Double-side hall-penetrating three-dimensional warehouse and warehouse in-out method

Abstract

The invention belongs to the technical field of aluminum alloy processing. The double-side-penetrating three-dimensional warehouse and the warehouse in-out method aim at solving the problem that short materials are fed from one side in the door and window order kneading production and are difficult to efficiently transfer to a double-side warehouse body, and the three-dimensional warehouse comprises a double-gantry three-stand-column frame, a single-side-penetrating mechanical arm, the double-side warehouse body and an electrical system; a penetrating channel is formed in the middle of the double-gantry three-stand-column frame, a penetrating mechanical arm comprises a lifting bracket mechanism and a double-face telescopic mechanical arm mechanism, and the double-face telescopic mechanical arm mechanism is provided with a double-speed mechanical arm (a fork rod dividing and taking end / feeding end) and a transferring mechanism (connecting the two ends for conveying materials). The electrical system controls actions of all the components, the warehouse-in and warehouse-out method comprises the stages of preparation, classified warehouse-in (direct storage on the feeding side and transfer and pass through on the far material side), classified storage and neat set warehouse-out, the short material storage automation and the space utilization rate are improved, material damage and warehouse explosion are avoided, manual intervention is reduced, and production continuity is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aluminum alloy processing, in particular to a double-side pass-through three-dimensional warehouse and a warehouse entry and exit method. BACKGROUND

[0002] The statements in this section merely provide background technology related to the present application and do not necessarily constitute prior art.

[0003] In the production mode of door and window production, the storage and circulation of short materials (short upright rods, fan materials, and gel window sashes) need to adapt to the core requirement of double-side classification storage. Due to the limitation of workshop layout and equipment configuration, the short material feeding roller line can usually be set on only one side (such as the left side of the workshop), and the short materials need to be stored in double-side warehouse bodies (short upright rods / fan materials are stored on the left side, and gel window sashes are stored on the right side) to realize classification caching and set management. Or, although it can be double-side fed, the situation that one side of the warehouse body may be full and needs to be moved to another warehouse body exists. However, the existing short material storage technology has not yet solved the key problem of how to efficiently transfer the single-side fed short materials to the other side of the warehouse body, resulting in a significant bottleneck in the production process.

[0004] In the traditional scheme, if the single-side fed short materials need to be transferred to the other side of the warehouse body, manual handling or third-party transfer equipment is generally relied on. When manually handling, the short materials (especially gel window sashes) are prone to surface scratches or gel layer falling due to vibration, resulting in high scrap rate and long time consumption, which is far from matching the batch feeding demand of the automatic production line. Although the third-party transfer equipment (such as AGV trolley) can replace manual handling, it needs to occupy additional workshop passage space, which is difficult to match the production rhythm. More importantly, some schemes attempt to realize transfer through double-side independent mechanical hands, but the two sides of the mechanical hands have no special pass-through connection structure and need to be transferred through an intermediate transfer station, which is complicated and prone to material falling due to positioning deviation. In addition, the structure design of the existing short material warehouse does not adapt to the pass-through requirement: the distance between the double-side warehouse bodies is small, and there is a lack of special pass-through channel. If the transfer mechanism is forcibly set, it is easy to interfere with the movement of the warehouse body shelves or mechanical hands. SUMMARY

[0005] In order to solve the problems of the prior art, the present application provides a double-side pass-through three-dimensional warehouse and a warehouse entry and exit method, which solves the core problem that single-side feeding cannot efficiently cover double-side short material storage, overcomes the defects of complicated process and high cost caused by the traditional need for double-side mechanical hand cooperation or manual transfer, improves the automation level and space utilization rate of short material storage, ensures that single-side feeding can meet the storage requirements of double-side warehouse bodies, avoids the problems of material damage, bin explosion, and production line stagnation caused by the lack of special pass-through structure, and reduces manual intervention, ensuring production continuity.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme: In a first aspect, the present application provides a double-side pass-through three-dimensional warehouse.

[0007] A double-sided pass-through three-dimensional warehouse, double-gantry three-column frame, pass-through mechanical hand, warehouse body and electrical system, the warehouse body is a double-sided structure, respectively installed on both sides of the double-gantry three-column frame and fixedly connected with the base pedestal, and the two sides of the warehouse body are respectively used for classified storage of short materials; The double-gantry three-column frame includes a gantry middle column, two gantry side columns, a top seat and a base pedestal, the gantry middle column and the two gantry side columns are both vertically arranged on the base pedestal, and the top seat is fixedly covered on the top ends of the three columns, and a channel for the short materials to pass through is formed in the middle of the frame; The pass-through mechanical hand is installed on one side of the double-gantry three-column frame, and is in sliding cooperation with the frame and can be lifted along the frame, the pass-through mechanical hand includes a lifting bracket mechanism and a double-sided telescopic mechanical hand mechanism; The double-sided telescopic mechanical hand mechanism includes a speed multiplier and a transfer mechanism, the speed multiplier is provided with a fork rod which can be telescoped in the front-rear direction, the front end of the fork rod is a material taking end for connecting with a single-sided feeding drum line, and the rear end of the fork rod is a feeding end for connecting with the other side of the warehouse body; the transfer mechanism is arranged between the material taking end and the feeding end of the speed multiplier assembly, and is used for conveying the short materials taken by the material taking end to the feeding end; The electrical system is electrically connected with the pass-through mechanical hand, controls the lifting of the pass-through mechanical hand, the front-rear telescoping of the fork rod of the speed multiplier assembly and the action of the transfer mechanism, and realizes the pass-through transfer and storage of the single-sided feeding short materials to the double-sided warehouse body.

[0008] In an implementation form of the first aspect of the present application, the top seat lower surface is reserved with pin holes, the upper ends of the gantry middle column and the two gantry side columns are all provided with tapered pins, and the top seat is positioned and connected with the three columns through the tapered pins; The connection parts of the gantry middle column and the two gantry side columns with the top seat are all provided with adjusting bent plates, one end of the adjusting bent plate is bolted with the top seat, and the other end is bolted with the side surface of the corresponding column; The lifting bracket mechanism includes a lifting tray and a mechanical hand supporting plate, and an adjusting block is arranged between the lifting tray and the mechanical hand supporting plate, and the thickness of the adjusting block is ground to finely adjust the levelness of the mechanical hand supporting plate.

[0009] In an optional implementation form of the first aspect of the present application, the base pedestal bottom is in sliding connection with the slide rail on the ground.

[0010] In an implementation form of the first aspect of the present application, the lifting bracket mechanism further includes a guide rail, a rack and a lifting servo motor reducer; The guide rail is fixed on the inner side of the single-sided gantry side column, and the lifting tray is in sliding cooperation with the guide rail through the sliding blocks on both sides; The rack is fixed on the inner side of the gantry middle column, the lifting servo motor reducer is fixed on the lifting tray, and the gear on the output shaft of the lifting servo motor reducer is in meshing with the rack; The upper end surface of the lifting tray is provided with a top stopper, the front and rear ends are provided with baffles for preventing short materials from sliding off, the side surface is provided with a drag chain support and a limit switch, and the single-side gantry side stand is internally provided with a limit stopper matched with the limit switch.

[0011] In an implementation form of the first aspect of the present application, the speed-changing mechanical arm assembly comprises a fork base, a sliding frame, a fork synchronous shaft, a narrow bearing with a vertical seat, a speed-changing sprocket and a fork rod. The fork base is fixed on the mechanical arm support plate, and the fork base is provided with a guide rail extending in the front-rear direction; the sliding frame is in sliding fit with the guide rail through a sliding block. The fork synchronous shaft is arranged in the transverse direction and is installed on the sliding frame through the narrow bearing with a vertical seat; a plurality of speed-changing sprockets are fixed on the fork synchronous shaft through a tension sleeve; each speed-changing sprocket corresponds to a fork rod; the fork rods are arranged in the front-rear direction and are in transmission fit with the speed-changing sprockets at the bottom. The sliding frame is provided with a side baffle extending in the front-rear direction; the side baffle is provided with a cam bearing follower and a deep groove ball bearing; the two side outer walls of the fork rods are in contact fit with the deep groove ball bearings; and the cam bearing follower is embedded in the groove of the fork rod to guide the linear extension and retraction of the fork rods.

[0012] As a further limitation of the first aspect of the present application, the speed-changing mechanical arm assembly further comprises a telescopic servo motor reducer; the telescopic servo motor reducer is fixed on the sliding frame through a reducer support and a reducer mounting plate; the gear on the output shaft of the telescopic servo motor reducer is in mesh with the rack arranged in the front-rear direction on the fork base, so as to drive the sliding frame to drive the fork rods to extend and retract in the front-rear direction.

[0013] In an implementation form of the first aspect of the present application, the transfer mechanism comprises a transmission connecting plate, a transfer lifting mechanism and a transfer conveying mechanism. The transmission connecting plate is two plates, which are parallel and fixed on the mechanical arm support plate with a spacing; an aluminum profile extending in the front-rear direction is fixed between the two transmission connecting plates. The transfer lifting mechanism comprises a linear bearing, an eccentric shaft, a lifting reducer, a synchronous belt and a driven wheel assembly; the bottom of each transmission connecting plate is provided with a linear bearing; the eccentric shafts are arranged in parallel between the opposite linear bearings of the two transmission connecting plates; the lifting reducer is fixed on one of the transmission connecting plates; the output shaft of the lifting reducer is connected with the driven wheel assembly on one of the eccentric shafts through a synchronous belt; the driven wheel assemblies on the two eccentric shafts are connected through a synchronous belt to drive the two eccentric shafts to rotate synchronously; the end of the eccentric shaft is connected with an eccentric shaft sleeve after penetrating through the linear bearing; and the eccentric shaft sleeve is provided with a cam bearing follower.

