Anti-collision detection device for taking and placing process of products in three-dimensional warehouse

Abstract

The utility model provides a three-dimensional warehouse product pick-and-place process anti-collision detection device comprising a storage mechanism comprising a bearing support and a plurality of bearing platforms arranged on the bearing support at intervals; the taking and placing mechanism comprises guide rails arranged on the side face of the bearing support, the guide rails comprise the transverse guide rail and the vertical guide rail, and a telescopic product conveying plate is slidably connected to the transverse guide rail or the vertical guide rail through a mounting platform so as to drive the product conveying plate to move along the transverse guide rail or the vertical guide rail through a preset driving assembly; the detection assembly is arranged at the front end of the product conveying plate and comprises a mounting support and a position sensor, and the position sensor is rotationally connected to the mounting support so that the position sensor can have multiple detection directions. The objective of the utility model is to solve the technical problem that a product conveying plate is damaged or a product is turned over due to mutual collision between the product conveying plate and a tray or the product in an anti-collision detection device in the three-dimensional warehouse product taking and placing process in the prior art.

Description

Technical Field

[0001] The utility model relates to the technical field of storage, in particular to an anti-collision detection device for a product taking and placing process in a stereoscopic warehouse. Background Art

[0002] In order to increase the storage capacity, a three-dimensional warehouse is usually set up to store products, such as banknotes, etc. The three-dimensional warehouse usually includes a bracket and several layers of receiving platforms arranged on the bracket. The receiving platforms are fixed on the bracket, so that product stacks can be placed on the receiving platforms and between two layers of receiving platforms. The product stacks include product trays and products stacked on the product trays. For example, the products are placed in a storage frame and then placed on the receiving platform.

[0003] This type of stereoscopic warehouse is usually equipped with an automatic pick-and-place device, including a mounting platform and at least two product conveying plates arranged on the mounting platform. The product conveying plates are driven by a driving component to achieve ascent or descent, and the product conveying plates can also be extended or retracted relative to their own mounting platform, that is, the product conveying plates can be driven by the driving component to move to the target position in the retracted state. After the product conveying plates move to the target position, the product conveying plates are controlled to extend relative to the mounting platform, that is, to extend below the product pallet, and then raised again to carry the product stack, thereby transferring the product stack from the receiving platform to another target position, such as another receiving platform or the ground, thereby completing the product transfer.

[0004] However, in some special cases, for example, if the product pallet is not placed in place in the initial state, the product pallet protrudes more relative to the receiving platform. In the case where the product pallet protrudes more, if the product conveyor plate collides with the pallet or product during the lifting process, the force will be uneven, which may cause damage to the product conveyor plate or the product stack to be overturned, thereby posing a risk of product falling. Utility Model Content

[0005] Based on this, the purpose of the utility model is to provide an anti-collision detection device for the product picking and placing process in a three-dimensional warehouse, aiming to solve the technical problem in the prior art that the product conveying plate collides with the pallet or the product during the product picking and placing process in the three-dimensional warehouse, resulting in damage to the product conveying plate or overturning of the product.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A collision prevention detection device for picking and placing products in a stereoscopic warehouse, characterized in that the device comprises:

[0008] The storage mechanism comprises a receiving bracket and a plurality of receiving platforms, wherein the plurality of receiving platforms are arranged on the receiving bracket at intervals to form a storage space on the receiving platforms;

[0009] The pick-and-place mechanism comprises a guide rail arranged on the side of the receiving bracket, wherein the guide rail comprises a horizontal guide rail and a vertical guide rail, and a retractable product conveying plate is slidably connected to the horizontal guide rail or the vertical guide rail through a mounting platform, so that the product conveying plate is driven by a preset driving component to move along the horizontal guide rail or the vertical guide rail to change the position of the product conveying plate relative to the storage mechanism;

[0010] And a detection component is arranged at the front end of the product conveying plate, comprising a mounting bracket and a position sensor, wherein the position sensor is rotatably connected to the mounting bracket so that the position sensor has multiple detection directions.

