Three-dimensional warehouse-in and warehouse-out equipment

Abstract

The utility model relates to the technical field of three-dimensional warehouse entering and exiting, and provides three-dimensional warehouse entering and exiting equipment which comprises a mechanical arm, a mechanical arm and a control system. The middle of the mounting arm is rotationally arranged on the mechanical arm, and a first mounting part and a second mounting part are arranged at the two ends of the mounting arm; the clamp is arranged on the first mounting part; and the visual positioning piece is arranged on the second mounting part. By means of the technical scheme, the problems that when multiple materials exist, the clamp cannot be recognized and replaced, the clamp is prone to being damaged, and warehousing acceptance data are wrong are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of three-dimensional warehouse entry and exit, and specifically relates to a three-dimensional warehouse entry and exit device. Background Art

[0002] The background technology of inbound and outbound equipment generally refers to a series of hardware and software technologies used to automatically identify, track and record inventory movements in warehouse management, logistics and supply chain. These technologies enable enterprises to efficiently and accurately perform inbound acceptance, storage and outbound delivery operations of materials or goods, and ensure real-time update of inventory data to achieve refined inventory management.

[0003] However, the existing in-and-out warehousing equipment cannot accurately identify the type of materials and can only inspect one type of material upon entry. When there are multiple materials, the fixture cannot be identified and replaced, which can easily cause damage to the fixture and errors in the incoming acceptance data. Utility Model Content

[0004] The utility model provides a three-dimensional storage-in and storage-out equipment, which solves the problem that when there are multiple materials, the fixture cannot be identified and replaced, which easily causes the fixture to be damaged and the storage acceptance data is wrong.

[0005] The technical solution of the utility model is as follows:

[0006] A three-dimensional storage and retrieval device, comprising:

[0007] A mechanical arm for setting on the ground;

[0008] A mounting arm, wherein the middle portion of the mounting arm is rotatably disposed on the mechanical arm, and both ends of the mounting arm are provided with a first mounting portion and a second mounting portion;

[0009] A clamp, arranged on the first mounting portion;

[0010] The visual positioning component is arranged on the second mounting portion.

[0011] As a further technical solution, the clamp comprises:

[0012] A first quick-change connector, disposed on the first mounting portion;

[0013] The clamping jaws are provided in a plurality and are slidably arranged on the first quick-change joint. After sliding, the plurality of clamping jaws approach each other or move away from each other. After approaching each other, the clamping jaws are used to clamp the workpiece.

[0014] As a further technical solution, the clamping jaw has a first abutting end and a second abutting end. After the clamping jaw slides, the first abutting end or the second abutting end is used to abut the workpiece.

[0015] As a further technical solution, the clamp further includes:

[0016] A second quick-change connector, wherein the first quick-change connector or the second quick-change connector is disposed on the first mounting portion;

[0017] A first mounting plate, disposed on the second quick-change connector, wherein the first mounting plate has a plurality of mounting slots;

[0018] There are a plurality of mounting rods, and the plurality of mounting rods are respectively arranged in the mounting grooves;

[0019] There are several suction cups, which are arranged on the mounting rod and are used to absorb the plate workpiece.

[0020] As a further technical solution, the mounting rod is slidably disposed in the mounting groove, and after sliding, is used to adjust the position of the mounting rod.

[0021] As a further technical solution, the first mounting plate has a plurality of through holes, and further comprises:

[0022] A fixture changing table for setting on the ground;

[0023] A placement seat, arranged on the clamp replacement table, and the placement seat has a placement cavity, and the placement cavity is used to place the clamping claw;

[0024] There are a plurality of supporting rods, which are arranged on the fixture replacement table, and the supporting rods pass through the penetration holes to support the first mounting plate.

[0025] As a further technical solution, the visual positioning component includes:

[0026] A second mounting plate, disposed on the second mounting portion;

[0027] A visual detection head is arranged on the second mounting plate, and is used to detect the type of the workpiece and locate the workpiece.

[0028] As a further technical solution, the visual positioning component further includes:

[0029] A cover plate is arranged on the visual detection head, and the cover plate has a plurality of heat dissipation slots.

[0030] As a further technical solution, the visual positioning component further includes:

[0031] A light ring is arranged on the second mounting plate, and is used to illuminate the field of view of the visual detection head.

[0032] As a further technical solution, it also includes:

[0033] A first storage box is used to be arranged on the ground, and the first storage box is used to place plate workpieces;

[0034] The second storage box is used to be set on the ground, and the second storage box is used to place other workpieces.

