Automatic stereoscopic warehouse for storing live working tools

Abstract

The invention relates to an automatic stereoscopic warehouse for storing live working tools, and belongs to the technical field of automatic stereoscopic warehouses. Comprising a plurality of goods shelves, article storage boxes and a transfer device. A plurality of article storage boxes are placed on the goods shelf, the article storage boxes and the goods shelf are arranged in a split mode, and the article storage boxes are used for storing live working tools. The transfer device comprises an AGV robot and a storage box grabbing device. Automatic storage is achieved, manual operation is not needed, tools are stored and taken through an intelligent system, the labor cost is greatly reduced, the working efficiency is improved, and timely response of night emergency maintenance is ensured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automated stereoscopic warehouse, and particularly relates to an automated stereoscopic warehouse for storing live working tools. BACKGROUND

[0002] During the operation and maintenance of power, the live working situation is often encountered, and the live working tool needs to be applied. The existing live working tools are basically stored in the tool storehouse for live working, and the live working tools are taken or returned by the manual operation of the storehouse administrator when the working personnel needs to take them.

[0003] This management mode of the live working tool needs to increase multiple working positions, and also needs night shift personnel to facilitate the immediate live working maintenance of the working personnel at night, so that a lot of additional costs are increased. SUMMARY

[0004] The application aims to overcome the shortcomings of the prior art and provide an automated stereoscopic warehouse for storing live working tools, which realizes automated storage, does not need manual operation, takes or returns the tool through an intelligent system, greatly reduces the labor cost, improves the working efficiency, and ensures the timely response of the emergency maintenance at night.

[0005] The application adopts the technical scheme to solve the problems in the prior art. An automated stereoscopic warehouse for storing live working tools comprises a plurality of shelves, article storage boxes and a transfer device.

[0006] The plurality of article storage boxes are placed on the shelves, and the article storage boxes and the shelves are arranged in a split mode. The article storage boxes are used for storing live working tools.

[0007] The transfer device comprises an AGV robot and a storage box grabbing device.

[0008] Preferably, the article storage box comprises a box body with an open upper end, and the back of the box body is provided with an information marking device.

[0009] The back of the shelf is slidably provided with a vertically arranged vertical plate, and a plurality of information collectors are fixed on the vertical plate. The information collectors are arranged in correspondence with the information marking devices on the backs of all the boxes in the same column, and the information collectors collect the information contained in the information marking devices.

[0010] Preferably, the information marking device adopts a two-dimensional code or a bar code, and is associated with the position of the article storage box, the live working tool inside the article storage box, and the performance inspection time information of the live working tool.

[0011] The information collector adopts a code scanner.

[0012] Preferably, the front end face of the box is provided with at least two spaced and parallel arranged insertion sleeves, and the insertion sleeves are provided with through holes.

[0013] The storage box grabbing device comprises a lifting and telescopic mechanism, and the end of the moving part of the lifting and telescopic mechanism is provided with a claw for insertion.

[0014] Preferably, the lifting and telescopic mechanism comprises four vertically arranged second linear modules, the bottom of the second linear module is fixedly connected with the AGV robot, and the top is connected with each other through an entire top connecting frame.

[0015] Two second linear modules form a group, the sliding parts of the two second linear modules in the group are jointly arranged with a horizontally arranged third linear module, the sliding parts of the two third linear modules are jointly arranged with a connecting plate, the connecting plate serves as the moving part of the lifting and telescopic mechanism, and the end of the connecting plate is fixedly connected with the claw.

[0016] Preferably, the top surface of the AGV robot is concavely provided with a clamping groove, and the bottom surface of the falling box is clamped in the clamping groove.

[0017] Preferably, the top of the goods shelf is fixedly provided with a horizontally arranged first linear module, and the top of the vertical plate is fixedly connected with the sliding part of the first linear module.

[0018] Preferably, the bottom of the goods shelf is fixedly provided with a bottom support strip, the bottom of the vertical plate is fixedly provided with a sliding rod, and the sliding rod is slidingly arranged in the gap between the bottom support strip and the goods shelf.