[0014] As a further limitation of the first aspect of the present invention, the transfer and conveying mechanism includes idler rollers, belt reducers, PU annular belts, and pulleys; the idler rollers are fixed to both ends of the aluminum profiles by transmission roller brackets, the belt reducers are fixed on the aluminum profiles, and their output shafts are connected to the idler rollers by transmission belts; a belt conveying fixing plate is fixed between the aluminum profiles, and multiple pulley shafts are spaced apart on the belt conveying fixing plate along the front-back direction, with pulleys sleeved on the pulley shafts, and the PU annular belt is sleeved on the pulleys and the idler rollers to form a conveying loop along the front-back direction.

[0015] As a further limitation of the first aspect of the present invention, the transmission connecting plate is provided with a guide hole, and a guide sleeve is provided in the guide hole. The guide sleeve is sleeved on the guide shaft fixed to the robot arm support plate; the transfer mechanism also includes a tensioning assembly, which includes a tensioning connecting plate, a square tensioning pin and a pulley tensioning shaft. The tensioning connecting plate is fixed to the end of the belt conveyor fixing plate and has an oblong hole. The belt pulley tensioning shaft passes through the oblong hole. The square tensioning pin is inserted into the pin hole of the tensioning connecting plate and the belt pulley tensioning shaft. The position of the belt pulley tensioning shaft in the oblong hole is adjusted to tension the PU ring belt.

[0016] As a further limitation of the first aspect of the present invention, it also includes a single-sided feeding roller line and a double-sided discharging roller line; the single-sided feeding roller line is set on the feeding side of the double gantry three-column frame and connects to the picking end of the fork of the double-speed manipulator component; the double-sided discharging roller lines are respectively set on the outer sides of the two short material bins and connect to the picking end and the feeding end of the fork of the double-speed manipulator component respectively.

[0017] Secondly, the present invention provides a method for the entry and exit of a double-sided through-hall automated warehouse for aluminum alloy processing.

[0018] A method for accessing and retrieving a double-sided, through-passage automated warehouse for aluminum alloy processing, utilizing the automated warehouse of the first aspect of this invention, includes the following process: Preparation phase: Initialize the through-hall robot through the electrical system, so that the through-hall robot is reset to the initial position flush with the single-sided feed roller line, the fork of the speed-doubled robot component retracts, and the transfer mechanism is reset; In the sorting and warehousing stage: When short materials need to be stored in the short material warehouse on the feeding side, the electrical system controls the through-hall robot to rise and fall to be level with the single-sided feeding roller line. The fork of the double-speed robot component extends and retracts forward to pick up the material. The through-hall robot rises and falls to the target shelf height of the short material warehouse on the feeding side, and the fork extends and retracts forward to transfer the short material to the short material warehouse on the feeding side. When short materials need to be stored in the short material warehouse on the far side, the fork of the double-speed robot component extends and retracts forward to pick up the material and retracts above the transfer mechanism. The transfer mechanism rises to receive the short material and transports the short material to the feeding end of the fork. The through-hall robot rises and falls to the target shelf height of the short material warehouse on the far side, and the fork extends and retracts backward to transfer the short material to the short material warehouse on the far side. Classification storage stage: short material is classified and stored independently in the short material library on the feeding side and the short material library on the far material side; The short material is transported to the corresponding side of the outfeed roller line through the telescopic fork rod of the double-speed mechanical hand assembly, the through-passage mechanical hand is lifted to the height level with the corresponding side of the outfeed roller line, the short material is moved to the outfeed roller line through the telescopic fork rod, and the outfeed is completed.

[0019] Compared with the prior art, the present application has the following advantages: The present application constructs a three-dimensional warehouse comprising a double-gate three-column frame, a single-side through-passage mechanical hand, a double-side warehouse body and an electrical system. The double-gate three-column frame forms a through-passage in the middle, the through-passage mechanical hand integrates a double-speed mechanical hand and a moving mechanism, the double-speed mechanical hand fork rod has a picking end and a feeding end, the moving mechanism connects the two ends to realize short material transportation, and the electrical system controls the actions of each component. The present application solves the core problem of single-side feeding and efficiently covers the double-side short material storage, overcomes the defects of traditional double-side mechanical hand cooperation or manual transfer leading to complicated process and high cost, improves the automation level and space utilization rate of short material storage, ensures that single-side feeding can meet the storage demand of the double-side warehouse body, avoids the problems of material damage, bin explosion and production line stagnation caused by the lack of a special through-passage structure, reduces manual intervention, and guarantees production continuity.

[0020] The top seat of the present application is positioned and connected with the three columns through a conical pin, an adjustment bending plate is arranged at the connection between the column and the top seat, the lifting bracket mechanism is finely adjusted through the adjusting block to adjust the horizontal degree of the mechanical hand support plate, the installation precision of the double-gate three-column frame is difficult to guarantee, and the horizontal degree deviation of the mechanical hand support plate is solved. The present application overcomes the defects of traditional frames that are prone to inaccurate positioning and cannot compensate for the manufacturing and installation deviation of the columns, improves the assembly precision and stability of the frame, ensures the reliability of the connection between the top seat and the column, and compensates for the size deviation between the lifting tray and the mechanical hand support plate through the adjusting block, avoids the mechanical hand action jam caused by poor cooperation, and guarantees the accuracy of subsequent short material through-passage and storage and retrieval actions.

[0021] The lifting bracket mechanism of the present application is provided with a guide rail, a rack, a lifting servo motor reducer, a top bumper, a baffle, a limit switch and a limit block. The guide rail and the sliding block cooperate to guide, the rack and the gear are engaged to drive lifting, the safety components realize protection and stroke control, the through-passage mechanical hand lifting is not stable, the positioning is not accurate, and the safety protection is lacking. The present application overcomes the defects of traditional lifting mechanisms that are prone to deviation and lack effective stroke limitation, improves the accuracy and stability of the mechanical hand lifting, precisely controls the lifting stroke through the limit switch and the limit block, avoids overstroke collision, enhances the buffering protection through the top bumper, prevents the short material from falling during lifting through the baffle, guarantees the safety of the short material during lifting, ensures the cooperation of the lifting action and other components, and improves the overall operation smoothness.

[0022] The speed multiplier mechanical hand assembly of the application comprises a fork base, a sliding frame, a fork synchronous shaft, a speed multiplier chain wheel and a fork rod, the fork synchronous shaft is installed on the sliding frame through a bearing, the chain wheel and the fork rod are in transmission cooperation, the side baffle is provided with a cam bearing follower and a deep groove ball bearing to guide the expansion and contraction of the fork rod, the problem of asynchronous expansion and contraction of multiple fork rods and unsmooth movement is solved, the defects of traditional fork rods lacking effective guidance and being easy to deviate and unstable transmission are overcome, the synchronism and stability of the action of the fork rod are improved, the fork synchronous shaft ensures the synchronous rotation of multiple chain wheels, thereby driving the synchronous expansion and contraction of the fork rod, the deep groove ball bearing reduces the friction between the fork rod and the side baffle, the cam bearing follower limits the lateral displacement of the fork rod, avoids the deviation of the fork rod when short materials are taken and placed, causing the materials to fall, and ensures the position accuracy in the process of short material storage and taking, and improves the processing efficiency of batches of short materials.

[0023] The speed multiplier mechanical hand assembly of the application is additionally provided with a telescopic servo motor reducer, the reducer support and the mounting plate are fixed on the sliding frame, and the output shaft gear is engaged with the rack of the fork base to drive the expansion and contraction of the fork rod. This scheme solves the problem of insufficient power of the expansion and contraction of the fork rod of the speed multiplier mechanical hand and the difficulty in accurately controlling the speed, overcomes the defects of low efficiency and the inability to adapt to different short material storage and taking requirements of traditional manual or single transmission mode, improves the power stability and speed adjustment flexibility of the expansion and contraction of the fork rod, can adjust the expansion and contraction speed according to the type of short materials (such as short tappets and gel window sashes), ensures that the material taking and placing action is gentle, avoids damage to the materials, and at the same time, through the accurate engagement of the gear and the rack, the position accuracy of the expansion and contraction of the fork rod is improved, and the smooth handover of the short materials between the material taking end and the warehouse body and between the material feeding end and the warehouse body is ensured.

[0024] The transfer mechanism of the application is provided with a transmission connecting plate, a transfer lifting mechanism and a transfer conveying mechanism, the transfer lifting mechanism is driven to lift by synchronous rotation of the eccentric shaft, the transfer conveying mechanism realizes horizontal conveying of the short materials through a PU ring belt, an aluminum profile provides frame support, and a carrier roller and a belt reducer drive the belt to run, solving the problem that the short materials are difficult to be smoothly connected and conveyed between the material taking end and the material feeding end of the speed multiplier mechanical hand, overcoming the defects of traditional manual transfer and low efficiency without a special transfer structure, improving the automation level and stability of the short material through conveying, the transfer lifting mechanism realizes smooth transition of the short materials between the fork rod and the belt, the PU ring belt avoids scratching during conveying of the short materials, ensuring that the short materials are smoothly transferred from the material taking end to the material feeding end, avoiding material accumulation or damage caused by poor connection, and ensuring the continuity of the through process.

