outputs the outbound completion information.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The inspection robot of the intelligent warehousing system of the present invention uses a chassis to provide support and connection foundations for various components. The cylindrical outer shell facilitates navigation through narrow aisles and has high flexibility. The automatic guided transport chassis provides autonomous mobility, ensuring that the inspection robot can autonomously navigate complex shelves. It also provides dynamic planning of the shortest inspection / handling path to improve efficiency. The inspection unit realizes automated inventory management, environmental monitoring, equipment inspection, and safety patrol tasks, significantly improving efficiency, reducing labor costs, and reducing human errors. The material information acquisition unit enables rapid identification and recording of stored materials, and the interaction unit enables human-machine collaboration, task scheduling, and exception handling. The storage unit and the handling unit form a more efficient integrated inspection, handling, and storage solution. This solution can not only complete routine inspection tasks, but also autonomously perform operations such as handling, replenishment, and sorting of stored materials during warehousing, outbound storage, and transfer. It is particularly suitable for scenarios with a large number of SKUs and a fast turnover rate, significantly improving the level of warehouse automation, providing support for intelligent warehousing systems, and improving the operational efficiency of warehouse management.

[0042] 2. The inspection robot of the intelligent warehousing system of this embodiment realizes the clamping, lifting, horizontal longitudinal translation and removal, horizontal lateral translation adjustment, height position adjustment, and rotation into the warehouse of the stored materials through the handling unit. The entire transfer process occupies a small space and has strong flexibility. It can realize the transfer of materials between narrow spaces and complex terrains. Through the setting of the translation axis mechanism, lateral loading and unloading can be realized, which is conducive to improving the activity of the edge corners of the storage area, reducing the dead corners of loading and unloading, optimizing the layout of the storage area, and improving space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic structural diagram of the inspection robot of the intelligent warehousing system of the present invention;

[0044] Figure 2 This is a structural diagram of the inspection robot in another usage state of the intelligent warehousing system of the present invention;

[0045] Figure 3 A schematic diagram of the internal structure of the inspection robot of the intelligent warehousing system of the present invention;

[0046] Figure 4 This is a schematic structural diagram of a transport unit of an inspection robot in an intelligent warehousing system according to the present invention;

[0047] Figure 5 This is a schematic structural diagram of the rotating assembly of the inspection robot of the intelligent warehousing system of the present invention;

[0048] Figure 6 This is a schematic structural diagram of the lifting assembly of the inspection robot of the intelligent warehousing system of the present invention;

[0049] Figure 7 This is a schematic structural diagram of the material picking and placing assembly of the inspection robot of the intelligent warehousing system of the present invention;

[0050] Figure 8 A schematic structural diagram of the translation axis mechanism and the opening mechanism of the inspection robot of the intelligent warehousing system of the present invention;

[0051] Figure 9 This is a structural diagram of the translation axis mechanism and the opening mechanism of the inspection robot of the intelligent warehousing system of the present invention from another angle;

[0052] Figure 10 It is a left side view of the translation axis mechanism and the opening mechanism of the inspection robot of the intelligent storage system of the present invention;

[0053] Figure 11 A schematic diagram of the internal structure of a first telescopic structure of an inspection robot in an intelligent warehousing system of the present invention;

[0054] Figure 12This is a structural diagram of the material information acquisition unit of the inspection robot in the intelligent warehousing system of the present invention.

[0055] In the figure: 10, chassis; 20, automatic guided transport chassis; 30, inspection unit; 40, handling unit; 41, rotating assembly; 411, rotating platform; 412, rotating drive device; 42, lifting assembly; 421, supporting column; 422, lifting seat; 423, lifting drive device; 43, material picking and unloading assembly; 431, connecting seat; 432, material picking and unloading seat; 433, first telescopic structure; 4331, first fixed arm; 4332, first telescopic arm; 4333, first connecting rod; 4334, first telescopic drive device; 4335, first telescopic transmission device; 4336, first limit block; 434, second telescopic structure; 4341, second fixed arm; 4342, second telescopic arm; 4343, second connecting rod; 4344, The second limit block; 435, the opening mechanism; 4351, the first opening slide; 4352, the second opening slide; 4353, the opening drive device; 4354, the bidirectional screw rod; 436, the translation axis mechanism; 4361, the first guide rail slider device; 4362, the second guide rail slider device; 4363, the translation rack; 4364, the translation gear; 4365, the translation axis drive device; 50, the storage unit; 51, the storage bin; 52, the support plate; 53, the layer plate; 60, the interaction unit; 70, the material information acquisition unit; 71, the connecting bottom plate; 711, the arc-shaped limit channel; 72, the connecting top plate; 721, the arc-shaped limit groove; 73, the first door panel; 74, the second door panel; 75, the weighing device; 76, the shooting device; 90, the storage materials. DETAILED DESCRIPTION

[0056] Below, the invention is further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0057] In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0058] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a connection through an intermediary medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0059] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. In addition, the terms "including," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product, or apparatus.