[0019] Preferably, the front end face of the box is provided with a clamping device, the clamping block of the clamping device is arranged at the upper end of the insertion sleeve, the side wall of the claw is concavely provided with a clamping groove, the claw passes through the insertion sleeve, the clamping groove is arranged above the insertion sleeve, and the front end of the clamping block passes into the clamping groove.

[0020] Preferably, the clamping device comprises a U-shaped connecting frame fixedly connected with the outer wall of the box, the end face of the U-shaped connecting frame facing the insertion sleeve is provided with a penetrating hole, the front end of the T-shaped clamping block passes through the penetrating hole, and the end face of the clamping block facing the claw is a downward inclined surface.

[0021] The middle of the U-shaped connecting frame is provided with a spring bottom plate, the end face of the clamping block away from the claw is provided with a second spring.

[0022] The end face of the clamping block away from the claw is fixedly connected with a pull rope, the other end of the pull rope is fixedly connected with an end plate of the U-shaped connecting frame away from the insertion sleeve through the spring bottom plate.

[0023] The side wall of the box is rotationally connected with a lever, one end of the lever is arranged on the pull rope, the lower side of the pull rope is abutted with a guide pulley, and the guide pulley is arranged between the lever and the spring bottom plate.

[0024] The bottom of the end of the lever away from the pull rope is provided with a first top rod arranged vertically, and a top plate is fixed at the bottom of the first top rod.

[0025] The shelf is provided with a plurality of support plates, and second top rods are protrudingly arranged on the support plates and correspondingly arranged with the top plates.

[0026] Compared with the prior art, the application has the beneficial effects: (1) The information marking device is used in cooperation with the information collector to realize intelligent matching of live working tools and work orders, reduce manual checking errors, and improve tool taking efficiency. Through the camera and image analysis, the tool type and quantity are checked in real time to ensure that the work order and the actual object are consistent, and to avoid missing or misplacing. It can also ensure automatic inventory when the working tools are returned and record the retention.

[0027] (2) The transfer device based on the AGV robot realizes accurate grabbing, carrying and homing of the storage box, and is fully automated, reducing the risk of manual operation. The locking mechanism of the stopper, the clamping block, the spring and the lever linkage ensures the stability of the storage box during transportation and prevents accidental falling.

[0028] (3) The split type article storage box stores tools in complete sets according to the type of work, supports quick disassembly and flexible deployment. The vertical sliding information collector cooperates with the linear module to realize full-area code scanning coverage of the shelf, and adapts to high-density storage needs.

[0029] (4) The information such as tool performance inspection time and work content is electronically archived throughout the whole process, which is convenient for quality tracing and operation and maintenance management. Identity authentication and work order linkage ensure that the operation permission is compliant and avoid unauthorized personnel operation. BRIEF DESCRIPTION OF DRAWINGS

[0030] The application will be further described below in conjunction with the drawings and examples.

[0031] Figure 1 The application is an overall structure diagram of an automatic stereoscopic warehouse for live working tool storage, Figure 2 The application is a structure diagram of an article storage box in an automatic stereoscopic warehouse for live working tool storage, Figure 3 It is a first sectional view of the article storage box, Figure 4 It is a second sectional view of the article storage box, Figure 5 It is a structure diagram of the article storage box and the clamping jaw after connection, Figure 6 It is a structure diagram of a group of article storage boxes and support plates after connection, Figure 7 It isFigure 6 enlarged view of the middle A, Figure 8 is Figure 6 enlarged view of the middle B, Figure 9 is a U-shaped support plate structure diagram, Figure 10 is a first structure diagram of a single group of shelves in an automated storage and retrieval system for storing live working tools, Figure 11 is a second structure diagram of a single group of shelves in an automated storage and retrieval system for storing live working tools, Figure 12 is Figure 11 enlarged view of the middle C, Figure 13 is Figure 11 enlarged view of the middle D, Figure 14 is a structure diagram of a transfer device in an automated storage and retrieval system for storing live working tools, Figure 15 is a structure diagram of a transfer device connected to an article storage box, Figure 16 is Figure 15 a front view.

