Carrying device for intelligent warehousing and intelligent warehousing system

Abstract

The utility model discloses a carrying device for intelligent warehousing. The carrying device comprises a first sliding rail; the second sliding rail can move along the first sliding rail; the first clamping arm and the second clamping arm each comprise a base, a telescopic arm connected to the base and a clamping jaw located at the end of the telescopic arm, and the bases can move along the second sliding rail; the first clamping arm and the second clamping arm move independently along the second sliding rail, and the first clamping jaw and the second clamping jaw of the first clamping arm and the second clamping arm are used for clamping objects oppositely. The first clamping arm and the second clamping arm which move independently are adopted for clamping goods, the distance between the first clamping arm and the second clamping arm can be adjusted freely within a large range, and therefore the first clamping jaw and the second clamping jaw can stably grab the goods regardless of the size of the goods; the first telescopic arm and the second telescopic arm are each of an up-and-down lifting structure, the adjustable height range is large, and the device can adapt to goods of different heights and different shapes.

Description

Technical Field

[0001] The utility model belongs to the technical field of warehousing, and particularly relates to a handling device for intelligent warehousing and an intelligent warehousing system. Background Art

[0002] Chinese Patent CN213865095U discloses "An Intelligent Warehouse Crane", which includes a crane beam, a crane platform, a lifting crossbar, a rotating rod telescopic rod and a central control machine. A slide rail is arranged at the top of the crane beam, and chutes are opened on both sides of the crane beam. A moving frame is installed on the crane beam. The crane platform is connected to the moving frame, and clamping claws are installed on both sides of the moving frame. A positioning instrument is arranged on the crane platform. The lifting crossbar is connected to the moving frame, and a bearing platform is installed on the lifting crossbar. An upper rotating shaft is arranged on the lower side of the bearing platform. A middle rotating rod is installed on one side of the upper rotating shaft. A rotating shaft telescopic rod is arranged between the middle rotating rod and the upper rotating shaft. A claw hook is connected to the lower end of the middle rotating rod. The rotating rod telescopic rod is installed between the claw hook and the middle rotating rod. An auxiliary clamping claw is arranged outside the claw hook. A clamping claw lifting rod is connected between the auxiliary clamping claw and the middle rotating rod. The central control machine is installed between the upper rotating shafts. It drives the upper rotating shaft, the middle rotating rod and the claw hook to rotate respectively through the rotating shaft telescopic rod and the rotating rod telescopic rod, so as to realize the clamping and releasing of goods, and utilize the principle of controlling the auxiliary clamping claw to clamp heavier goods by the clamping claw lifting rod, so that the device can quickly and stably grab goods. However, the distance between the claw hook and the auxiliary clamping claw is still limited by the overall structure, and it cannot grab large-volume goods, or in other words, it cannot be adjusted according to the volume of the goods, and the adaptability is not high. Summary of the Utility Model

[0003] In order to overcome the deficiencies of the prior art, the utility model provides a handling device for intelligent warehousing and an intelligent warehousing system, which use independently movable first clamping arms and second clamping arms to cooperate to clamp goods, can clamp goods of any size, and have high adaptability.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a handling device for intelligent warehousing, including:

[0005] A first slide rail;

[0006] A second slide rail that can move along the first slide rail;

[0007] A first clamping arm and a second clamping arm, both of which include a base, a telescopic arm connected to the base, and a clamping claw located at the end of the telescopic arm. The base can move along the second slide rail;

[0008] The first clamping arm and the second clamping arm move independently along the second slide rail, and their first clamping claws and second clamping claws are used to clamp objects in opposite directions.

[0009] Further, the first slide rail and the second slide rail are vertically arranged. The first slide rail includes rail one and rail two which are arranged parallel and opposite to each other, and two ends of the second slide rail are movably arranged on rail one and rail two respectively.

[0010] Further, the second slide rail has rail three and rail four which are arranged parallel and opposite to each other, and the telescopic arm passes through between rail three and rail four; the base is provided with at least two sets of roller pairs, and the roller pairs are clamped on rail three or rail four up and down.