[0011] According to one aspect of the above technical solution, the front ends of the two product conveying plates are provided with the detection assembly.

[0012] According to one aspect of the above technical solution, the mounting bracket includes a mounting portion and a first supporting portion and a second supporting portion connected to opposite sides of the mounting portion, and the position sensor is rotatably connected between the first supporting portion and the second supporting portion;

[0013] Wherein, the mounting portion is connected to the end surface of the product conveying plate, and the first supporting portion and the second supporting portion extend toward an end away from the product conveying plate.

[0014] According to one aspect of the above technical solution, the detection assembly further includes a rotating shaft, both ends of which are rotatably connected to the first support portion and the second support portion respectively, and the position sensor is fixed on the rotating shaft to rotate with the rotating shaft to change the detection direction;

[0015] Wherein, the position sensor is a proximity sensor.

[0016] According to one aspect of the above technical solution, the rotating shaft is sleeved with a sensor bracket between the first supporting portion and the second supporting portion, the sensor bracket forms a clamping space, and the position sensor is buckled in the clamping space to achieve relative fixation with the rotating shaft.

[0017] According to one aspect of the above technical solution, any end of the rotating shaft passes through the first supporting part or the second supporting part and is connected to an output end of a driving motor.

[0018] According to one aspect of the above technical solution, a driving motor is provided on the outer side of the first supporting part, and the rotating shaft passes through the first supporting part and is drivingly connected to the motor shaft of the driving motor, so that the position sensor has a multi-angle detection direction.

[0019] According to one aspect of the above technical solution, the controller of the driving assembly is electrically connected to the driving motor so that the position sensor moves following the movement of the product conveying plate.

[0020] According to one aspect of the above technical solution, the receiving platform is detachably connected to the receiving bracket, so that the size of the storage space can be changed by adjusting the installation position of the receiving platform on the receiving bracket.

[0021] Compared with the prior art, the anti-collision detection device for picking and placing products in a three-dimensional warehouse shown in the utility model has the following beneficial effects:

[0022] By arranging a receiving bracket and a receiving platform, the receiving platform is arranged on the receiving bracket to form a storage space, and a guide rail is arranged on one side of the receiving bracket, including a horizontal guide rail and a vertical guide rail, and the mounting platform is slidably connected to the guide rail, and the mounting platform can move along the horizontal guide rail or the vertical guide rail under the drive of the driving component, and the product conveying plate arranged on the mounting plate of the mounting platform can move along the horizontal guide rail or the vertical guide rail under the drive of the driving component, so that the position of the product conveying plate relative to the receiving bracket can be changed, and by arranging a detection component at the end of the product conveying plate, the position sensor in the detection component is installed through the sensor bracket and has rotational freedom, and the detection direction is changed by changing the orientation of the position sensor to change the detection direction, so that during the movement of the product conveying plate, it can be detected whether there are pallets or products placed in the movement direction if there are misplaced pallets or products, if so, the movement is stopped and retracted, and the pallet or product can be avoided by moving again, thereby avoiding the collision between the product conveying plate and the obstacle, so as to prevent the product conveying plate from being damaged or the product from being overturned. Compared with the prior art, the device shown in the present application is significantly safer during product transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the anti-collision detection device for the product taking and placing process in the stereoscopic warehouse in the first embodiment of the utility model;

[0024] Figure 2 This is a schematic diagram of the structure of the installation platform and the guide rail in the first embodiment of the utility model;

[0025] Figure 3 It is a structural schematic diagram of the pick-and-place mechanism and the detection assembly in the first embodiment of the utility model;

[0026] Figure 4 for Figure 3 A magnified schematic diagram of the middle part;

[0027] Figure 5 It is a structural schematic diagram of the detection component of the utility model;

[0028] Component symbol description:

[0029] Storage mechanism 10, receiving bracket 11, receiving platform 12, pick-and-place mechanism 20, mounting platform 21, mounting plate 22, product conveying plate 23, detection component 30, mounting bracket 31, mounting portion 31a, first supporting portion 31b, second supporting portion 31c, position sensor 32, rotating shaft 33, driving motor 34, sensor bracket 35, guide rail 40, horizontal guide rail 41, vertical guide rail 42, product stack 50, product 51, tray 52. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0033] Embodiment 1

[0034] See also Figure 1-5 The first embodiment of the utility model provides an anti-collision detection device for the product picking and placing process in a three-dimensional warehouse, and the device includes: a storage mechanism 10 for storing products 51, a picking and placing mechanism 20 for picking and placing the products 51 stored on the storage mechanism 10, and a detection component 30 for detecting the movement process of the picking and placing mechanism 20.

[0035] First of all, it should be explained that the device is used to store products 51, such as banknotes, which are collected in storage baskets and stacked on trays 52 using storage baskets to form product stacks 50, that is, the device is actually used to store product stacks 50, thereby saving storage space.

[0036] In this embodiment, the storage mechanism 10 includes a receiving bracket 11 and a receiving platform 12, both of which are made of metal materials, such as aluminum alloy profiles, have high strength and can effectively reduce their own weight. There are multiple receiving platforms 12, and multiple receiving platforms 12 are arranged inside the frame of the receiving bracket 11, so that product stacks 50 can be stacked on the receiving platforms 12. In order to improve the versatility and applicability of the device, the position of the receiving platform 12 on the receiving bracket 11 can be adjusted. The receiving platform 12 is fastened to the receiving bracket 11 by a buckling mechanism, for example. When it is necessary to adjust the position of the receiving platform 12 on the receiving bracket 11, the position of the receiving platform 12 on the receiving bracket 11 can be quickly adjusted by adjusting the tightness of the buckling mechanism, so that the distance between two adjacent receiving platforms 12 can be changed to change the size of a single storage space.

[0037] In this embodiment, since the product stack 50 is heavy and is stored in a three-dimensional size mechanism, a dedicated pick-up and placement mechanism 20 is required to pick up and place the product stack 50. The pick-up and placement mechanism 20 is used to replace the forklift, which can effectively save the movement space required for the forklift, thereby appropriately improving the storage density.

[0038] Specifically, the picking and placing mechanism 20 includes a guide rail 40, which is arranged on the side of the receiving bracket 11. The guide rail 40 includes a transverse guide rail 41 and a vertical guide rail 42. A mounting platform 21 is provided on the guide rail 40. The mounting platform 21 is provided with a transverse guide wheel and a vertical guide wheel, which are respectively used to fit with the transverse guide rail 41 and the vertical guide rail 42. The mounting platform 21 is driven by a driving component (not shown). Under the drive of the driving component, the mounting platform 21 can move along the transverse guide rail 41 or the vertical guide rail 42, thereby changing the position of the mounting platform 21 relative to the storage mechanism 10.

[0039] Among them, two mounting plates 22 are arranged on the mounting platform 21, and the two mounting plates 22 are arranged at intervals, and the positions of the mounting plates 22 on the mounting platform 21 are fixed, and the tops of the two mounting plates 22 are provided with retractable product 51 conveying plates 23. Since the product 51 conveying plates 23 are installed on the mounting plates 22 of the mounting platform 21, when the mounting platform 21 is driven by the driving component to rise or fall or move laterally, the product 51 conveying plates 23 also follow the movement to achieve the rise or fall or move laterally, and can also be retracted, so that the product stack 50 can be selectively raised or lowered and moved laterally to pick up and place.

[0040] More specifically, when the product 51 conveying plate 23 needs to move to a certain target position on the side of the receiving bracket 11, the product 51 conveying plate 23 is controlled to be in a retracted state, and the product 51 conveying plate 23 on the mounting platform 21 can be driven to move to the target position by the driving component. When the product 51 conveying plate 23 moves to a certain target position to face the bottom of the tray 52 of the product stack 50 on the receiving platform 12, the product 51 conveying plate 23 is controlled to extend and lift, so that the product stack 50 can be lifted, and then the product 51 conveying plate 23 is controlled to retract to move the product stack 50 to another position, such as onto or on the bottom of another receiving platform 12, so as to achieve the picking and placing of the product stack 50.