[0025] The transmission connecting plate of this invention is equipped with a guide sleeve that cooperates with the guide shaft. The transfer mechanism is further equipped with a tensioning assembly containing a tensioning connecting plate, a square tensioning pin, and a belt pulley tensioning shaft. The PU annular belt is tensioned by adjusting the position of the tensioning shaft. This solution solves the problems of easy tilting during the lifting and lowering of the transfer mechanism and easy loosening and slippage of the PU annular belt. It overcomes the defects of traditional transfer mechanisms, such as lack of guidance and easy deviation, and inability to adjust belt tension. It improves the straightness of the lifting and lowering of the transfer mechanism and the reliability of belt conveying. The cooperation between the guide sleeve and the guide shaft ensures that the lifting and lowering action is tilt-free, avoiding deviation in the conveying of short materials. The tensioning assembly can flexibly adjust the belt tension to prevent conveying stagnation caused by belt slippage, ensuring the stability of short material conveying through the conveyor and avoiding the impact of belt problems on the overall operation efficiency.

[0026] The warehousing method of this invention consists of four stages: preparation, classified warehousing, classified storage, and complete set warehousing. The electrical system initializes the equipment, allocates storage space according to the type of short materials, and a robotic arm, in conjunction with a transfer mechanism, completes the passage and retrieval. The electrical system monitors complete sets and controls warehousing. This solves the problems of chaotic short material warehousing processes, unclear classification, and delayed complete set detection. It overcomes the shortcomings of traditional processes, such as excessive manual intervention, high error rates, and low efficiency. It improves the orderliness and automation of short material processing. Classified warehousing ensures clear storage of short materials, facilitates management, and complete set warehousing ensures timely delivery of complete sets to downstream processes, avoiding order delays, incorrect material shipments, and quality losses caused by manual operation, thus improving overall production efficiency.

[0027] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0029] Figure 1 A schematic diagram of the structure of a double-sided three-dimensional library provided as an exemplary embodiment of the present invention; Figure 2 A gantry diagram provided for an exemplary embodiment of the present invention Figure One ; Figure 3 A gantry diagram provided for an exemplary embodiment of the present invention Figure Two ; Figure 4 A schematic diagram of a passageway robot provided as an exemplary embodiment of the present invention. Figure One ; Figure 5 A schematic diagram of a passageway robot provided as an exemplary embodiment of the present invention. Figure Two ; Figure 6 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Three ; Figure 7 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Four ; Figure 8 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Five ; Figure 9 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Six ; Figure 10 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Seven ; Figure 11 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Eight ; Figure 12 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Nine ; Figure 13 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Ten ; Figure 14 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Ten One Figure 15 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Ten Two Figure 16 Schematic diagram of a cross aisle robot according to an exemplary embodiment of the present application Figure Ten Three Figure 17 Schematic diagram of a library body according to an exemplary embodiment of the present application Figure One ; Figure 18 Schematic diagram of a library body according to an exemplary embodiment of the present application Figure Two ; Figure 19 Schematic diagram of a library body according to an exemplary embodiment of the present application Figure Three ; Figure 20 Schematic diagram of a library body according to an exemplary embodiment of the present application Figure Four ; Wherein, 1, double-portal three-column frame; 2, first passageway mechanical hand; 3, second passageway mechanical hand; 4, warehouse body; 5, left side warehouse; 6, right side warehouse; 7, operating platform; 8, electrical system; 9, feeding roller line; 10, discharging roller line; 11, portal middle column; 12, portal side column; 13, top base; 14, foundation base; 15, Z-axis drag chain box; 16, adjusting bent plate; 17, maintenance safety bolt; 18, nitrogen buffer assembly; 19, lifting bracket mechanism; 20, double-sided telescopic mechanical hand mechanism; 21, lifting tray; 22, lifting mechanical hand supporting plate; 23, drag chain support; 24, top bump block; 25, limiting stop block; 26, guide rail; 27, rack; 28, baffle; 29, limiting switch; 30, adjusting block; 31, first speed reducer mounting plate; 32, second speed reducer mounting plate; 33, transfer mechanism; 33-1, aluminum profile; 33-2, transfer conveying mechanism; 33-3, belt speed reducer support; 33-4, speed reducer mounting plate; 33-5, PU ring belt; 33-6, transfer lifting mechanism; 33-7, supporting roller; 33-8, transmission roller support; 33-9, belt conveying fixed plate; 33-10, pulley shaft; 33-11, fixed width strip; 33-12, pulley; 33-13, tensioning connecting plate; 33-14, square tensioning pin; 33-15, PU ring belt; 33-16, pulley tensioning shaft; 33-17, transmission connecting plate; 33-18, tensioning block; 33-19, cam bearing follower; 33-20, eccentric mounting shaft; 33-21, bearing with vertical seat, linear bearing; 33-22, eccentric shaft sleeve; 33-23, lifting speed reducer support; 33-24, synchronous belt; 33-25, transfer lifting spacer sleeve; 33-26, driven wheel assembly; 33-27, synchronous belt; 34, speed multiplier mechanical hand; 34-1, fork base; 34-2, sliding frame; 34-3, speed reducer support; 34-4, speed reducer mounting plate; 34-5, fork synchronous shaft; 34-6, bearing with vertical seat narrow type; 34-7, speed multiplier sprocket; 34-8, tensioning sleeve; 34-9, side baffle; 34-10, cam bearing follower; 34-11, deep groove ball bearing; 34-12, cylindrical pin; 34-13, fork rod; 34-14, transmission rod seat; 34-15, roller chain; 34-16, chain fixed block; 34-17, chain tensioning rod; 34-18, chain tensioning block; 34-19, equal-height pad; 34-20, guide shaft; 34-21, wear-resistant block; 34-22, linear shaft support; 34-23, drag chain mounting support; 34-24, drag chain support; 34-25, tensioning block; 34-26, speed reducer adjusting plate; 41, first single material warehouse; 42, first material channel; 43, second single material warehouse; 44, second material channel; 45, peripheral protection plate; 46, first storage base; 47, first material warehouse column; 48, first base connecting beam; 49, second base connecting beam; 50, second material warehouse column; 51, third material warehouse column; 52, fourth material warehouse column; 53, fifth material warehouse column; 54, sixth material warehouse column; 55, first column connecting beam; 56, first diagonal bracing beam; 57, second column connecting beam; 58, third column connecting beam; 59, fourth column connecting beam; 60, second diagonal bracing beam; 61, plastic square tube plug; 62, first warehouse rack base; 63, warehouse layer rack; 64, stainless steel rectangular tube clamp; 65, plastic square tube plug; 66, second warehouse rack base; 67, second storage base. DETAILED DESCRIPTION

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

[0031] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0032] The present implementation innovatively proposes a double-sided stereoscopic warehouse system, as shown in Figure 1 , Figure 2 and Figure 3 , the overall system is composed of a double-gantry three-column frame 1 (supporting + through-passage), a through-passage manipulator (through-passage execution core, including a first through-passage manipulator 2 and a second through-passage manipulator 3), a warehouse body 4 (double-sided storage, including a left-side material warehouse 5 and a right-side material warehouse 6, both sides of the material warehouse can store short materials or one side stores short materials and the other side stores gel window sashes), an electrical system 8 (control core), and auxiliary conveying components (an infeed roller line 9 and an outfeed roller line 10, the present implementation takes the infeed roller line 9 as an example for introduction, which is located on one side of the left-side material warehouse 5).

[0033] The double-gantry three-column frame 1 includes a gantry middle column 11, gantry side columns 12 (two, separated on both sides of the gantry middle column 11), a top base 13, a foundation base 14, an adjustment bending plate 16, an inspection safety bolt 17, a nitrogen buffer assembly 18, and a Z-axis drag chain box 15.

[0034] The through-passage manipulator includes a lifting bracket mechanism 19 (a lifting tray 21, a lifting manipulator support plate 22, an adjustment block 30, a limit switch 29, a baffle 28, a first speed reducer mounting plate 31, a second speed reducer mounting plate 32), a double-sided telescopic manipulator mechanism 20 (a multiple-speed manipulator 34 (including 34-1~34-26), a transfer mechanism 33 (including 33-1~33-27).

[0035] The warehouse body 4 comprises two side warehouses, each of which comprises a first single-face warehouse 41 and a second single-face warehouse 43 arranged in sequence, a first storage base 46, a second storage base 67, a first warehouse column 47, a second warehouse column 50, a third warehouse column 51, a fourth warehouse column 52, a fifth warehouse column 53, a sixth warehouse column 54, a warehouse layer rack 63, a first warehouse rack base 62, a second warehouse rack base 66, a peripheral protection sheet metal 45, a first material channel 42, a second material channel 44, a first column connecting beam 55, a first inclined bracing beam 56, a second column connecting beam 57, a second inclined bracing beam 60, a first base connecting beam 48, a second base connecting beam 49, a stainless steel rectangular tube clamp 64, a plastic square tube plug 61, and a plastic square tube plug 65.