[0060] Example 1:

[0061] Please refer to Figure 1-12 As shown, this embodiment provides an inspection robot for an intelligent warehousing system, comprising a chassis 10, and an automatic guided transport chassis 20 installed in the chassis 10, an inspection unit 30, a transport unit 40, a storage unit 50, an interaction unit 60, and a material information acquisition unit 70;

[0062] Specifically, the chassis 10 includes a housing and a frame. The housing is cylindrical in shape, which is convenient for passing through narrow passages. A mounting cavity is formed inside the housing, and the frame is fixed in the mounting cavity to provide support and connection foundation for various components.

[0063] The automatic guided transport chassis 20 is arranged at the bottom of the chassis 10, and the automatic guided transport chassis 20 is used to provide autonomous movement capability; the automatic guided transport chassis 20 of this embodiment is realized by an AGV chassis, and centimeter-level positioning is achieved through laser SLAM, vision or magnetic guidance technology, which can ensure that the inspection robot can autonomously move between complex shelves, and provide dynamic planning of the shortest inspection / transportation path to improve efficiency.

[0064] The inspection unit 30 is mounted on top of the chassis 10 and includes several cameras and sensors for automated inspection of stored materials 90, storage equipment, storage facilities, and the storage environment. This enables automated inventory management, environmental monitoring, equipment inspections, and security patrols, significantly improving efficiency, reducing labor costs, and minimizing human error. The stored materials 90 in this embodiment include racks, which contain a number of products. Each rack has a unique rack ID. The storage equipment can be understood as a shelf, for example, each having a number of storage spaces. Each storage space has a unique address ID. Both the rack ID and the address ID can be identified by the inspection unit 30.

[0065] The storage unit 50 is disposed in the installation cavity. The storage unit 50 includes a plurality of storage bins 51 . The storage bins 51 can be used for placing and removing stored materials 90 .

[0066] The transport unit 40 is disposed in the installation cavity, and the transport unit 40 is used to transfer the storage materials 90 between the storage facility and the storage bin 51 .

[0067] The interactive unit 60 is fixed to the chassis 10 and is used to realize human-computer collaboration, task scheduling and exception handling. The interactive unit 60 includes a control panel, a voice interaction system, a communication module, an audio-visual alarm module and several physical control buttons. It can communicate with the control platform and support remote control, task dispatching and program monitoring of the control platform.

[0068] The material information acquisition unit 70 is disposed at the top of the installation cavity, and the material information acquisition unit 70 is used to acquire image information and weight information of the stored material 90 .

[0069] Based on the above structure, the inspection robot of the intelligent warehousing system of this embodiment provides support and connection foundation for each component through the chassis 10. The outer surface of the chassis is cylindrical, which is convenient for moving through narrow aisles, which is beneficial to the spatial layout of the storage area and improves space utilization. The automatic guided transport chassis 20 provides autonomous movement capability, ensuring that the inspection robot can move autonomously between complex shelves, and provides dynamic planning of the shortest inspection / transportation path to improve efficiency. The inspection unit 30 realizes tasks such as automated inventory management, environmental monitoring, equipment inspection and safety patrol, significantly improving efficiency, reducing labor costs and reducing human errors. The material information acquisition unit 70 can realize rapid identification and recording of storage materials 90, and the interactive unit 60 realizes human-machine collaboration, task scheduling and exception handling. The storage unit 50 and the handling unit 40 can form a more efficient integrated inspection, handling and storage solution, which can not only complete routine inspection tasks, but also independently perform operations such as handling, replenishment, and sorting of warehouse materials 90 during the process of warehousing, outbound storage, and transfer. It is particularly suitable for scenarios with many SKUs and fast turnover, significantly improving the level of warehouse automation, providing support for intelligent warehousing systems, and improving the operational efficiency of warehouse management.

[0070] Specifically, the storage unit 50 of this embodiment includes a support plate 52 and several layer plates 53, the support plate 52 is vertically fixed in the installation cavity, several layer plates 53 are linearly arrayed in the height direction of the support plate 52, and the storage bin 51 is formed above the layer plate 53; several sensors are fixed to the support plate 52, and the sensors are arranged in the storage bin 51, and the sensors are used to detect the storage status information of the storage materials 90 in the storage bin 51. By setting the storage unit 50, the material storage capacity inside the inspection robot is improved, so that the inspection robot has a stronger operating space during the process of entering, exiting and moving the warehouse.