[0035] The working principle and beneficial effects of the utility model are:

[0036] In the utility model, a robotic arm is arranged on the ground, and a mounting arm is rotatably arranged at the end of the robotic arm. A clamp and a visual positioning part are respectively arranged at the first mounting part and the second mounting part of the mounting arm. The visual positioning part can accurately locate the position of the material, which is convenient for the clamp to clamp the material, and can also realize the identification of the type of material. When the clamp currently arranged at the first mounting part cannot clamp the material, the visual locator sends a signal to replace the clamp, and the clamp is replaced with a clamp suitable for the material to clamp the material, thereby realizing automatic replacement of the clamp according to the shape and type of the material, avoiding errors in the warehousing acceptance data, and damage to the clamp and the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present utility model.

[0038] Figure 1 It is a schematic diagram of the structure of the utility model;

[0039] Figure 2 for Figure 1 A local enlarged structural schematic diagram;

[0040] Figure 3 for Figure 1 A schematic diagram of the local enlarged structure at B;

[0041] Figure 4 for Figure 1 A schematic diagram of the local enlarged structure at C;

[0042] In the figure: 1. Robotic arm, 2. Mounting arm, 2-1. First mounting part, 2-2. Second mounting part, 3. Clamp, 4. Visual positioning part, 3-1. First quick-change joint, 3-2. Clamp, 3-2-1. First abutting end, 3-2-2. Second abutting end, 3-3. Second quick-change joint, 3-4. First mounting plate, 3-5. Mounting groove, 3-6. Mounting rod, 3-7. Suction cup, 3-8. Through hole, 5-1. Clamp replacement table, 5-2. Placement seat, 5-3. Placement cavity, 5-4. Support rod, 4-1. Second mounting plate, 4-2. Visual detection head, 4-3. Cover plate, 4-3-1. Heat dissipation groove, 4-4. Light ring, 6-1. First storage box, 6-2. Second storage box. DETAILED DESCRIPTION

[0043] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the specific implementation methods of the utility model will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, they can also be understood as further technical solutions without paying creative work. In some figures, components with the same structure or function are only schematically illustrated, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0044] In this article, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0045] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] Reference Figure 1~Figure 4 , is an embodiment of the utility model, and proposes

[0047] A three-dimensional storage and retrieval device, comprising:

[0048] A mechanical arm 1, for being set on the ground;

[0049] A mounting arm 2, the middle portion of which is rotatably disposed on the mechanical arm 1, and both ends of the mounting arm 2 have a first mounting portion 2-1 and a second mounting portion 2-2;

[0050] A clamp 3, arranged on the first mounting portion 2-1;

[0051] The visual positioning member 4 is arranged on the second mounting portion 2-2.

[0052] In this embodiment, the robot arm 1 is set on the ground, and the end of the robot arm 1 is rotatably provided with a mounting arm 2. The first mounting part 2-1 and the second mounting part 2-2 of the mounting arm 2 are respectively provided with a clamp 3 and a visual positioning part 4. The visual positioning part 4 can accurately locate the position of the material, which is convenient for the clamping action of the clamp 3 and can also realize the identification of the type of material. When the clamp 3 currently set on the first mounting part 2-1 cannot clamp the material, the visual locator sends a signal to replace the clamp 3. After replacing it with the clamp 3 suitable for the material, the material is clamped, thereby realizing automatic replacement of the clamp 3 according to the shape and type of the material, avoiding errors in the warehousing acceptance data and damage to the clamp 3 and the material.

[0053] Further, the fixture 3 comprises:

[0054] A first quick-change connector 3-1, arranged on the first mounting portion 2-1;

[0055] The clamping jaws 3-2 are provided in a plurality and are slidably mounted on the first quick-change joint 3-1. After sliding, the plurality of clamping jaws 3-2 are moved closer to or farther from each other. When they are moved closer to each other, they are used to clamp the workpiece.

[0056] In this embodiment, the first quick-change connector 3-1 is arranged on the first mounting portion 2-1, and the clamp 3-2 is arranged on the first quick-change connector 3-1, so that the fixture 3 can be quickly replaced, which improves the convenience of replacing the fixture 3, and the clamp 3-2 can clamp an appropriate workpiece.

[0057] Furthermore, the clamping jaw 3-2 has a first abutting end 3-2-1 and a second abutting end 3-2-2. After the clamping jaw 3-2 slides, the first abutting end 3-2-1 or the second abutting end 3-2-2 is used to abut the workpiece.