[0032] In the figure: 1 - box body, 101 - bottom protruding edge, 102 - through hole, 103 - spring pressing plate, 104 - information marking device, 2 - top plate, 201 - first top rod, 202 - guide rod, 3 - first spring, 4 - lever, 5 - pull rope, 6 - guide pulley, 7 - second spring, 8 - clamping block, 9 - U-shaped connecting frame, 901 - spring bottom plate, 10 - insertion sleeve, 11 - support plate, 1101 - second top rod, 12 - shelf, 13 - first linear module, 14 - vertical plate, 1401 - sliding rod, 15 - information collector, 16 - bottom support strip, 17 - AGV robot, 18 - clamping groove, 19 - second linear module, 20 - top connecting frame, 21 - camera, 22 - third linear module, 23 - connecting plate, 24 - clamping jaw, 2401 - clamping groove. DETAILED DESCRIPTION

[0033] The application will be further described in detail in combination with the drawings of an automated storage and retrieval system for storing live working tools, but not as a limitation to the application.

[0034] As shown in Figures 1 to 16 , an automated storage and retrieval system for storing live working tools includes a plurality of shelves 12, an article storage box, and a transfer device, the transfer device including an AGV robot 17 and a storage box grabbing device.

[0035] A plurality of article storage boxes are placed on the shelf 12, the article storage boxes are arranged separately from the shelf 12, and are detachably connected, and the article storage boxes are used to store live working tools. The live working tools are placed in the same article storage box, and the live working tools are matched according to different working types. For example, in the live working operation of replacing a tension insulator string, a clamp, a lead screw, an insulating pull plate, a bottle support, an insulating glove and an insulating boot are needed, and these live working tools are placed in the same article storage box.

[0036] As shown in Figures 2 to 4 The article storage box comprises a box body 1 arranged with an open upper end, and an information marking device 104 is arranged on the back of the box body 1. The information marking device 104 adopts a two-dimensional code or a bar code, and is associated with information of a position of the article storage box, live working content, internal live working tools and performance inspection time of the live working tools.

[0037] The back of the shelf 12 is slidably provided with a vertically arranged vertical plate 14, a plurality of information collectors 15 are fixed on the vertical plate 14, the information collectors 15 are arranged in correspondence with the information marking devices 104 on the backs of all the box bodies 1 in the same column, and the information collectors 15 collect information contained in the information marking devices 104. The information collector 15 adopts a code scanner.

[0038] As shown in Figures 11 to 13 The top of the shelf 12 is fixed with a horizontally arranged first linear module 13, and the top of the vertical plate 14 is fixedly connected with a sliding part of the first linear module 13.

[0039] The bottom of the shelf 12 is fixed with a bottom support strip 16 at intervals, and the bottom of the vertical plate 14 is fixed with a sliding rod 1401 which is slidably arranged in a gap between the bottom support strip 16 and the shelf 12.

[0040] A plurality of rows of article storage boxes are placed on the shelf 12, each row comprises a plurality of article storage boxes arranged at equal intervals, and the first linear module 13 is arranged along the length direction of the shelf 12, so that the information collectors 15 on the vertical plate 14 can read the information marking devices 104 on each article storage box.

[0041] The control computer and the identity collection device of the operating personnel are arranged at the taking port of the live working tool warehouse, and the operating personnel needs to open a work order in the internal system before live working, and the work order contains the information of the operating personnel, the information of the working site and the information of the working content, etc. After the operating personnel enters the live working tool warehouse, the identity collection device of the operating personnel is used to collect the identity, and the collected identity is matched with the work order. Through the working content information in the work order, the live working tool warehouse matches the corresponding article storage box, and the corresponding article storage box is moved from the shelf 12 to the taking port of the live working tool warehouse through the transfer device, and the operating personnel takes out the live working tool in the article storage box. After the live working tool is taken out, the transfer device puts the empty article storage box back to the original position.