[0071] The transport unit 40 of this embodiment includes a rotating assembly 41 , a lifting assembly 42 , and a material loading and unloading assembly 43 .

[0072] The rotating assembly 41 includes a rotating platform 411 and a rotating drive device 412. The rotating platform 411 is rotatably connected to the bottom of the chassis 10. The rotating platform 411 has a rotating shaft, which is arranged parallel to the axis of the chassis 10. The rotating drive device 412 is connected to the rotating shaft, and the rotating platform 411 is driven to rotate relative to the chassis 10 by the rotating drive device 412. A connecting plate and a connecting column can be installed on the rotating platform 411 to provide a connection basis for the lifting assembly 42 and the material picking and placing assembly 43, thereby improving stability during operation.

[0073] The lifting assembly 42 includes a support column 421, a lifting seat 422 and a lifting drive device 423. The bottom of the support column 421 is fixed to the rotating platform 411. The lifting seat 422 is connected to the support column 421 through a slider guide mechanism. The lifting drive device 423 is connected to the lifting seat 422 through a transmission mechanism. The lifting seat 422 is driven to move back and forth in the height direction by the lifting drive device 423.

[0074] The material taking and placing assembly 43 is fixed to the lifting seat 422 and is used to grab and release the stored materials 90. The material taking and placing assembly 43 of this embodiment includes a connecting seat 431 and a material taking and placing seat 432.

[0075] The connecting seat 431 is fixed to the lifting seat 422; the picking and unloading seat 432 is provided with a first telescopic structure 433, a second telescopic structure 434 and an opening mechanism 435, and a picking and unloading station is formed between the first telescopic structure 433, the second telescopic structure 434 and the opening mechanism 435; a translation axis mechanism 436 is provided between the lifting seat 422 and the picking and unloading seat 432, and the picking and unloading seat 432 is driven by the translation axis mechanism 436 to translate relative to the connecting seat 431, thereby adjusting the position of the picking and unloading station on the horizontal plane, and the picking and unloading seat 432 is driven by the translation axis mechanism 436 to move in the horizontal direction, thereby compensating for the error between the picking and unloading station and the target storage material 90 in the horizontal direction, thereby improving the picking and unloading efficiency and success rate.

[0076] The connecting seat 431 has a connecting vertical plate and a connecting horizontal plate, which are arranged in an L shape. The material taking and unloading seat 432 has a connecting vertical plate and a connecting horizontal plate, which are arranged in an L shape. A first side plate and a second side plate are respectively provided on both sides of the material taking and unloading seat 432.

[0077] The translation axis mechanism 436 of this embodiment includes a first guide rail slider device 4361, a second guide rail slider device 4362, a translation rack 4363, a translation gear 4364 and a translation axis driving device 4365;

[0078] The connecting vertical plate is slidably connected to the material loading and unloading vertical plate via a first guide rail slider assembly 4361, and the connecting horizontal plate is slidably connected to the material loading and unloading horizontal plate via a second guide rail slider assembly 4362. The material loading and unloading seat 432 is slidably connected to the connecting seat 431 via the first and second guide rail slider assemblies 4361 and 4362, allowing the material loading and unloading seat 432 to translate back and forth horizontally relative to the chassis 10. The translation rack 4363 is horizontally fixed to the material loading and unloading seat 432. The translation axis drive device 4365 is fixed to the connecting seat 431 via a motor mount. The translation axis drive device 4365 has an output shaft, which is fixed to the translation gear 4364, which meshes with the translation rack 4363. The translation shaft driving device 4365 provides power, and the translation gear 4364 engages with the translation rack 4363 to transmit power to the material taking and placing seat 432, driving the material taking and placing seat 432 to move in the horizontal direction.

[0079] The opening mechanism 435 includes a first opening slide 4351 and a second opening slide 4352, which are respectively slidably connected to the material taking and placing base 432 via guide rods, so that the first opening slide 4351 and the second opening slide 4352 can move back and forth in the longitudinal direction of the material taking and placing base 432;

[0080] The opening mechanism 435 also includes an opening drive device 4353 and a bidirectional screw rod 4354; the opening drive device 4353 is fixed to the middle part of the material taking and discharging seat 432, and the two ends of the bidirectional screw rod 4354 are respectively connected to the first side plate and the second through the bearing seat, and the bidirectional screw rod 4354 is transmission connected to the opening drive device 4353; the two ends of the bidirectional screw rod 4354 are respectively screwed with a first ball nut seat and a second ball nut seat, the first ball nut seat is fixed to the first opening slide 4351, and the second ball nut seat is fixed to the second opening slide 4352; the opening drive device 4353 provides power to rotate the bidirectional screw rod 4354, driving the first opening slide 4351 and the second opening slide 4352 to open or close synchronously.