[0058] In this embodiment, with the first abutment end 3-2-1 and the second abutment end 3-2-2, it is possible to complete the clamping action from the inside of the workpiece as well as from the outside of the workpiece, thereby increasing the clamping range of the clamp 3-2 and being able to clamp more types of workpieces.

[0059] Furthermore, the fixture 3 also includes:

[0060] A second quick-change connector 3-3, the first quick-change connector 3-1 or the second quick-change connector 3-3 is arranged on the first mounting portion 2-1;

[0061] A first mounting plate 3-4 is disposed on the second quick-change connector 3-3, and the first mounting plate 3-4 has a plurality of mounting grooves 3-5;

[0062] There are a plurality of mounting rods 3-6, and the plurality of mounting rods 3-6 are respectively arranged in the mounting grooves 3-5;

[0063] There are several suction cups 3-7, which are arranged on the mounting rod 3-6 and are used for adsorbing the sheet workpiece.

[0064] In this embodiment, there is also a second quick-change connector 3-3. The first mounting portion 2-1 can replace the first quick-change connector 3-1 with the second quick-change connector 3-3 to achieve rapid replacement. The second quick-change connector 3-3 has a mounting plate and a mounting rod 3-6. The suction cup 3-7 is arranged on the mounting rod 3-6. The mounting rod 3-6 is arranged in the mounting groove 3-5. The suction cup 3-7 can be used to absorb and pick up sheet-type workpieces, which solves the problem that the clamp 3-2 cannot clamp sheet-type workpieces.

[0065] Furthermore, the mounting rod 3-6 is slidably disposed in the mounting groove 3-5, and after sliding, is used to adjust the position of the mounting rod 3-6.

[0066] In this embodiment, the mounting groove 3-5 is a strip groove, and the distance between each suction cup 3-7 can be adjusted by adjusting the position of the mounting rod 3-6 in the mounting groove 3-5. The distance between the suction cups 3-7 can be adjusted according to different plate sizes, so that the suction cups 3-7 are more stable after adsorbing the material.

[0067] Furthermore, the first mounting plate 3-4 has a plurality of through holes 3-8, and further includes:

[0068] A fixture 3 replacement table, for setting on the ground;

[0069] A placement seat 5-2 is arranged on the fixture 3 replacement table, and the placement seat 5-2 has a placement cavity 5-3, and the placement cavity 5-3 is used to place the clamping claw 3-2;

[0070] There are a plurality of supporting rods 5-4, and the plurality of supporting rods 5-4 are arranged on the fixture 3 replacement table, and the supporting rods 5-4 pass through the through holes 3-8 to support the first mounting plate 3-4.

[0071] In this embodiment, there is a fixture 3 replacement table, and a first mounting plate 3-4 has a plurality of through holes 3-8. The supporting rod 5-4 on the fixture 3 replacement table passes through the through holes 3-8 and supports the first mounting plate 3-4. The placement seat 5-2 has a placement cavity 5-3, and the clamp 3-2 can be placed in the placement cavity 5-3. When the mounting arm 2 needs to replace the fixture 3, the fixture 3 that is not needed can be placed in the corresponding position, and then replaced with the fixture 3 that needs to be used.

[0072] Further, the visual positioning element 4 includes:

[0073] A second mounting plate 4-1, disposed on the second mounting portion 2-2;

[0074] The visual detection head 4-2 is arranged on the second mounting plate 4-1, and the visual detection head 4-2 is used to detect the type of the workpiece and locate the workpiece.

[0075] Furthermore, the visual positioning element 4 also includes:

[0076] The cover plate 4-3 is covered on the visual detection head 4-2, and the cover plate 4-3 has a plurality of heat dissipation slots 4-3-1.

[0077] In this embodiment, a cover plate 4-3 is provided on the visual detection head 4-2 to protect the visual detection head 4-2, and the heat dissipation slots 4-3-1 located on the cover plate 4-3 can dissipate heat for the visual detection head 4-2.

[0078] Furthermore, the visual positioning element 4 also includes:

[0079] The light ring 4-4 ​​is arranged on the second mounting plate 4-1, and the light ring 4-4 ​​is used to illuminate the field of view of the visual detection head 4-2.

[0080] In this embodiment, the light ring 4-4 ​​is arranged on the second mounting plate 4-1, and the field of view of the visual detection head 4-2 can be illuminated by the light ring 4-4, thereby improving the detection effect of the visual detector, so that the detector can still have a good detection effect in a dark environment.