[0042] As shown in Figures 14 to 16 The front end face of the box body 1 is provided with at least two spaced and parallel arranged insertion sleeves 10, and the insertion sleeves 10 are arranged through up and down. The storage box grabbing device comprises a lifting and telescopic mechanism, and the moving part of the lifting and telescopic mechanism is provided with a claw 24 which is inserted with the insertion sleeve 10.

[0043] The lifting and telescopic mechanism comprises four vertically arranged second linear modules 19, the bottom of the second linear module 19 is fixedly connected with the AGV robot 17, and the top is connected with each other through a whole top connecting frame 20.

[0044] Two second linear modules 19 form a group, and the sliding parts of the two second linear modules in the group are commonly provided with a horizontally arranged third linear module 22, and the sliding parts of the two third linear modules 22 are commonly provided with a connecting plate 23, which serves as the moving part of the lifting and telescopic mechanism, and the end of the connecting plate 23 is fixedly connected with the claw 24. The above linear modules are all electric linear modules.

[0045] The top surface of the AGV robot 17 is concavely provided with a clamping groove 18, and the bottom surface of the falling box body 1 is clamped in the clamping groove 18.

[0046] The bottom center of the top connecting frame 20 is provided with a downward arranged camera 21, and the camera 21 is wirelessly connected with the control computer, and the control computer is internally provided with picture analysis software for analyzing the pictures taken by the camera 21. The main analysis content is the total category and quantity of the live working tools in the article storage box.

[0047] For example, the control computer matches the corresponding article storage box according to the live working content in the work order, and sends an instruction to the transfer device, which mainly includes the position of the article storage box. According to the position information, the AGV robot 17 drives the transfer device to move to the corresponding shelf 12, then the third linear module 22 drives the claw 24 to move forward, and the second linear module 19 drives the claw 24 to adjust the height position, so that the claw 24 is inserted into the socket 10, and the article storage box is grasped.

[0048] The third linear module 22 drives the article storage box to move to the position directly above the AGV robot 17, that is, directly below the camera 21. After moving to the position, the camera 21 takes a picture, and the picture processing software analyzes whether the type and quantity of the live working tool inside the article storage box are consistent with those in the work order.

[0049] When the live working tool is taken away by the worker and returned, the camera 21 can also take a picture to analyze whether the quantity and type are consistent, and the picture is electronically stored for record keeping and management.

[0050] During the movement of the AGV robot 17, the article storage box falls into the clamping groove 18, and the two are clamped to ensure stability during movement.

[0051] In order to ensure that the article storage box is placed in place on the shelf 12 before it can be separated from the claw, the reliability is improved. The front end face of the box body 1 is provided with a clamping device, the clamping block 8 of the clamping device is arranged at the upper end of the socket 10, the side wall of the claw 24 is concavely provided with a clamping groove 2401, the claw 24 penetrates through the socket 10, the clamping groove 2401 is arranged above the socket 10, and the front end of the clamping block 8 penetrates into the clamping groove 2401.

[0052] Further, the clamping device comprises a U-shaped connecting frame 9 fixedly connected with the outer wall of the box body 1, the end face of the U-shaped connecting frame 9 facing the socket 10 is provided with a penetrating hole, the front end of the T-shaped clamping block 8 penetrates through the penetrating hole, the middle of the U-shaped connecting frame 9 is provided with a spring bottom plate 901, and the end face of the clamping block 8 away from the claw 24 is provided with a second spring 7. The end face of the clamping block 8 facing the claw 24 is a downward inclined surface, so that during the upward and downward movement of the claw 24 from the bottom of the socket 10, the clamping block 8 can be pushed outward by the downward inclined surface of the end of the clamping block 8, so that the clamping block 8 is pressed against the second spring 7. When the end of the clamping block 8 slides to the position of the clamping groove 2401, the end of the clamping block 8 is inserted into the clamping groove 2401 under the pushing of the second spring 7. The top surface of the clamping groove 2401 is a horizontal surface, which abuts against the top surface of the end of the clamping block 8, so that the clamping block 8 cannot move downward without moving outward, and the claw 24 cannot be moved downward, and the locking of the claw 24 and the box body 1 is completed.