[0081] The first telescopic structure 433 of this embodiment includes a first fixed arm 4331 and a first telescopic arm 4332 , and the second telescopic structure 434 includes a second fixed arm 4341 and a second telescopic arm 4342 ;

[0082] The first fixed arm 4331 is connected to the first open slide 4351 through a first connecting rod 4333, and the first connecting rod 4333 is rotatably connected to the first side plate through a bearing. One end of the first connecting rod 4333 is fixed to the first open slide 4351, and the other end is fixed to the end of the first fixed arm 4331; the second fixed arm 4341 is connected to the second open slide 4352 through a second connecting rod 4343; the second connecting rod 4343 is rotatably connected to the second side plate through a bearing, one end of the second connecting rod 4343 is fixed to the second open slide 4352, and the other end is fixed to the end of the second fixed arm 4341; the number of the first connecting rod 4333 and the second connecting rod 4343 are both 2.

[0083] The first telescopic arm 4332 is sleeved on the outside of the first fixed arm 4331, and a slider guide structure can be provided at the connection between the first telescopic arm 4332 and the first fixed arm 4331, so that the first telescopic arm 4332 can be extended or retracted relative to the first fixed arm 4331, thereby improving the stability and load-bearing capacity of the first telescopic arm 4332 during the extension and retraction process; the first telescopic arm 4332 has a first lifting plate and a first clamping plate, the first lifting plate is arranged upward, and the first clamping plate is arranged toward the material taking and placing station; the second telescopic arm 4342 is sleeved on the outside of the second fixed arm 4341, and the second telescopic arm 4342 can be extended or retracted relative to the second fixed arm 4341, and the second telescopic arm 4342 has a second lifting plate and a second clamping plate, the second lifting plate is arranged upward, and the second clamping plate is arranged toward the material taking and placing station;

[0084] The first lifting plate and the second lifting plate are used to lift the outer flanges on opposite sides of the stored material 90, and the first clamping plate and the second clamping plate are used to clamp the opposite sides of the stored material 90, so that the stored material 90 is stably maintained at the material loading and unloading station.

[0085] The first telescopic structure 433 also includes a first telescopic drive device 4334 and a first telescopic transmission device 4335; the first telescopic transmission device 4335 includes a telescopic driving wheel, a telescopic driven wheel, and a telescopic synchronous belt. The telescopic driving wheel and the telescopic driven wheel are respectively connected to opposite ends of the first fixed arm 4331 through bearing seats. The telescopic synchronous belt is sleeved around the telescopic driving wheel and the telescopic driven wheel. The telescopic synchronous belt is provided with a synchronous belt splint, which is connected to the first telescopic arm 4332; the first telescopic drive device 4334 is connected to the telescopic driving wheel.

[0086] A first limit block 4336 and a second limit block 4344 are also provided in the material taking and unloading station. The first limit block 4336 is fixed to the first fixed arm 4331, and the second limit block 4344 is fixed to the second fixed arm 4341; the first limit block 4336 and the second limit block 4344 are both arranged close to the material taking and unloading seat 432, and are used to limit the further displacement of the stored material 90 toward the material taking and unloading seat 432.

[0087] The second telescopic structure 434 is consistent with the first telescopic structure 433 in structure, and the two are relatively arranged at two ends of the material taking and placing seat 432 , which can be understood by those skilled in the art and will not be described in detail here.

[0088] Based on the above structure, during use, the lifting assembly 42 and the material taking and placing assembly 43 are driven to rotate out by the rotating assembly 41, and the lifting assembly 42 drives the material taking and placing assembly 43 to rise and fall to the height corresponding to the stored material 90; the material taking and placing seat 432 is driven to move in the horizontal direction by the translation axis mechanism 436 to compensate for the horizontal position error, and the first telescopic arm 4332 and the second telescopic arm 4342 are extended to both sides of the stored material 90, and the opening mechanism 435 drives the first telescopic structure 433 and the second telescopic structure 434 to move simultaneously. The two arms 432 and 4342 move closer together to automatically clamp and position the stored material 90, and stably maintain it at the loading and unloading station; the first telescopic arm 4332 and the second telescopic arm 4342 retract to take out the stored material 90, and the translation axis mechanism 436 is reset to move the stored material 90 to the center position, and the rotating component 41 drives the stored material 90 to rotate, and transfers the stored material 90 to the storage bin 51; the operations are carried out in sequence to complete the storage of the preset quantity of stored material 90; conversely, the reverse step is to take out the stored material 90, which can be understood by those skilled in the art. The inspection robot of the intelligent warehousing system of this embodiment realizes the clamping, lifting, horizontal longitudinal translation and removal, horizontal lateral translation adjustment, height position adjustment, and rotation into the warehouse of the storage material 90 through the conveying unit 40. The entire transfer process occupies a small space and has strong flexibility. It can realize the transfer of materials between narrow spaces and complex terrains. Through the setting of the translation axis mechanism 436, lateral loading and unloading can be realized, which is conducive to improving the activity of the edge corners of the storage area, reducing the dead corners of loading and unloading, optimizing the layout of the storage area, and improving space utilization.