[0041] However, the position of the product stack 50 on the receiving platform 12 may not be in place, and the pallet 52 or the product 51 may protrude from the receiving platform 12. Since the position between the end of the conveying plate 23 of the product 51 and the receiving bracket 11 is small, when the pallet 52 protrudes or the product 51 protrudes from the receiving platform 12, when the drive component drives the product 51 conveying plate 23 on the mounting platform 21 to rise and fall, the product 51 conveying plate 23 may collide with the pallet 52 or the product 51, thereby causing damage to the product 51 conveying plate 23 and its accessories, or overturning the product 51, and there is a certain risk of the product 51 falling.

[0042] In order to solve the above technical problems, the present embodiment proposes to set a detection component 30 at the front end of the product 51 conveying plate 23 for detecting whether there are obstacles in the movement direction during the movement of the product 51 conveying plate 23. When there are obstacles, the product 51 conveying plate 23 can be controlled to further retract, and then the product 51 conveying plate 23 can be controlled to be raised and lowered, thereby avoiding collision with pallets 52 or products 51 that are not placed in place, thereby ensuring the safety of the warehousing process.

[0043] Specifically, the detection assembly 30 is arranged at the front end of the product 51 conveying plate 23, and includes a mounting bracket 31 and a position sensor 32. The position sensor 32 is rotatably connected to the mounting bracket 31, so that the position sensor 32 has multiple detection directions. In addition, since the product 51 conveying plates 23 have a certain spacing, in order to avoid the situation that there is no obstacle in the movement direction of one product 51 conveying plate 23 and there is an obstacle in the movement direction of the other product 51 conveying plate 23, resulting in a local collision, in this embodiment, the front ends of the two product 51 conveying plates 23 are both provided with a detection assembly 30.

[0044] The mounting bracket 31 includes a mounting portion 31a and a first supporting portion 31b and a second supporting portion 31c connected to opposite sides of the mounting portion 31a, and the position sensor 32 is rotatably connected between the first supporting portion 31b and the second supporting portion 31c; the mounting portion 31a is connected to the end surface of the product 51 conveying plate 23, and the first supporting portion 31b and the second supporting portion 31c extend toward an end away from the product 51 conveying plate 23. The position sensor 32 disposed at the end of the product 51 conveying plate 23 can change the detection direction by rotating the angle, so that obstacles in multiple directions can be detected, and it is not necessary to set multiple position sensors 32 according to each direction of the movement of the product 51 conveying plate 23.

[0045] In this embodiment, the detection assembly 30 further includes a rotating shaft 33, both ends of which are rotatably connected to the first supporting portion 31b and the second supporting portion 31c, respectively. The position sensor 32 is fixed on the rotating shaft 33 to rotate with the rotating shaft 33 to change the detection direction.

[0046] Wherein, the position sensor 32 is a proximity sensor.

[0047] In order to improve the convenience of the position sensor 32 during the installation process, the rotating shaft 33 is sleeved on a sensor bracket 35 between the first supporting portion 31b and the second supporting portion 31c, and the sensor bracket 35 forms a clamping space, and the position sensor 32 is buckled in the clamping space to achieve relative fixation with the rotating shaft 33. In other words, the positions of the sensor bracket 35 and the rotating shaft 33 are relatively fixed, and when the position sensor 32 is fixed in the clamping space of the sensor bracket 35, the positions of the position sensor 32 and the rotating shaft 33 are also relatively fixed, and by driving the rotating shaft 33 to rotate, the angle of the position sensor 32 can be changed to change the detection direction of the position sensor 32.