[0036] The electrical system 8 comprises a PLC controller, a servo driver, a signal acquisition module, and an operating table 7 (a touch screen + operation buttons); and the auxiliary components include a single-side feeding drum line 9, a double-side discharging drum line 10, a material detection sensor, a warehouse position occupation sensor, and a temperature and humidity sensor.

[0037] In the present embodiment, the base base 14 is a whole welded rigid frame, and the upper surface is provided with a positioning key groove corresponding to the three columns (the middle column of the gantry 11 and the two side columns of the gantry 12); the lower end of the column is processed with a groove matched with the key groove, the precise pre-positioning is realized by embedding the positioning key into the base key groove, and the rigid fastening is completed by penetrating the column flange with the base through the circumferentially distributed bolts; the diagonal tightening sequence is adopted when the bolts are fastened, so as to ensure that the column perpendicularity is not deviated.

[0038] The lower surface of the top base 13 is provided with a conical pin hole corresponding to the upper end of the three columns, and the upper end of the column is welded with a conical pin; during installation, the conical pin is inserted into the top base pin hole first, so as to realize the gapless positioning of the top base and the column; then, two adjusting bent plates 16 (L-shaped structure) are installed at the connection between each column and the top base, one end of the adjusting bent plate is connected with the side of the top base through a bolt, and the other end is connected with the side of the column; by adjusting the position of the bolt in the long circular hole of the adjusting bent plate, the slight bending of the column due to the long length can be compensated, so as to ensure the horizontal degree of the top base, and further ensure the front-back symmetry of the through passage.

[0039] The maintenance safety bolt 17 is horizontally installed on the inner side of the gantry side column 12 through a socket, the socket is arranged in a spaced manner along the height direction of the column, and is flush with the bottom of the lifting tray 21 of the through passage manipulator, so as to facilitate the insertion of the safety bolt to hold the tray during maintenance; the nitrogen buffer assembly 18 is fixed on the base base 14 through a support, and is opposite to the lower side of the lifting path of the through passage manipulator, the guide sleeve of the assembly is coaxially aligned with the nitrogen spring, so as to ensure the accurate triggering of the buffer when the manipulator is lowered; the Z-axis drag chain box 15 is fixed along the outer side of the gantry side column 12, the upper end thereof is connected with the drag chain guide frame of the top base 13, the lower end thereof is connected with the drag chain fixed seat of the base, and the cable drag chain of the through passage manipulator is accommodated in the interior.

[0040] In the present embodiment, the three uprights are arranged in a middle-near-far distribution, and together with the top base 13 and the base bottom 14 form a triangular stable frame, which can bear the total weight of the overhead mechanical hand, the library body 4 and the short material, and the deformation of the frame is controlled within a very small range, so as to avoid the deviation of the mechanical hand due to the deformation of the frame; the middle part of the frame is reserved as an unobstructed space for the overhead passage, the front-rear direction of the passage is consistent with the extension direction of the fork rod 34-13 of the overhead mechanical hand, and the left-right direction is adapted to the conveying direction of the moving and carrying mechanism 33 (including the moving and carrying conveying mechanism 33-2 and the moving and carrying lifting mechanism 33-6), so as to ensure that the short material does not interfere with the frame and the library body 4 when passing through the overhead passage; the maintenance safety bolt 17 can forcibly fix the position of the mechanical hand during maintenance, so as to prevent accidental falling; when the mechanical hand rapidly descends to the bottom, the nitrogen buffer assembly 18 buffers the impact force through the elastic force of the nitrogen spring, so as to protect the lifting components (such as the gear and the rack 27) of the mechanical hand.

[0041] In the present embodiment, the overhead mechanical hand is lifted along the gantry side upright 12, and is carried by the lifting bracket mechanism 19 and the double-sided telescopic mechanical hand mechanism 20 to realize the transfer of the short material from one side to the other side of the library body 4.

[0042] The lifting tray 21 is a rectangular welded frame, both sides of which are welded with sliding block mounting plates, the sliding blocks are fixed on the mounting plates by bolts, and the sliding blocks and the guide rail 26 of the gantry side upright 12 form a sliding fit; the sliding blocks are provided with ball bearings, which can reduce friction during lifting, and the fitting surfaces of the sliding blocks and the guide rail 26 are precisely machined to ensure that the tray does not deviate left and right during lifting.

[0043] In the present embodiment, the lifting mechanical hand tray 22 is covered on the upper surface of the lifting tray 21, and four adjusting blocks 30 (distributed at the four corners) are arranged therebetween; the adjusting blocks are abradable components, and the levelness of the lifting mechanical hand tray 22 can be finely adjusted by abrading the thicknesses of different adjusting blocks, so as to ensure the flatness of the conveying plane of the subsequent moving and carrying mechanism 33, and avoid the inclination of the short material during conveying.

[0044] The lifting servo motor reducer is symmetrically fixed on both sides of the lifting tray 21 through the first reducer mounting plate 31 and the second reducer mounting plate 32, the motor output shaft is fixed with a gear through a key connection, and the gear is engaged with the rack 27 on the inner side of the gantry middle upright 11; the rack 27 is fixed on the rack seat by bolts in sections, and the rack seat is welded with the upright side surface, so as to ensure that the engagement depth of the rack 27 and the gear is consistent (the engagement depth is greater than or equal to 2 teeth).

[0045] In the present embodiment, the top end surface of the lifting tray 21 is centrally fixed with a top bumper 24 (rubber material), which contacts the lower surface of the top seat 13 when the tray is lifted to the limit position, achieving mechanical buffering; the front and rear ends of the tray are fixed with baffle plates 28, which are perpendicular to the tray plane and can block short materials from sliding from the side during lifting; the side surface of the tray is fixed with limit switches 29, and one limit bumper 25 is fixed to the inner side of each of the upper and lower ends of the gantry side stand 12, and the trigger head of the limit switch 29 corresponds to the position of the bumper, when the tray is lifted to the limit stroke, the bumper triggers the limit switch 29, and sends a stop signal to the electrical system 8.

[0046] More specifically, the working principle is as follows: the electrical system 8 sends a lifting instruction → the lifting servo motor reducer is powered to rotate → the output shaft gear drives the rack 27 to move relatively → since the rack 27 is fixed, the gear drives the lifting tray 21 to move up and down along the guide rail 26; the rotation direction of the motor determines the lifting direction (upward rotation and downward rotation), and the motor speed is adjusted through the servo driver, thereby controlling the lifting speed; the adjustment block 30 ensures that the lifting mechanical hand tray 22 is horizontal, thereby making the action reference of the speed-up mechanical hand 34 and the transfer mechanism 33 mounted on the tray consistent, and avoiding the deviation of short materials due to the inclination of the tray; during lifting, the limit switch 29 monitors the tray position in real time, when the tray is lifted to a safe distance below the top seat 13, the upper limit bumper 25 triggers the limit switch 29, and the motor stops lifting; when the tray is lowered to a safe distance above the bottom seat, the lower limit bumper 25 triggers the limit switch 29, and the motor stops lowering; the top bumper 24 serves as a secondary protection to prevent the tray from colliding with the top seat 13 when the limit switch 29 fails.

[0047] In the present embodiment, as shown in Figures 4-16 The double-sided telescopic mechanical hand mechanism 20 is the execution end of the through-action, which realizes the cross-side transfer of short materials through the cooperation of the speed-up mechanical hand 34 and the transfer mechanism 33 for conveying through the hall, both of which are installed on the lifting mechanical hand tray 22, and the action connection is precisely controlled by the electrical system 8.

[0048] The fork base 34-1 is connected with the sliding frame 34-2 in a guided manner, the fork base 34-1 is fixed in the middle of the lifting mechanical hand tray 22, and two parallel guide rails are installed on the base in the front-rear direction (the through direction); the lower surface of the sliding frame 34-2 is fixed with a sliding block, which is in sliding cooperation with the guide rails of the base, and can drive the entire fork rod assembly to move forward and backward; the cooperation gap between the guide rails and the sliding block is extremely small, ensuring that the sliding frame 34-2 does not shake when moving.

[0049] The fork synchronization shaft 34-5 is in transmission connection with the speed-changing sprocket wheel 34-7, the fork synchronization shaft 34-5 transversely penetrates the sliding frame 34-2, the two ends of the fork synchronization shaft 34-5 are connected with the sliding frame 34-2 through the narrow bearing with vertical seat 34-6, the narrow bearing with vertical seat 34-6 is fixed on the side surface of the sliding frame through bolts, so as to ensure that the fork synchronization shaft 34-5 can rotate freely; a plurality of speed-changing sprocket wheels 34-7 (the number is consistent with the number of the fork rods 34-13) are fixed on the fork synchronization shaft 34-5 through the expansion sleeve 34-8, the expansion sleeve 34-8 fastens the sprocket wheel and the synchronization shaft through radial pressure, so as to avoid slipping during transmission; each speed-changing sprocket wheel 34-7 corresponds to a fork rod 34-13, the bottom of the fork rod 34-13 is fixed with the roller chain 34-15 through the transmission rod seat 34-14, the roller chain 34-15 is fixed through the chain fixing block 34-16 and is engaged with the speed-changing sprocket wheel 34-7, so as to form a sprocket-chain transmission pair; the sliding frame 34-2 is further provided with the chain expansion rod 34-17 and the chain expansion block 34-18, which are used for adjusting the tension of the roller chain 34-15.