[0089] The material information acquisition unit 70 of this embodiment includes a connecting bottom plate 71, a connecting top plate 72, a first door plate 73, and a second door plate 74. The connecting bottom plate 71 and the connecting top plate 72 are respectively fixed in the installation cavity, so that an information acquisition chamber is formed between the connecting bottom plate 71, the connecting top plate 72, and the chassis 10. The chassis 10 is provided with an access window, through which stored materials 90 can pass in and out of the information acquisition chamber.

[0090] The edge of the connecting bottom plate 71 is provided with an arc-shaped limiting channel 711, and the edge of the connecting top plate 72 is provided with an arc-shaped limiting groove 721; the arc-shaped limiting channel 711 and the arc-shaped limiting groove 721 are arranged opposite to each other, and the arc-shaped limiting channel 711 and the arc-shaped limiting groove 721 are arranged near the entrance and exit window;

[0091] The tops of the first door panel 73 and the second door panel 74 are connected to the arc-shaped limiting groove 721 through a pulley set, and the bottoms of the first door panel 73 and the second door panel 74 are connected to the arc-shaped limiting channel 711 through a pulley set; thereby, the first door panel 73 and the second door panel 74 can slide relative to the access window to close or open the access window;

[0092] The connecting top plate 72 is provided with a first door panel driving device and a second door panel driving device. The first door panel driving device is in transmission connection with the first door panel 73, and the second door panel driving device is in transmission connection with the second door panel 74. The first door panel driving device and the second door panel driving device respectively drive the first door panel 73 and the second door panel 74 to slide relative to the access window to close or open the access window.

[0093] A weighing device 75 and a photographing device 76 are provided in the information acquisition warehouse; the weighing device 75 is fixed to the connecting base plate 71 and is used to obtain weight information of the stored materials 90; the photographing device 76 is fixed above the weighing device 75 in a liftable manner and is used to obtain picture information of the stored materials 90.

[0094] Based on the above structure, during use, the first door panel driving device and the second door panel driving device control the first door panel 73 and the second door panel 74 to open the entry and exit window, place the stored materials 90 in the storage bin 51 in the information acquisition bin, close the first door panel 73 and the second door panel 74 to form a closed independent space in the information acquisition bin, and respectively obtain the weight information and image information of the stored materials 90 through the weighing device 75 and the shooting device 76, and transmit the weight information and image information back to the central control platform. The central control platform obtains the material frame ID and product content information based on the obtained weight information and image information, and determines and records the material frame ID and product content information. This embodiment is provided with a first door panel 73 and a second door panel 74 that can be opened and closed automatically, and the opening and closing are stable and reliable, so that an independent information acquisition bin space is formed inside, isolating the external environment interference, which is conducive to improving the quality of weight information and image information, and improving the accuracy of determining the content of the stored materials 90.

[0095] Example 2:

[0096] This embodiment provides a method for inspection in the rain based on the first embodiment, including the following steps:

[0097] An intelligent warehousing system is provided, comprising a central control platform, a storage area, and an inspection robot of the intelligent warehousing system as described in Example 1; storage facilities and storage equipment for storing storage materials 90 are provided in the storage area; the storage materials 90 include material frames and products;

[0098] An inspection task is issued through the central control platform, and the inspection task includes a target area. The inspection robot obtains the inspection task, generates an inspection path according to the target area, and performs environmental monitoring, shelf inspection, and security patrol on the storage materials 90, storage equipment, storage facilities, and storage environment in the target area according to the inspection path, obtains detection information data, and transmits the detection information data back to the central control platform in real time.