[0048] In this embodiment, the rotation and rotation angle of the position sensor 32 are controlled by the drive motor 34, and either end of the rotation shaft 33 passes through the first support portion 31b or the second support portion 31c and is connected to an output end of the drive motor 34. The drive motor 34 is disposed on the outer side of the first support portion 31b, and the rotation shaft 33 passes through the first support portion 31b and is in driving connection with the motor shaft of the drive motor 34, so that the position sensor 32 has a multi-angle detection direction.

[0049] Of course, in some other embodiments, the rotating shaft 33 may pass through the second supporting portion 31 c and be transmission-connected to the driving motor 34 outside the second supporting portion 31 c.

[0050] Furthermore, the controller of the driving assembly is electrically connected to the driving motor 34 so that the position sensor 32 moves along with the movement of the conveying plate 23 of the product 51 .

[0051] In this embodiment, the controller of the driving component for driving the installation platform 21 is also electrically connected to the driving motor 34. When controlling the installation platform 21 and the conveying plate to rise and fall, the driving motor 34 is also controlled to move to drive the position sensor 32 provided on the conveying plate 23 of the product 51 to rotate, so that the position sensor 32 can move along with the movement of the conveying plate 23 of the product 51.

[0052] For example, when the product 51 conveying plate 23 on the mounting platform 21 is driven to rise by the driving assembly of the device, the tray 52 on the top receiving platform 12 is loose or not placed in place, and it protrudes 10 cm relative to the receiving platform 12, while the design distance between the product 51 conveying plate 23 and the receiving platform 12 is only 6 cm. According to the prior art, when the product 51 conveying plate 23 continues to move upward, the protruding 4 cm will collide with the top surface of the product 51 conveying plate 23, which may cause damage to the product 51 conveying plate 23 or overturn the product stack 50;

[0053] When the device shown in the present invention is used, during the upward movement of the conveying plate 23 of the product 51, the position sensor 32 arranged at the end of the conveying plate 23 of the product 51 is driven by the driving motor 34 to turn to the top, and the position sensor 32 detects toward the top. When it is detected that the tray 52 is protruding, the conveying plate 23 of the product 51 can be controlled to retract a certain stroke to increase the lateral spacing between the conveying plate 23 of the product 51 and the receiving platform 12. Then, the conveying plate 23 of the product 51 will no longer collide with the tray 52 during the upward movement of the product 51. When the conveying plate 23 of the product 51 reaches the target position and needs to pick up and place the product stack 50, the position sensor 32 is controlled to rotate toward the end of the conveying plate 23 of the product 51, so as to detect the bottom of the tray 52 when the conveying plate 23 of the product 51 extends to the tray 52.

[0054] Therefore, by adopting the device shown in the utility model, by setting a steerable position sensor 32 to detect whether there is an obstacle on the front path, the movement of the product 51 conveying plate 23 can be readjusted after the obstacle is detected, thereby avoiding collision between the product 51 conveying plate 23 and the obstacle, and effectively avoiding damage to the product 51 conveying plate 23, and avoiding the product stack 50 from being overturned. The device shown in the utility model has stronger safety performance during actual use.

[0055] In summary, the three-dimensional product 51 storage and retrieval device shown in the utility model is provided with a receiving bracket 11 and a receiving platform 12, the receiving platform 12 is provided on the receiving bracket 11 to form a storage space, a guide rail 40 is provided on one side of the receiving bracket 11, including a horizontal guide rail 41 and a vertical guide rail 42, the mounting platform 21 is slidably connected to the guide rail 40, the mounting platform 21 can be driven by the driving component to move along the horizontal guide rail 41 or the vertical guide rail 42, and the product 51 conveying plate 23 provided on the mounting plate 22 of the mounting platform 21 can be driven by the driving component to move along the horizontal guide rail 41 or the vertical guide rail 40, which can change the product 51 conveying plate 23 relative to the receiving bracket The position of the rack 11 is determined by arranging a detection component 30 at the end of the product 51 conveying plate 23. The position sensor 32 in the detection component 30 is installed through a sensor bracket and has rotational freedom. By changing the orientation of the position sensor 32 to change the detection direction, it is possible to detect whether there are misplaced pallets 52 or products 51 in the movement direction during the movement of the product 51 conveying plate 23. If so, the movement is stopped and retracted, and the pallet 52 or product 51 can be avoided by moving again, thereby avoiding the collision between the product 51 conveying plate 23 and the obstacle, so as to prevent the product 51 conveying plate 23 from being damaged or the product 51 from being overturned. Compared with the prior art, the device shown in the present application is significantly safer when the product 51 is transported.