[0081] Furthermore, it also includes:

[0082] A first storage box 6-1 is used to be arranged on the ground, and the first storage box 6-1 is used to place plate workpieces;

[0083] The second storage box 6-2 is used to be set on the ground, and the second storage box 6-2 is used to place other workpieces.

[0084] In this embodiment, the first storage box 6-1 and the second storage box 6-2 are respectively arranged on the ground for storing different types of workpieces. The first storage box 6-1 and the second storage box 6-2 can effectively classify the materials.

[0085] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A three-dimensional storage and retrieval equipment, characterized in that: include: A mechanical arm (1) for being arranged on the ground; A mounting arm (2), wherein the middle portion of the mounting arm (2) is rotatably disposed on the mechanical arm (1), and both ends of the mounting arm (2) are provided with a first mounting portion (2-1) and a second mounting portion (2-2); A clamp (3) arranged on the first mounting portion (2-1); A visual positioning member (4) is arranged on the second mounting portion (2-2).

2. A three-dimensional storage and retrieval equipment according to claim 1, characterized in that: The clamp (3) comprises: A first quick-change connector (3-1) is arranged on the first mounting portion (2-1); The clamping jaws (3-2) are provided in a plurality and are slidably arranged on the first quick-change joint (3-1). After sliding, the plurality of clamping jaws (3-2) move closer to each other or farther away from each other. After moving closer to each other, they are used to clamp a workpiece.

3. A three-dimensional storage and retrieval equipment according to claim 2, characterized in that: The clamping jaw (3-2) has a first abutting end (3-2-1) and a second abutting end (3-2-2); after the clamping jaw (3-2) slides, the first abutting end (3-2-1) or the second abutting end (3-2-2) is used to abut against a workpiece.

4. A three-dimensional storage and retrieval equipment according to claim 2, characterized in that: The clamp (3) further comprises: a second quick-change joint (3-3), wherein the first quick-change joint (3-1) or the second quick-change joint (3-3) is arranged on the first mounting portion (2-1); A first mounting plate (3-4) is arranged on the second quick-change joint (3-3), the first mounting plate (3-4) having a plurality of mounting grooves (3-5); There are a plurality of mounting rods (3-6), and the plurality of mounting rods (3-6) are respectively arranged in the mounting grooves (3-5); A plurality of suction cups (3-7) are provided, wherein the suction cups (3-7) are arranged on the mounting rod (3-6), and the suction cups (3-7) are used to adsorb plate workpieces.

5. A three-dimensional storage and retrieval equipment according to claim 4, characterized in that: The installation rod (3-6) is slidably arranged in the installation groove (3-5) and is used to adjust the position of the installation rod (3-6) after sliding.

6. A three-dimensional storage and retrieval equipment according to claim 4, characterized in that: The first mounting plate (3-4) is provided with a plurality of through holes (3-8), and further comprises: A fixture replacement table (5-1) for being set on the ground; A placement seat (5-2) is arranged on the clamp replacement table (5-1), and the placement seat (5-2) has a placement cavity (5-3), and the placement cavity (5-3) is used to place the clamping claw (3-2); A plurality of supporting rods (5-4) are provided, wherein the plurality of supporting rods (5-4) are arranged on the fixture replacement platform (5-1), and the supporting rods (5-4) pass through the penetration holes (3-8) to support the first mounting plate (3-4).

7. The three-dimensional storage and retrieval equipment according to claim 1, characterized in that: The visual positioning component (4) comprises: A second mounting plate (4-1), arranged on the second mounting portion (2-2); A visual detection head (4-2) is arranged on the second mounting plate (4-1), and the visual detection head (4-2) is used to detect the type of the workpiece and to locate the workpiece.

8. A three-dimensional storage and retrieval equipment according to claim 7, characterized in that: The visual positioning component (4) also includes: A cover plate (4-3) is provided on the visual detection head (4-2), and the cover plate (4-3) has a plurality of heat dissipation slots (4-3-1).

9. The three-dimensional storage and retrieval equipment according to claim 7, characterized in that: The visual positioning component (4) also includes: A light ring (4-4) is arranged on the second mounting plate (4-1), and the light ring (4-4) is used to illuminate the field of view of the visual detection head (4-2).

10. The three-dimensional storage and retrieval equipment according to claim 1, characterized in that: Also includes: A first storage box (6-1) is used to be arranged on the ground, and the first storage box (6-1) is used to place plate workpieces; The second storage box (6-2) is used to be arranged on the ground, and the second storage box (6-2) is used to place other workpieces.

Images