[0099] The outbound task is issued through the central control platform, and the outbound task includes the target material frame ID; the inspection robot obtains the outbound task, generates an inbound and outbound path according to the target material frame ID, and moves to the front of the storage equipment corresponding to the target material frame ID according to the inbound and outbound path; the rotating component 41 drives the lifting component 42 and the material picking and placing component 43 to rotate out, and the lifting component 42 drives the material picking and placing component 43 to rise and fall to the height of the storage material 90 corresponding to the target material frame ID; the material picking and placing seat 432 is driven to move in the horizontal direction by the translation axis mechanism 436 to compensate for the horizontal position error, and the first telescopic arm 4332 and the second telescopic arm 4342 are extended to the two sides of the storage material 90 corresponding to the target material frame ID, and the opening mechanism 435 drives the first telescopic structure 433 and the second telescopic structure 434 to move together synchronously, automatically clamping and positioning the storage material 90, and stably maintaining it at the material picking and placing station; the first telescopic arm 4332 and the second telescopic arm 4342 are retracted, and the storage material 90 is automatically clamped and positioned, and stably maintained at the material picking and placing station The stored materials 90 are taken out from the storage equipment, and the translation axis mechanism 436 is reset to move the stored materials 90 to the central position. The rotating component 41 drives the stored materials 90 to rotate and transfers the stored materials 90 to the storage bin 51; according to the entry and exit path, it moves to the exit position, and the first door panel driving device and the second door panel driving device control the first door panel 73 and the second door panel 74 to open the entry and exit window, and the stored materials 90 in the storage bin 51 are placed in the information acquisition bin, and the first door panel 73 and the second door panel 74 are closed to form a closed independent space in the information acquisition bin. The weight information and image information of the stored materials 90 are respectively obtained by the weighing device 75 and the shooting device 76, and the weight information and image information are transmitted back to the central control platform. The central control platform obtains the material frame ID and product content information based on the obtained weight information and image information, compares the material frame ID and product content information with the outbound task, and outputs the outbound completion information;

[0100] The warehousing task is issued through the central control platform, and the warehousing task includes the target address ID; the inspection robot obtains the warehousing task and generates an entry and exit path according to the target address ID; the image information and weight information of the storage material 90 are obtained through the material information acquisition unit 70 and transmitted back to the central control platform, and the controlled platform obtains the material frame ID and product content information based on the obtained weight information and image information, and binds the material frame ID, product content information, the warehousing task and the target address ID, and the storage material 90 is transferred to the storage bin 51; the inspection robot moves to the front of the storage equipment where the target address ID is located according to the entry and exit path; the storage material 90 is transferred from the storage bin 51 to the target address ID on the storage equipment through the handling unit 40, and the handling unit 40 is reset and the warehousing completion information is output;

[0101] The warehouse transfer task is issued through the central control platform, and the warehouse transfer task includes the target material frame ID and the moving-in address ID, and the number of target material frame IDs matches the number of storage bins 51; the inspection robot obtains the warehouse transfer task, and generates a warehouse transfer path according to the target material frame ID and the moving-in address ID; the inspection robot moves to the front of the storage equipment where the target material frame ID is located according to the warehouse transfer path; the storage materials 90 of the storage equipment corresponding to the target material frame ID are transferred from the warehouse equipment to the storage bin through the conveying unit 40, and the inspection robot moves to the front of the warehouse equipment corresponding to the moving-in address ID according to the warehouse transfer path, and the conveying unit 40 transfers the storage materials 90 from the storage bin 51 to the moving-in address ID on the storage equipment, and outputs the warehouse transfer completion information.

[0102] The storage materials 90 of this embodiment are not limited to the form of material frames as carriers, but can also be in the form of pallets, turnover boxes, containers, flexible bags or hanging racks, etc., or can be in the form of carrier-free materials. Those skilled in the art can adapt this embodiment according to actual needs to adapt it to the transfer of storage materials 90 in different carrier forms, which all fall within the scope of protection recorded in this embodiment.

[0103] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. An inspection robot for an intelligent warehousing system, characterized in that: It includes chassis, automatic guided transport chassis, inspection unit, handling unit, storage unit, interaction unit and material information acquisition unit; A mounting cavity is formed inside the chassis; The automatic guided transport chassis is arranged at the bottom of the chassis, and the automatic guided transport chassis is used to provide autonomous movement capability; The inspection unit is arranged on the top of the chassis, and the inspection unit includes a plurality of cameras and sensors for providing inspection capabilities; The material storage unit is arranged in the installation cavity, and the material storage unit includes a plurality of material storage bins, and the material storage bins can be used for storing and taking out storage materials; The transport unit is arranged in the installation cavity, and the transport unit is used to transfer storage materials between the storage equipment and the storage bin; The interaction unit is fixed to the chassis and is used to achieve human-machine collaboration; The material information acquisition unit is arranged on the top of the installation cavity, and is used to acquire image information and weight information of stored materials.

2. The inspection robot for an intelligent warehousing system according to claim 1, characterized in that: The chassis has a cylindrical exterior; the storage unit includes a support plate, a layer plate and a sensor, the support plate is vertically fixed in the installation cavity, a number of the layer plates are linearly arrayed in the height direction of the support plate, and the storage bin is formed above the layer plate; a number of the sensors are fixed to the support plate, and the sensors are arranged in the storage bin, and the sensors are used to detect storage status information of the stored materials in the storage bin.