[0050] The guiding and supporting of the fork rod 34-13 specifically include that the side baffle 34-9 is fixed on the sliding frame 34-2 along the length direction of the fork rod, and each fork rod is correspondingly provided with a side baffle on each side; the deep groove ball bearing 34-11 is connected to the side baffle through the cylindrical pin 34-12, the outer ring of the bearing is in contact with the outer side wall of the fork rod 34-13, so as to reduce the friction when the fork rod is stretched and contracted; the cam bearing follower 34-10 is further installed on the side baffle, the roller of the follower is embedded in the I-shaped groove of the fork rod 34-13, so as to form a groove-roller guiding structure, so as to ensure that the fork rod 34-13 moves along a straight line when being stretched and contracted, and does not deviate left and right; the equal-height pad 34-19 is further arranged between the sliding frame 34-2 and the fork base 34-1, which is used for adjusting the installation height difference between the two, so as to ensure the guiding accuracy.

[0051] In the present embodiment, the telescopic servo motor reducer is fixed to the side surface of the sliding frame 34-2 through the reducer support 34-3 and the reducer mounting plate 34-4, the motor output shaft is fixed with a gear through a key, and the gear is engaged with the rack arranged along the front and back directions on the fork base 34-1; the rack is fixed to the side of the base guide rail through bolts, and the engagement depth of the rack and the gear is consistent, so as to ensure stable transmission; the reducer adjustment plate 34-26 (provided with the expansion block 34-25) is further arranged on the sliding frame 34-2, which can finely adjust the installation position of the telescopic servo motor reducer, so as to ensure the engagement accuracy of the gear and the rack.

[0052] The specific working principle (speed-changing telescopic and accurate picking and placing) is as follows: Telescopic action trigger and transmission: the electrical system 8 sends a pick-up / drop-off instruction → the telescopic servo motor reducer is powered on and rotates → the output shaft gear meshes with the fork base 34-1 rack, driving the sliding frame 34-2 to move back and forth along the base guide rail; at the same time, the motor drives the fork synchronous shaft 34-5 to rotate through the transmission components → the synchronous sprocket 34-7 on the synchronous shaft drives the roller chain 34-15 to transmit → the chain pulls the fork rod 34-13 to extend along the side baffle 34-9; Speed-up effect: the movement speed of the sliding frame 34-2 and the telescopic speed of the fork rod 34-13 are superimposed, forming a speed-up telescopic effect (e.g., when the sliding frame moves forward, the fork rod also extends forward, and the total speed is the sum of the two), which can quickly cover the distance across the aisle and improve the pick-up / drop-off efficiency; Guiding and stability guarantee: the deep groove ball bearing 34-11 reduces the frictional resistance between the fork rod 34-13 and the side baffle 34-9, ensuring smooth telescopic movement of the fork rod; the cam bearing follower 34-10 is embedded in the fork rod groove, limiting the lateral displacement of the fork rod 34-13, and avoiding the fork rod from deviating and causing short materials to fall off when picking up / dropping off short materials; the chain tensioning rod 34-17 and the chain tensioning block 34-18 can adjust the tension of the roller chain 34-15 in real time, avoiding the loosening of the chain affecting the transmission stability.

[0053] The transfer mechanism 33 is located between the pick-up end and the feeding end of the speed-up manipulator 34, responsible for smoothly transporting the short materials at the pick-up end to the feeding end, and is the core connecting component of the cross-aisle action. Two transmission connecting plates 33-17 are fixed in parallel in the middle of the lifting manipulator support plate 22, and the plate spacing is adapted to the fork rod spacing of the speed-up manipulator 34; each connecting plate is fixed with two linear bearings 33-21 at the bottom, and an eccentric mounting shaft 33-20 is inserted into the opposite linear bearings of the two connecting plates, and the two eccentric mounting shafts are arranged in parallel and axially positioned by the transfer lifting spacer sleeve 33-25; the lifting reducer is fixed on the left transmission connecting plate through the lifting reducer support 33-23, the motor output shaft is connected with the driven wheel assembly 33-26 on the left eccentric mounting shaft through the synchronous belt 33-24, the driven wheel assembly on the right eccentric mounting shaft is connected with the left driven wheel assembly through the synchronous belt 33-27, forming a synchronous transmission structure of motor-synchronous belt-double eccentric shaft; after the eccentric mounting shaft 33-20 passes through the linear bearing, it is fixed with an eccentric shaft sleeve 33-22 through a bolt, and the outside of the eccentric shaft sleeve 33-22 is fixed with a cam bearing follower 33-19 through a pin shaft, and the rollers of the cam bearing follower 33-19 are in contact with the wear-resistant blocks 34-21 on the lifting manipulator support plate 22; the transmission connecting plate 33-17 is also provided with a tensioning block 33-18 for enhancing the structural rigidity of the connecting plate.

[0054] Two aluminum profiles 33-1 are fixed across the top of two transmission connecting plates 33-17 and are arranged vertically with the connecting plates; the two ends of the aluminum profiles are fixed with transmission roller supports 33-8, and the carrier rollers 33-7 are connected with the transmission roller supports through linear bearings 33-21 and can rotate freely; a belt speed reducer is fixed on the left aluminum profile through a belt speed reducer support 33-3, the output shaft of the motor is connected with the carrier roller through a PU ring belt 33-5, forming a motor-belt-carrier roller driving structure; a belt conveying fixed plate 33-9 is fixed between the aluminum profiles, a plurality of belt pulley shafts 33-10 are arranged on the plate in the front-rear direction, belt pulleys 33-12 are sleeved on the shafts, and PU ring belts 33-15 are sleeved on all the belt pulleys and carrier rollers 33-7, forming a closed conveying loop; a width limiting strip 33-11 is fixed on the belt conveying fixed plate in the front-rear direction, the width limiting strip is located on both sides of the belt pulley and is close to the edge of the belt pulley, and is used for limiting the axial displacement of the belt pulley 33-12; a tensioning connecting plate 33-13 is fixed at the end of the belt conveying fixed plate, connected with a belt pulley tensioning shaft 33-16 through a square tensioning pin 33-14, and the belt pulley tensioning shaft 33-16 can move along the long circular hole of the tensioning connecting plate, used for adjusting the tension of the PU ring belt 33-15.

[0055] Two guiding holes are machined on each of the two transmission connecting plates 33-17, and a guiding sleeve (copper sleeve material) is press-fitted in the hole; a guiding shaft 34-20 is fixed on the lifting manipulator supporting plate 22 in the front-rear direction and is stably supported by a linear shaft support 34-22, and the guiding sleeve is sleeved outside the guiding shaft, forming a sliding fit structure of the guiding shaft and the guiding sleeve; a drag chain mounting bracket 34-23 and a drag chain support 34-24 are further arranged on the speed multiplier manipulator 34, used for mounting a cable drag chain and ensuring the orderly arrangement of the cable during movement; the drag chain support 34-24 cooperates with the drag chain support 23 on the lifting tray 21 to realize the full-process support of the drag chain.

[0056] The working principle (lifting connection + horizontal conveying, including width limiting strip function) is as follows: When the speed-changing mechanical hand 34 takes the short material to the transfer mechanism 33, the electrical system 8 sends a lifting instruction, the lifting speed reducer is powered to rotate, the output shaft synchronous belt 33-24 drives the left eccentric mounting shaft 33-20 to rotate, the left driven wheel assembly 33-26 drives the right eccentric mounting shaft to rotate through the synchronous belt 33-27, when the eccentric mounting shaft rotates, the cam bearing follower 33-19 on the eccentric shaft sleeve 33-22 rolls along the wear-resistant block 34-21, because the wear-resistant block is fixed, the follower drives the transmission connecting plate 33-17 and the whole transfer mechanism 33 to rise, the transfer mechanism 33 rises to contact the bottom of the short material, continues to rise by a small distance, lifts the short material to separate from the fork rod 34-13 of the speed-changing mechanical hand, at this time, the guide sleeve slides along the guide shaft 34-20, ensures that the transfer mechanism 33 moves linearly when rising and falling, and does not tilt, when the short material is conveyed to the feeding end, the lifting speed reducer reverses, the transfer mechanism 33 falls, and the short material is transferred to the fork rod 34-13 of the speed-changing mechanical hand 34 at the feeding end (i.e. the other side).

[0057] When the transfer mechanism 33 rises to receive the short material, the electrical system 8 sends a conveying instruction, the belt speed reducer is powered to rotate, the output shaft PU ring belt 33-5 drives the supporting roller 33-7 to rotate, the supporting roller 33-7 drives the PU ring belt 33-15 to move synchronously, and the short material moves from the taking end to the feeding end along the belt; during the conveying process, the width limiting strip 33-11 limits the displacement of the belt pulley 33-12, prevents the belt pulley from deviating to cause unstable belt conveying, and increases the belt tension by adjusting the position of the belt pulley tensioning shaft 33-16 in the long circular hole of the tensioning connecting plate 33-13, to ensure the stability of the conveying force.