[0056] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0057] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A collision prevention detection device for picking and placing products in a stereoscopic warehouse, characterized in that: The device comprises: The storage mechanism comprises a receiving bracket and a plurality of receiving platforms, wherein the plurality of receiving platforms are arranged on the receiving bracket at intervals to form a storage space on the receiving platforms; The pick-and-place mechanism comprises a guide rail arranged on the side of the receiving bracket, wherein the guide rail comprises a horizontal guide rail and a vertical guide rail, and a retractable product conveying plate is slidably connected to the horizontal guide rail or the vertical guide rail through a mounting platform, so that the product conveying plate is driven by a preset driving component to move along the horizontal guide rail or the vertical guide rail to change the position of the product conveying plate relative to the storage mechanism; And a detection component is arranged at the front end of the product conveying plate, comprising a mounting bracket and a position sensor, wherein the position sensor is rotatably connected to the mounting bracket so that the position sensor has multiple detection directions.

2. The anti-collision detection device for picking and placing products in a three-dimensional warehouse according to claim 1 is characterized in that: The front ends of the two product conveying plates are each provided with the detection assembly.

3. The anti-collision detection device for picking and placing products in a three-dimensional warehouse according to claim 1 is characterized in that: The mounting bracket includes a mounting portion and a first supporting portion and a second supporting portion connected to opposite sides of the mounting portion, and the position sensor is rotatably connected between the first supporting portion and the second supporting portion; Wherein, the mounting portion is connected to the end surface of the product conveying plate, and the first supporting portion and the second supporting portion extend toward an end away from the product conveying plate.

4. The anti-collision detection device for picking and placing products in a three-dimensional warehouse according to claim 3 is characterized in that: The detection assembly further includes a rotating shaft, two ends of which are rotatably connected to the first support portion and the second support portion respectively, and the position sensor is fixed on the rotating shaft to rotate with the rotating shaft to change the detection direction; Wherein, the position sensor is a proximity sensor.

5. The anti-collision detection device for picking and placing products in a three-dimensional warehouse according to claim 4 is characterized in that: The rotating shaft is sleeved with a sensor bracket between the first supporting portion and the second supporting portion. The sensor bracket forms a clamping space. The position sensor is buckled in the clamping space to achieve relative fixation with the rotating shaft.

6. The anti-collision detection device for picking and placing products in a three-dimensional warehouse according to claim 5 is characterized in that: Either end of the rotating shaft passes through the first supporting portion or the second supporting portion and is connected to an output end of a driving motor.

7. The anti-collision detection device for picking and placing products in a three-dimensional warehouse according to claim 6 is characterized in that: A driving motor is disposed outside the first supporting portion, and the rotating shaft passes through the first supporting portion and is drivingly connected to a motor shaft of the driving motor, so that the position sensor has a multi-angle detection direction.

8. The anti-collision detection device for picking and placing products in a three-dimensional warehouse according to claim 7 is characterized in that: The controller of the drive assembly is electrically connected to the drive motor so that the position sensor moves in accordance with the movement of the product conveying plate.

9. The anti-collision detection device for picking and placing products in a three-dimensional warehouse according to any one of claims 1 to 8, characterized in that: The receiving platform is detachably connected to the receiving bracket, so that the size of the storage space can be changed by adjusting the installation position of the receiving platform on the receiving bracket.

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