3. The inspection robot for an intelligent warehousing system according to claim 2, characterized in that: The transport unit includes a rotating assembly, a lifting assembly and a material picking and placing assembly; The rotating assembly includes a rotating platform and a rotating drive device. The rotating platform is rotatably connected to the chassis. The rotating platform has a rotating shaft, which is arranged parallel to the axis of the chassis. The rotating drive device is in transmission connection with the rotating shaft, and the rotating platform is driven to rotate relative to the chassis by the rotating drive device. The lifting assembly includes a support column, a lifting seat and a lifting drive device. The bottom of the support column is fixed to the rotating platform. The lifting seat is connected to the support column through a slider guide mechanism. The lifting drive device is connected to the lifting seat through a transmission mechanism. The lifting seat is driven by the lifting drive device to move back and forth in the height direction. The material picking and releasing component is used for grabbing and releasing stored materials.

4. The inspection robot for an intelligent warehousing system according to claim 3, characterized in that: The material taking and placing assembly includes a connecting seat and a material taking and placing seat; The connecting seat is fixed to the lifting seat; a first telescopic structure, a second telescopic structure and an opening mechanism are provided on the material taking and placing seat, and a material taking and placing station is formed between the first telescopic structure, the second telescopic structure and the opening mechanism; a translation axis mechanism is provided between the lifting seat and the material taking and placing seat, and the material taking and placing seat is driven by the translation axis mechanism to translate relative to the connecting seat, thereby adjusting the position of the material taking and placing station on the horizontal plane.

5. The inspection robot for an intelligent warehousing system according to claim 4, characterized in that: The connecting seat has a connecting vertical plate and a connecting horizontal plate, and the material taking and placing seat has a material taking and placing vertical plate and a material taking and placing horizontal plate; The translation axis mechanism includes a first guide rail slider device, a second guide rail slider device, a translation rack, a translation gear and a translation axis driving device; The connecting vertical plate is slidably connected to the material picking and unloading vertical plate through a first guide rail slider device, and the connecting horizontal plate is slidably connected to the material picking and unloading horizontal plate through a second guide rail slider device; the translation rack is horizontally fixed to the material picking and unloading seat; the translation axis driving device is fixed to the connecting seat through a motor seat, and the translation axis driving device has an output shaft, the output shaft is fixed to the translation gear, and the translation gear is engaged with the translation rack.

6. The inspection robot for an intelligent warehousing system according to claim 4, characterized in that: A first side plate and a second side plate are respectively provided on both sides of the material taking and unloading seat; The opening mechanism includes a first opening slide and a second opening slide, and the first opening slide and the second opening slide are respectively slidably connected to the material taking and placing seat through guide rods; The opening mechanism also includes an opening drive device and a bidirectional screw rod; the opening drive device is fixed to the middle part of the material taking and unloading seat, and the two ends of the bidirectional screw rod are respectively connected to the first side plate and the second through the bearing seat, and the bidirectional screw rod is transmission connected to the opening drive device; the two ends of the bidirectional screw rod are respectively screwed with the first ball nut seat and the second ball nut seat, the first ball nut seat is fixed to the first opening slide, and the second ball nut seat is fixed to the second opening slide.

7. The inspection robot for an intelligent warehousing system according to claim 6, characterized in that: The first telescopic structure includes a first fixed arm and a first telescopic arm, and the second telescopic structure includes a second fixed arm and a second telescopic arm; The first fixed arm is connected to the first open slide via a first connecting rod, the first connecting rod is rotatably connected to the first side plate via a bearing, one end of the first connecting rod is fixed to the first open slide, and the other end is fixed to the end of the first fixed arm; the second fixed arm is connected to the second open slide via a second connecting rod; the second connecting rod is rotatably connected to the second side plate via a bearing, one end of the second connecting rod is fixed to the second open slide, and the other end is fixed to the end of the second fixed arm; The first telescopic arm is sleeved on the outside of the first fixed arm, and the first telescopic arm can be extended or retracted relative to the first fixed arm. The first telescopic arm has a first lifting plate and a first clamping plate. The first lifting plate is set upward, and the first clamping plate is set toward the material taking and placing station; the second telescopic arm is sleeved on the outside of the second fixed arm, and the second telescopic arm can be extended or retracted relative to the second fixed arm. The second telescopic arm has a second lifting plate and a second clamping plate. The second lifting plate is set upward, and the second clamping plate is set toward the material taking and placing station.