[0053] The end face of the clamping block 8 away from the clamping jaw 24 is fixedly connected with a pull rope 5, and the other end of the pull rope 5 is fixedly connected with the end plate of the U-shaped connecting frame 9 away from the insertion sleeve 10 through the spring bottom plate 901.

[0054] The lever 4 is rotationally connected to the side wall of the box body 1, one end of the lever 4 is arranged on the pull rope 5, the lower part of the pull rope 5 is abutted with a guide pulley 6, and the guide pulley 6 is arranged between the lever 4 and the spring bottom plate 901.

[0055] The bottom of the other end of the lever 4 away from the pull rope 5 is provided with a first vertical top rod 201, the bottom of the first vertical top rod 201 is fixedly connected with a top plate 2, and the top plate 2 is slidingly connected with the box body 1 in the up-down direction.

[0056] Further, the spring pressing plate 103 is protruded above the top plate 2, and the bottom protruding edge 101 is protruded below the top plate 2, and the bottom protruding edge 101 is provided with a through hole 102 in the form of a circular truncated cone.

[0057] The first top rod 201 passes through the penetrating hole in the spring pressing plate 103, and a plurality of first springs 3 are arranged between the spring pressing plate 103 and the top plate 2. Under the pushing of the first springs 3, the bottom surface of the top plate 2 is abutted with the top surface of the bottom protruding edge 101.

[0058] The top part of the top plate 2 is vertically fixedly connected with a plurality of guide rods 202, and the guide rods 202 pass through the guide holes in the spring pressing plate 103.

[0059] The support plate 11 is provided on the goods shelf 12, the second top rod 1101 is protruded on the support plate 11, and the second top rod 1101 is arranged in correspondence with the top plate 2. The outer diameter of the second top rod 1101 is equal to the inner diameter of the small end of the through hole 102.

[0060] The box body 1 is provided with at least two through holes 102, and the second top rod 1101 plays a limiting role and an unlocking role.

[0061] When the clamping jaw 24 is inserted into the insertion sleeve 10 and locked by the clamping block 8, the article storage box is placed on the support plate 11 of the goods shelf 12, the second top rod 1101 is inserted from the large end of the through hole 102, and the positioning of the box body 1 is realized through the guidance of the through hole 102.

[0062] When the bottom surface of the box body 1 is abutted with the support plate 11, the top part of the second top rod 1101 has been pulled out from above the through hole 102 and pushes the top plate 2 upwards, so that the first top rod 201 pushes one end of the lever 4 upwards, the other end of the lever 4 moves downwards, and the pull rope 5 is pressed downwards. Under the action of the guide pulley 6, the pull rope 5 pulls the clamping block 8 backwards, so that the clamping block 8 is moved out of the clamping groove 2401 and the locking of the clamping jaw 24 is contacted.

[0063] The embodiments of the present application are described in detail above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application.

Claims

1. An automated warehouse for storing live working tools, characterized by : The utility model relates to a kind of live working tool storage device, including several shelves (12), article storage box and transfer device; Several article storage boxes are placed on the shelf (12), and the article storage box is arranged separately from the shelf (12), and the article storage box is used to store live working tools; The transfer device includes an AGV robot (17) and a storage box grabbing device.

2. The automated warehouse for storing live working tools according to claim 1, wherein : The article storage box includes a box body (1) arranged with an open upper end, and an information marking device (104) is arranged on the back of the box body (1). The back of the shelf (12) is slidably provided with a vertically arranged vertical plate (14), and a plurality of information collectors (15) are fixed to the vertical plate (14). The information collectors (15) are arranged correspondingly to the information marking devices (104) on the backs of all the box bodies (1) in the same column, and the information collectors (15) collect the information contained in the information marking devices (104).