[0058] During the lifting process of the transfer mechanism 33, the guide sleeve slides along the guide shaft 34-20 to limit the transverse displacement of the transfer mechanism 33, ensures the accuracy of the short material conveying direction, and does not deviate from the receiving range of the fork rod 34-13 at the feeding end; the tensioning block 33-18 enhances the rigidity of the transmission connecting plate 33-17, avoids the deformation of the connecting plate during the lifting process, and affects the conveying accuracy.

[0059] In the present embodiment, as shown in FIG. 1, Figure 17 , Figure 18 , Figure 19 and Figure 20As shown, the first storage base 46 is a rigid welded frame, fixed with the base base 14 of the double-gantry three-column frame by bolts, and connected with the second storage base 67 through the first base connecting beam 48 and the second base connecting beam 49, to enhance the overall stability; the upper surface of the first storage base 46 is welded with a positioning block, used for the pre-positioning of the first warehouse column 47, the second warehouse column 50, and the third warehouse column 51. The second storage base 67 is consistent in structure with the first storage base 46, fixed with the base base 14 by bolts; the upper surface of the second storage base 67 is welded with a positioning block, used for the pre-positioning of the fourth warehouse column 52, the fifth warehouse column 53, and the sixth warehouse column 54.

[0060] The positioning blocks of the two storage bases are processed with grooves adapted to the lower ends of the corresponding warehouse columns; after the warehouse columns are pre-positioned by the positioning blocks, bolts are used to penetrate the column flanges and the storage bases, to complete rigid fastening.

[0061] The first warehouse column 47, the second warehouse column 50, and the third warehouse column 51 are all vertically fixed on the positioning blocks of the first storage base 46; the first warehouse column 47 and the second warehouse column 50 are connected by the first column connecting beam 55 (horizontal) and the first inclined bracing beam 56 (inclined), and the second warehouse column 50 and the third warehouse column 51 are connected by the second column connecting beam 57 (horizontal) and the second inclined bracing beam 60 (inclined), to form a stable frame of the feeding side warehouse (left side warehouse 5).

[0062] The fourth warehouse column 52, the fifth warehouse column 53, and the sixth warehouse column 54 are all vertically fixed on the positioning blocks of the second storage base 67; the fourth warehouse column 52 and the fifth warehouse column 53 are connected by the third column connecting beam 58 (horizontal) and the second inclined bracing beam 60 (inclined), and the fifth warehouse column 53 and the sixth warehouse column 54 are connected by the fourth column connecting beam 59 (horizontal) and the second inclined bracing beam 60 (inclined), to form a stable frame of the far feeding side warehouse (right side warehouse 6).

[0063] All the column connecting beams and the inclined bracing beams are connected with the corresponding columns by bolts; when the bolts are fastened, the perpendicularity of the beams and the columns is ensured, to avoid deformation of the frame; the top of the column is fixed by a stainless steel rectangular tube clamp 64, to prevent the top from deviating; plastic square tube plugs 61 and 65 are respectively installed at the two ends of the column and the port of the connecting beam, to play a dustproof and protective role.

[0064] The first warehouse rack seat 62 is a steel plate punched forming part, fixed inside the first warehouse column 47, the second warehouse column 50, and the third warehouse column 51 by bolts, and arranged at intervals along the height direction of the column; the first warehouse rack seat 62 is pre-provided with bolt holes, used for fixing the warehouse layer rack 63.

[0065] The second stock rack seat 66 is consistent with the first stock rack seat 62 in structure, is fixed on the inner side of the fourth stock column 52, the fifth stock column 53 and the sixth stock column 54 by bolts, and is arranged at intervals along the height direction of the column; the second stock rack seat 66 is provided with a preset bolt hole for fixing the stock layer rack 63.

[0066] The stock layer rack 63 is a metal plate bending part, which is fixed on the first stock rack seat 62 and the second stock rack seat 66 by bolts; the stock layer rack 63 of the left stock 5 is pasted with a non-slip pad, and the edge of the stock layer rack 63 of the right stock 6 is welded with a blocking edge, and a buffer strip is pasted on the inner side of the blocking edge.

[0067] The outer protective sheet metal 45 is fixed on the outer side of all stock columns (the first stock column 47 to the sixth stock column 54) by bolts to form a closed protective space to prevent personnel from accidentally contacting the short stock in the stock or the mechanical hand; the first material channel 42 is arranged between the left stock 5 and the material taking end of the speed multiplier mechanical hand 34, and the second material channel 44 is arranged between the right stock 6 and the material feeding end of the speed multiplier mechanical hand 34; the material channel is a roller structure, which is fixed between the stock body 4 and the frame by a support, and is used for the transition conveying of the short stock between the mechanical hand and the stock body 4.

[0068] The electrical system 8 is used for whole-process action cooperative control, specifically, the core control link is: the PLC controller is the control core, communicates with the touch screen of the operating table 7 through an Ethernet cable to realize instruction receiving-state feedback; the PLC connects the servo driver through a pulse signal line to send speed and position instructions to the driver; the servo driver connects the lifting servo motor of the through mechanical hand, the telescopic servo motor of the speed multiplier mechanical hand 34, the lifting speed reducer and the belt speed reducer of the transfer mechanism 33 through power lines to drive the motor to run; the signal acquisition module connects all sensors (limit switch 29, material detection sensor, stock position occupation sensor, temperature and humidity sensor) through shielded signal lines, converts the analog or digital signals of the sensors into signals recognizable by the PLC, and transmits them to the PLC; the PLC controls the on-off of the LED light bar through the relay, and controls the start-stop of the drive motor of the feeding roller line 9 and the discharging roller line 10 through the contactor; the coils of the contactor and the relay are controlled by the digital output end of the PLC, and the main contact is connected in series in the power circuit of the corresponding load.

[0069] Working principle (time sequence logic and action cooperation), specifically, including: Instruction receiving and analysis: the operator selects the warehousing or discharging mode through the touch screen of the operating table 7, sets the target stock position, and clicks the start button; the touch screen converts the instruction into a communication signal and transmits it to the PLC; the PLC analyzes the instruction and calls the preset action program (such as the gel window shutter warehousing program and the short t-shaped rod discharging program).

[0070] Signal acquisition and judgment: PLC receives sensor signals in real time through the signal acquisition module to determine whether the current state meets the action condition (such as judging whether the short material has reached the feeding end, the target storage location is empty when storing, and whether the short material has reached the full set, the discharge roller line 10 is empty when discharging); if the condition is met, the PLC sends an action instruction to the servo driver; if not, the PLC displays a prompt message on the touch screen (such as the target storage location being occupied).

[0071] Action timing control: PLC coordinates the actions of each component according to the preset timing to avoid interference, for example: When storing: first control the feeding roller line 9 to transport short materials → stop the roller line after the short materials arrive → lift the manipulator to the material taking height → extend the fork rod 34-13 to take materials → retract the fork rod above the transfer mechanism 33 → raise the transfer mechanism 33 to receive → transfer → lower the transfer mechanism 33 to hand over → lift the manipulator to the target storage location → extend the fork rod 34-13 to discharge materials; When discharging: first control the manipulator to lift to the full set storage location → extend the fork rod 34-13 to take materials → retract the fork rod → lift the manipulator to the discharge roller line 10 height → extend the fork rod 34-13 to discharge materials → start the discharge roller line 10 to transport.

[0072] Fault handling logic: if a component action is abnormal (such as the limit switch 29 not triggering, the motor overload), the PLC immediately stops all related actions, displays the fault reason (such as the fork rod 34-13 extension overtravel, the transfer mechanism 33 not rising to the position) on the touch screen, and triggers the fault light and buzzer alarm; after the operator eliminates the fault, clicks the fault reset on the touch screen, and the PLC resumes normal control.

[0073] The single-sided feeding roller line 9 is arranged on the feeding side of the double-gate three-column frame, one end is connected to the external short material processing equipment, and the other end is connected to the first material channel 42 and the short material taking end of the speed manipulator 34; a material detection sensor is installed at the end of the roller line (close to the first material channel 42) for detecting whether the short material has reached the taking position.

[0074] The double-sided discharge roller line 10 is arranged on the outside of the two-sided material library: one side is connected to the short material taking end of the speed manipulator 34 and the downstream short material rod assembly process (corresponding to the left material library 5); the other side is connected to the feeding end of the speed manipulator 34 and the downstream gel window fan assembly process (corresponding to the right material library 6); both roller lines are fixed to the ground through a support, and the height is flush with the corresponding material channel (first material channel 42 and second material channel 44).

[0075] Working principle (short material in-out connection), specifically, including: Feed connection: The short material completed by external processing is placed on the feed roller line 9 by manual or automatic equipment → the operator starts the feed on the touch screen of the control panel 7 → the roller line driving motor rotates, driving the roller to convey the short material → when the short material reaches the end of the roller line, the material detection sensor triggers → the PLC controls the roller line motor to stop, and the short material stays at the same level as the first material channel 42, waiting for the robot to take the material; Discharge connection: the robot moves the short material to the discharge roller line 10 → the PLC controls the roller line motor to start → the roller drives the short material to the downstream process → after the short material leaves the roller line, the sensor cannot detect the material, and the PLC controls the roller line to stop, waiting for the next discharge instruction; Transition guarantee: The roller of the material channel (first material channel 42 and second material channel 44) is at the same height as the robot fork 34-13 and the material storage shelf 63, ensuring that there is no height difference when the short material transitions between the robot and the roller line and the storage body 4, avoiding short material jamming or collision.