8. The inspection robot for an intelligent warehousing system according to claim 7, characterized in that: The first telescopic structure further includes a first telescopic drive device and a first telescopic transmission device; the first telescopic transmission device includes a telescopic driving wheel, a telescopic driven wheel, and a telescopic synchronous belt, the telescopic driving wheel and the telescopic driven wheel are respectively connected to opposite ends of the first fixed arm through bearing seats, and the telescopic synchronous belt is sleeved around the telescopic driving wheel and the telescopic driven wheel; a synchronous belt splint is provided on the telescopic synchronous belt, and the synchronous belt splint is connected to the first telescopic arm; the first telescopic drive device is connected to the telescopic driving wheel; A first limit block and a second limit block are also provided in the material taking and unloading station. The first limit block is fixed to the first fixed arm, and the second limit block is fixed to the second fixed arm. The first limit block and the second limit block are both arranged close to the material taking and unloading seat to limit the further displacement of the stored materials toward the material taking and unloading seat.

9. The inspection robot for an intelligent warehousing system according to claim 2, characterized in that: The material information acquisition unit includes a connecting bottom plate, a connecting top plate, a first door plate, and a second door plate; the connecting bottom plate and the connecting top plate are respectively fixed in the installation cavity, so that an information acquisition chamber is formed between the connecting bottom plate, the connecting top plate, and the chassis; an access window is opened on the chassis, and the access window allows stored materials to enter and exit the information acquisition chamber; The edge of the connecting bottom plate is provided with an arc-shaped limiting channel, and the edge of the connecting top plate is provided with an arc-shaped limiting groove; the arc-shaped limiting channel and the arc-shaped limiting groove are arranged opposite to each other, and the arc-shaped limiting channel and the arc-shaped limiting groove are arranged near the access window; The tops of the first door panel and the second door panel are connected to the arc-shaped limiting groove through a pulley set, and the bottoms of the first door panel and the second door panel are connected to the arc-shaped limiting channel through a pulley set; thereby, the first door panel and the second door panel can slide relative to the access window to close or open the access window; A first door panel driving device and a second door panel driving device are provided on the connecting top plate, the first door panel driving device is transmission-connected to the first door panel, and the second door panel driving device is transmission-connected to the second door panel, and the first door panel driving device and the second door panel are respectively driven by the first door panel driving device and the second door panel to slide relative to the access window to close or open the access window; A weighing device and a photographing device are provided in the information acquisition warehouse; the weighing device is fixed to the connecting base plate and is used to obtain weight information of the stored materials; the photographing device is fixed above the weighing device in a liftable manner and is used to obtain picture information of the stored materials.

10. A patrol inspection method, characterized in that: The following steps are involved: An intelligent warehousing system is provided, comprising a central control platform, a storage area, and an inspection robot of the intelligent warehousing system according to any one of claims 1 to 9; storage facilities and storage equipment for storing storage materials are provided in the storage area; the storage materials include material racks and products; An inspection task is issued through the central control platform, and the inspection task includes a target area. The inspection robot obtains the inspection task, generates an inspection path according to the target area, and performs environmental monitoring, shelf inspection, and security patrol on the storage materials, storage equipment, storage facilities, and storage environment in the target area according to the inspection path, obtains detection information data, and transmits the detection information data back to the central control platform in real time. The outbound task is issued through the central control platform, and the outbound task includes the target material frame ID; the inspection robot obtains the outbound task, generates an inbound and outbound path according to the target material frame ID, and moves to the front of the storage equipment corresponding to the target material frame ID according to the inbound and outbound path; the rotating component drives the lifting component and the material picking and placing component to rotate out, and the lifting component drives the material picking and placing component to rise and fall to the storage material height corresponding to the target material frame ID; the material picking and placing seat is driven to move in the horizontal direction by the translation axis mechanism to compensate for the horizontal position error, the first telescopic arm and the second telescopic arm are extended to the two sides of the storage material corresponding to the target material frame ID, and the opening mechanism drives the first telescopic structure and the second telescopic structure to move together synchronously, automatically clamping and positioning the storage material, and stably maintaining it at the material picking and placing station; the first telescopic arm and the second telescopic arm are retracted to remove the storage material from the storage equipment The material is taken out and the translation axis mechanism is reset to move the stored material to the center position. The rotating component drives the stored material to rotate and transfers the stored material to the storage bin; it moves to the outbound position according to the inbound and outbound path, and controls the first door panel and the second door panel through the first door panel driving device and the second door panel driving device to open the inbound and outbound window, and places the stored material in the storage bin in the information acquisition bin, closes the first door panel and the second door panel to form a closed independent space for the information acquisition bin, and obtains the weight information and image information of the stored material through the weighing device and the shooting device respectively, and transmits the weight information and image information back to the central control platform. The central control platform obtains the material frame ID and product content information based on the obtained weight information and image information, compares the material frame ID and product content information with the outbound task, and outputs the outbound completion information.

Images