3. The automated warehouse for storing live working tools according to claim 2, wherein : The information marking device (104) uses a two-dimensional code or a bar code, and is associated with the position of the article storage box, the internal live working tool, and the performance inspection time information of the live working tool. The information collector (15) uses a code scanner.

4. The automated storage and retrieval system for live working tool storage according to claim 1 or 2 or 3, characterized in that : The front end surface of the box body (1) is provided with at least two spaced parallel arranged insertion sleeves (10), and the insertion sleeves (10) are provided through from top to bottom. The storage box grabbing device includes a lifting and telescopic mechanism, and the end of the moving part of the lifting and telescopic mechanism is provided with a claw (24) inserted with the insertion sleeve (10).

5. The automated warehouse for storing live working tools according to claim 4, wherein : The lifting and telescopic mechanism includes four vertically arranged second linear modules (19), the bottom of the second linear module (19) is fixedly connected with the AGV robot (17), and the top is connected with each other through a whole top connecting frame (20). Two second linear modules (19) form a group, and the sliding parts of the two second linear modules in the group jointly support a horizontally arranged third linear module (22), and the sliding parts of the two third linear modules (22) jointly support a connecting plate (23), which serves as the moving part of the lifting and telescopic mechanism, and the end of the connecting plate (23) is fixedly connected with the claw (24).

6. The automated warehouse for storing live working tools according to claim 5, wherein : The top surface of the AGV robot (17) is concavely provided with a clamping groove (18), and the bottom surface of the falling box body (1) is clamped in the clamping groove (18).

7. The automated storage and retrieval system for live working tool storage according to claim 2 or 3 or 5 or 6, characterized in that : The top of the shelf (12) is fixedly provided with a horizontally arranged first linear module (13), and the top of the vertical plate (14) is fixedly connected with the sliding part of the first linear module (13).

8. The automated warehouse for storing live working tools according to claim 7, wherein : The bottom of the shelf (12) is fixedly provided with a bottom support strip (16), and the bottom of the vertical plate (14) is fixedly provided with a sliding rod (1401) which is slidably arranged in the gap between the bottom support strip (16) and the shelf (12).

9. An automated high-bay warehouse for storing live working tools according to claim 1, 2, 3, 5, 6 or 8, characterized in that : The front end surface of the box body (1) is provided with a detent, and the clamping block (8) of the detent is arranged above the insertion sleeve (10).

10. The automated warehouse for storing live working tools according to claim 9, wherein : The card holder comprises a U-shaped connecting frame (9) fixedly connected with the outer wall of the box (1), the end face of the U-shaped connecting frame (9) towards the bushing (10) is provided with a penetrating hole, the front end of the T-shaped clamping block (8) penetrates through the penetrating hole, and the end face of the clamping block (8) towards the clamping jaw (24) is a downward inclined surface; The middle of the U-shaped connecting frame (9) is provided with a spring bottom plate (901), and the end face of the clamping block (8) away from the clamping jaw (24) is provided with a second spring (7) in the middle of the spring bottom plate (901); The end face of the clamping block (8) away from the clamping jaw (24) is fixedly connected with a pull rope (5), the other end of the pull rope (5) is fixedly connected with an end plate of the U-shaped connecting frame (9) away from the bushing (10) through the spring bottom plate (901); The side wall of the box (1) is rotatably connected with a lever (4), one end of the lever (4) is arranged on the pull rope (5), the lower portion of the pull rope (5) is abutted with a guide pulley (6), and the guide pulley (6) is arranged between the lever (4) and the spring bottom plate (901); The end of the lever (4) away from the pull rope (5) is provided with a first top rod (201) arranged vertically at the bottom, the bottom of the first top rod (201) is fixedly connected with a top plate (2), and the top plate (2) is slidably connected with the box (1) in the up-down direction; The support plate (11) is provided with a second top rod (1101) protruding therefrom, and the second top rod (1101) is arranged correspondingly to the top plate (2).

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