[0076] The specific working method of the present embodiment, the left storage 5 is used to store the tappet or fan material, and the right storage 6 is used to store the gel window fan, including the following processes: (1) Storage process (two types of short materials).

[0077] 1. Short tappet / fan material storage (stored in the left storage 5 without passing through the hall); (1) Material preparation and positioning: short tappet is placed on the single-sided feed roller line 9 → the operator selects short material storage on the touch screen of the control panel 7 and sets the target shelf (material storage shelf 63 fixed on the first storage shelf 62) → click to start → the feed roller line 9 starts to convey the short material → the short material reaches the end, and the material detection sensor triggers → the roller line stops, and the short material stays in the first material channel 42.

[0078] (2) Robot material taking: the PLC controls the lifting bracket mechanism 19 of the hall robot to descend → the lifting servo motor rotates, driving the lifting tray 21 to descend along the guide rail 26 → the limit switch 29 reaches the lower limit block 25, and the lifting tray 21 stops (at this time, the fork 34-13 is at the same height as the first material channel 42) → the PLC controls the extension servo motor of the speed-changing robot 34 to rotate → the sliding frame 34-2 drives the front end of the fork 34-13 to extend and insert into the short material below → the motor fine-tunes, and the fork 34-13 slightly rises to lift the short material away from the first material channel 42 → the sliding frame 34-2 drives the fork 34-13 to retract, moving the short material to the exact above the corresponding material storage shelf 63 of the left storage 5.

[0079] (3) Material feeding: The PLC controls the lifting bracket mechanism 19 to rise → the lifting pallet 21 drives the lifting robot arm plate 22 and short material to rise → the limit switch 29 touches the limit block 25 corresponding to the target shelf, and the lifting pallet 21 stops → the PLC controls the speed-doubled robot arm 34 to extend the front end of the fork 34-13 and transfer the short material to the target shelf 63 of the left shelf 5 (fixed to the first shelf base 62) → the motor is finely adjusted, the fork 34-13 descends slightly and releases the short material → the fork 34-13 retracts → the PLC controls the LED light strip of the target shelf 63 of the left shelf 5 to light up, and the touch screen of the control panel 7 updates the shelf position to occupied.

[0080] (4) Reset of the robot arm: The lifting bracket mechanism 19 descends to the initial position (aligned with the feed roller line 9), and the fork 34-13 of the double-speed robot arm 34 retracts to its shortest length, waiting for the next warehousing instruction.

[0081] 2. Gel window sashes are put into storage (stored in warehouse 6 on the right, which requires passageway); Feed positioning (same as short push rod): The gel window is placed on the feed roller line 9 → the roller line is conveyed to the end → the material detection sensor is triggered, and the roller line stops.

[0082] Robotic arm material handling (material handling end action): The through-hall robotic arm is raised and lowered to be level with the first material channel 42 → the front end of the fork 34-13 of the double-speed robotic arm 34 extends and inserts below the window sash → the fork 34-13 rises and lifts the window sash → the fork 34-13 retracts to above the transfer mechanism 33 → the PLC controls the lifting reducer of the transfer mechanism 33 to rotate → the transfer mechanism 33 rises and the PU ring belt 33-15 contacts the bottom of the window sash → it continues to rise, lifting the window sash and disengaging from the front end of the fork 34-13.

[0083] Transfer conveyor: PLC controls the belt reducer of transfer mechanism 33 to rotate → PU ring belt 33-15 drives the window sash to move towards the feeding end → the window sash reaches the feeding end position (aligned with the rear end of fork 34-13) → belt reducer stops → lifting reducer of transfer mechanism 33 rotates in the opposite direction → transfer mechanism 33 descends, and the window sash lands on the rear end of fork 34-13.

[0084] Material feeding into the warehouse (feeding end action): The PLC controls the through-hall robot arm to rise and fall to the target shelf height of the right-side warehouse 6 (the warehouse shelf 63 fixed on the second warehouse shelf base 66) → the rear end of the fork 34-13 of the speed-boosting robot arm 34 extends and moves the window sash onto the warehouse shelf 63 (the window sash is close to the edge) → the fork 34-13 descends slightly and releases the window sash → the fork 34-13 retracts → the PLC controls the LED light strip of the target warehouse shelf 63 of the right-side warehouse 6 to light up, and the touch screen of the control panel 7 updates the warehouse position to occupied.

[0085] Mechanical hand reset: the mechanical hand in the aisle is lowered to the initial position, the transfer mechanism 33 is reset, and the next command is waited.

[0086] (B) Classification storage stage (independent management of double-sided warehouse) Left warehouse 5 management: short stems / fan materials are independently stored on the warehouse layer shelf 63 (fixed to the first warehouse shelf seat 62) of the left warehouse 5, and the electrical system 8 records the order information (order number, specification, storage time) of each short material. According to the first-in, first-out principle, it is sorted to facilitate subsequent complete set out of warehouse; when the storage capacity of a certain warehouse layer shelf 63 reaches the upper limit, the PLC automatically allocates an idle warehouse layer shelf 63, and prompts the current shelf full on the console 7 touch screen, and has been allocated to XX layer.

[0087] Right warehouse 6 management: gel window sashes are independently stored on the warehouse layer shelf 63 (fixed to the second warehouse shelf seat 66) of the right warehouse 6, and the electrical system 8 records the gel completion time of each window sash to ensure that the window sash with the earliest gel is selected first when out of warehouse, avoiding the expiration of the gel layer; The temperature and humidity sensor outside the warehouse body 4 monitors the environment in real time, and if the temperature or humidity exceeds the preset range (temperature 15-25℃, humidity 40%-60%), the PLC prompts the environment abnormal on the console 7 touch screen, and controls the warehouse body 4 ventilation fan to start adjusting.

[0088] Warehouse dynamic allocation: when the occupancy rate of the warehouse layer shelf 63 (fixed to the first warehouse shelf seat 62) of the left warehouse 5 is too high (such as more than 90%) and there is idle in the warehouse layer shelf 63 (fixed to the second warehouse shelf seat 66) of the right warehouse 6, the PLC prompts whether to allocate to the right side on the console 7 touch screen. After the operator confirms, the PLC automatically controls the aisle mechanical hand to transfer the idle short material (not bound to the order) of the left warehouse 5 to the idle warehouse layer shelf 63 of the right warehouse 6 through the aisle, realizes the balance of the warehouse, and avoids single side explosion.

[0089] (Three) Complete set out of warehouse process (conveyed after complete set according to order).

[0090] Complete set detection and prompt: the PLC compares the order demand and the storage capacity of the warehouse body 4 in real time, and when all the short materials (such as 20 fan materials of the left warehouse 5+10 gel window sashes of the right warehouse 6) of a certain order have been stored, the PLC pops up the order XX complete set prompt on the console 7 touch screen, and lights up the corresponding warehouse layer shelf 63 light bar (the first warehouse shelf seat 62 of the left warehouse 5 corresponds to the shelf, and the second warehouse shelf seat 66 of the right warehouse 6 corresponds to the shelf), reminding the operator to prepare for out of warehouse.

[0091] Short material out of left warehouse 5: the operator confirms the out instruction → PLC controls the cross-docking manipulator to rise to the height of the left warehouse 5 layer frame 63 (fixed on the first warehouse shelf base 62) → the double-speed manipulator 34 fork 34-13 front end extends and is inserted below the short material → the fork 34-13 rises to lift the short material → the fork 34-13 retracts → the manipulator descends to be flush with the left out roller line 10 → the fork 34-13 front end extends to move the short material to the roller line → the PLC controls the out roller line 10 to start and convey the short material to the downstream assembly process → the LED light bar of the left warehouse 5 corresponding layer frame 63 is extinguished, and the touch screen of the console 7 updates the warehouse position to be idle.

[0092] Short material out of right warehouse 6: the PLC controls the cross-docking manipulator to rise to the height of the right warehouse 6 layer frame 63 (fixed on the second warehouse shelf base 66) → the double-speed manipulator 34 fork 34-13 rear end extends and is inserted below the gel window shutter → the fork 34-13 rises to lift the shutter → the fork 34-13 retracts → the manipulator descends to be flush with the right out roller line 10 → the fork 34-13 rear end extends to move the shutter to the roller line → the out roller line 10 starts and conveys the shutter to the downstream assembly process → the LED light bar of the right warehouse 6 corresponding layer frame 63 is extinguished, and the touch screen of the console 7 updates the warehouse position to be idle.

[0093] Full-process reset: after all the short materials are out, the cross-docking manipulator is reset to the initial position, the electrical system 8 updates the order state to be out, and waits for the next in or out instruction.

[0094] Optionally, in other implementations, a four-fork double-side cross-docking stereoscopic warehouse is proposed, which adds one group of forks on the basis of the double-fork double-side cross-docking stereoscopic warehouse. When in, two groups of forks can take short material from the in roller line 9 at the same time and synchronously move to the same layer or different layers of the left warehouse 5; when out, two groups of forks can take the short material at the same time, and adapt to batch storage or gel window shutter storage (gel window shutter needs to be balanced by two groups of forks), and the rest of the process is consistent with the double-fork cross-docking double-side stereoscopic warehouse.

[0095] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A double-sided through-hall automated warehouse, characterized in that, The system consists of a double-gantry three-column frame, a through-hall robotic arm, a storage unit, and an electrical system. The storage unit has a double-sided structure, which is installed on both sides of the double-gantry three-column frame and fixedly connected to the foundation base. The two sides of the storage unit are used for classifying and storing short materials. The double-gantry three-column frame includes a central gantry column, two side gantry columns, a top seat, and a foundation base. The central gantry column and the two side gantry columns are vertically set on the foundation base, and the top seat is fixed to the top of the three columns. A passage for short materials to pass through is formed in the middle of the frame. The passageway robot is installed on one side of the double-gantry three-column frame, slides with the frame and can rise and fall along the frame. The passageway robot includes a lifting bracket mechanism and a double-sided telescopic robot mechanism. The double-sided telescopic manipulator mechanism includes a speed-multiplying manipulator and a transfer mechanism. The speed-multiplying manipulator is equipped with a fork that can extend and retract in the front-back direction. The front end of the fork is the picking end that connects to the feeding roller line on one side, and the rear end of the fork is the feeding end that connects to the other side of the storage body. The transfer mechanism is set between the picking end and the feeding end of the speed-multiplying manipulator assembly and is used to transport the short material received by the picking end to the feeding end. The electrical system is connected to the through-hall robotic arm to control the lifting and lowering of the through-hall robotic arm, the forward and backward extension and retraction of the fork of the speed-multiplying robotic arm component, and the movement of the transfer mechanism, so as to realize the transfer and storage of short materials from one side to both sides of the storage chamber.

2. The double-sided passageway automated warehouse as described in claim 1, characterized in that, The lower surface of the top seat has a pre-drilled pin hole, and the upper ends of the central column of the gantry and the two side columns of the gantry are provided with tapered pins. The top seat is positioned and connected to the three columns through the tapered pins. Adjustment plates are provided at the connection points between the central column of the gantry and the two side columns of the gantry and the top seat. One end of the adjustment plate is bolted to the top seat, and the other end is bolted to the side of the corresponding column. The lifting bracket mechanism includes a lifting tray and a robotic arm support plate. An adjustment block is provided between the lifting tray and the robotic arm support plate. The levelness of the robotic arm support plate is finely adjusted by grinding the thickness of the adjustment block. Alternatively, the bottom of the base can be slidably connected to a slide rail on the ground.

3. The double-sided passageway automated warehouse as described in claim 1, characterized in that, The lifting bracket mechanism also includes a guide rail, a rack and pinion, and a lifting servo motor reducer; The guide rail is fixed to the inside of the single-sided gantry column, and the lifting tray is slidably engaged with the guide rail on both sides by sliders. The rack is fixed to the inner side of the central column of the gantry, and the lifting servo motor reducer is fixed on the lifting tray, with the gear on its output shaft meshing with the rack; The lifting pallet is equipped with a top impact block on the upper surface, baffles at the front and rear ends to prevent short materials from slipping, a drag chain bracket and a limit switch on the side, and a limit stop block adapted to the limit switch on the inner side of the single-sided gantry column.

4. The double-sided passageway automated warehouse as described in claim 1, characterized in that, The speed-doubled manipulator assembly includes a fork base, a sliding frame, a fork synchronous shaft, a narrow bearing with a vertical seat, a speed-doubled sprocket, and a fork rod; The fork base is fixed to the robotic arm support plate, and the fork base is provided with a guide rail extending in the front-to-back direction. The sliding frame slides with the guide rail through a slider. The fork synchronous shaft is arranged laterally and mounted on the sliding frame via a narrow bearing with a vertical seat. Multiple speed sprockets are fixed on the fork synchronous shaft via tensioning sleeves. Each speed sprocket corresponds to one fork. The fork is arranged in the front-back direction and its bottom is engaged with the speed sprocket for transmission. The sliding frame is provided with side baffles extending in the front-to-back direction. The side baffles are provided with cam bearing followers and deep groove ball bearings. The outer side walls of the fork are in contact with the deep groove ball bearings. The cam bearing followers are embedded in the grooves of the fork to guide the linear extension and retraction of the fork.

5. The double-sided passageway automated warehouse as described in claim 4, characterized in that, The speed-multiplying manipulator assembly also includes a telescopic servo motor reducer. The telescopic servo motor reducer is fixed on the sliding frame by a reducer bracket and a reducer mounting plate. The gear on its output shaft meshes with a rack arranged in the front-back direction on the fork base, driving the sliding frame to extend and retract the fork in the front-back direction.

6. The double-sided passageway automated warehouse as described in claim 1, characterized in that, The transfer mechanism includes a transmission connecting plate, a transfer lifting mechanism, and a transfer conveying mechanism; The transmission connecting plate consists of two pieces, which are fixed parallel to each other and spaced apart on the robotic arm support plate. An aluminum profile extending in the front-back direction is fixed between the two transmission connecting plates. The transfer and lifting mechanism includes linear bearings, eccentric shafts, lifting reducers, synchronous belts, and driven wheel assemblies. Each transmission connecting plate has a linear bearing at its bottom, and an eccentric shaft passes between the opposing linear bearings of two transmission connecting plates. The two eccentric shafts are arranged in parallel. The lifting reducer is fixed on one of the transmission connecting plates, and its output shaft is connected to the driven wheel assembly on one eccentric shaft via a synchronous belt. The driven wheel assemblies on the two eccentric shafts are connected via a synchronous belt to drive the two eccentric shafts to rotate synchronously. The end of the eccentric shaft passes through the linear bearing and is connected to an eccentric bushing. A cam bearing follower is provided on the eccentric bushing.

7. The double-sided passageway automated warehouse as described in claim 6, characterized in that, The transfer and conveying mechanism includes idlers, belt reducers, PU ring belts, and pulleys; the idlers are fixed to both ends of the aluminum profile through transmission roller brackets, the belt reducers are fixed on the aluminum profile, and the output shaft of the belt reducers is connected to the idlers through the transmission belt. A belt conveyor fixing plate is fixed between aluminum profiles. Multiple pulley shafts are spaced apart on the belt conveyor fixing plate along the front-back direction. Pulleys are fitted on the pulley shafts. A PU ring belt is fitted on the pulleys and the idler rollers to form a conveying loop along the front-back direction.

8. The double-sided passageway automated warehouse as described in claim 6, characterized in that, The transmission connecting plate is provided with a guide hole, and a guide sleeve is provided in the guide hole. The guide sleeve is sleeved on the guide shaft fixed to the robot arm support plate. The transfer mechanism also includes a tensioning assembly, which includes a tensioning connecting plate, a square tensioning pin, and a pulley tensioning shaft. The tensioning connecting plate is fixed to the end of the belt conveyor fixing plate and has an oblong hole. The belt pulley tensioning shaft passes through the oblong hole. The square tensioning pin is inserted into the pin hole of the tensioning connecting plate and the belt pulley tensioning shaft. The position of the belt pulley tensioning shaft in the oblong hole is adjusted to tension the PU ring belt.

9. The double-sided passageway automated warehouse as described in claim 6, characterized in that, It also includes a single-sided feeding roller conveyor and a double-sided discharging roller conveyor; the single-sided feeding roller conveyor is set on the feeding side of the double gantry three-column frame and connects to the picking end of the fork of the double-speed manipulator component; the double-sided discharging roller conveyor is set on the outside of the two short material bins respectively and connects to the picking end and the feeding end of the fork of the double-speed manipulator component respectively.

10. A method for entering and exiting a double-sided through-hall automated warehouse for aluminum alloy processing, characterized in that, The three-dimensional library according to any one of claims 1-9 includes the following process: Preparation phase: Initialize the through-hall robot through the electrical system, so that the through-hall robot is reset to the initial position flush with the single-sided feed roller line, the fork of the speed-doubled robot component retracts, and the transfer mechanism is reset; In the sorting and warehousing stage: When short materials need to be stored in the short material warehouse on the feeding side, the electrical system controls the through-hall robot to rise and fall to be level with the single-sided feeding roller line. The fork of the double-speed robot component extends and retracts forward to pick up the material. The through-hall robot rises and falls to the target shelf height of the short material warehouse on the feeding side, and the fork extends and retracts forward to transfer the short material to the short material warehouse on the feeding side. When short materials need to be stored in the short material warehouse on the far side, the fork of the double-speed robot component extends and retracts forward to pick up the material and retracts above the transfer mechanism. The transfer mechanism rises to receive the short material and transports the short material to the feeding end of the fork. The through-hall robot rises and falls to the target shelf height of the short material warehouse on the far side, and the fork extends and retracts backward to transfer the short material to the short material warehouse on the far side. Categorized storage stage: Short materials are stored independently in the short material warehouse on the inlet side and the short material warehouse on the distant side; Complete Set Outgoing Stage: After the electrical system detects that the short materials are complete, it controls the through-hall robot to rise and fall to the height of the shelf where the short materials are located. The fork of the double-speed robot component extends and retracts to the corresponding shelf side to pick up the materials. The through-hall robot rises and falls to the height of the corresponding side discharge roller line. The fork extends and retracts to transfer the complete set of short materials to the discharge roller line, completing the outgoing process.

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