[0011] Further, rail three and / or rail four has a driving tooth section, and the base is provided with a driving wheel which can be meshed and driven with the driving tooth section.

[0012] Further, the base is provided with four sets of roller pairs, two of which are clamped on rail three and two are clamped on rail four; each roller pair includes two rollers which are arranged opposite to each other up and down.

[0013] Further, the clamping jaw is vertically arranged with the telescopic arm.

[0014] The present utility model also discloses an intelligent warehousing system, including:

[0015] The handling device as described above;

[0016] A load platform, which is arranged on the warehouse floor and used for supporting goods;

[0017] The second slide rail can move along the first slide rail, and the first clamping arm and the second clamping arm can move along the second slide rail to be positioned at the target load platform. The telescopic arm moves closer to or away from each other along with the base and rises and falls, so that the first clamping jaw and the second clamping jaw clamp the load platform in opposite directions.

[0018] Further, the load platform includes a horizontal tabletop and supporting feet located below the horizontal tabletop, and a space for the clamping jaw to extend into is formed between the supporting feet and the lower surface of the horizontal tabletop.

[0019] Further, the load platforms are arranged in an array between rail one and rail two; the first slide rail and the second slide rail are located at the top of the warehouse.

[0020] Further, a transfer table is also included, which is arranged close to the edge load platform.

[0021] The beneficial effects of the present utility model are as follows: It changes the traditional thinking of using two jaws at the end of a single arm to clamp an object, and uses the first clamping arm and the second clamping arm that move independently to clamp the goods. The distance between the first clamping wall and the second clamping arm can be adjusted arbitrarily within a large range, so that regardless of the size of the goods, the first jaw and the second jaw can firmly grasp the goods; both the first telescopic arm and the second telescopic arm are vertically lifting structures, and their adjustable height ranges are large, which can adapt to goods of different heights and different shapes; the first telescopic arm and the second telescopic arm support the goods in the vertical direction, making the clamping of the goods more stable; the base uses rollers to cooperate with the second slide rail, and the movement is flexible and stable; the design of the loading platform facilitates the first jaw and the second jaw to smoothly clamp the loading platform and the goods above it; the setting of the transfer platform facilitates the fixed-point transfer of the handling device after obtaining the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the intelligent warehousing system in the present utility model.

[0023] Figure 2 is Figure 1 the enlarged view of the structure at A in

[0024] Figure 3 is Figure 1 the enlarged view of the structure at B in

[0025] Figure 4 It is a three-dimensional view of the first clamping arm in the present utility model.

[0026] Figure 5 It is a side view of the first clamping arm in the present utility model.

[0027] Figure 6 It is a front view of the first clamping arm in the present utility model.

[0028] Figure 7 It is a three-dimensional view of the second slide rail in the present utility model.

[0029] Figure 8 It is a three-dimensional view of the loading platform in the present utility model.

[0030] Figure 9 It is a partial structural schematic diagram of the matching part of the base and the second slide rail in the present utility model.

[0031] Among them, 1 - the first slide rail, 11 - rail one, 12 - rail two, 13 - convex rail, 2 - the second slide rail, 21 - rail three, 22 - rail four, 23 - driving tooth section, 24 - pulley, 25 - mounting base, 3 - the first clamping arm, 31 - the first base, 32 - the first telescopic arm, 33 - the first jaw, 331 - jaw part, 34 - roller pair, 341 - roller, 342 - seat body, 35 - driving wheel, 4 - the second clamping arm, 41 - the second base, 42 - the second telescopic arm, 43 - the second jaw, 5 - the loading platform, 51 - horizontal tabletop, 52 - support leg, 53 - space, 6 - transfer table, 7 - support frame. Detailed implementation manners

[0032] In order to enable those skilled in the art to better understand the solution of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0033] As Figure 1 、 Figure 2 shown, a handling device for intelligent warehousing includes a first slide rail 1, a second slide rail 2 that can move along the first slide rail 1, and a first clamping arm 3 and a second clamping arm 4 that can move along the second slide rail 2. The first clamping arm 3 and the second clamping arm 4 move independently along the second slide rail 2, that is, the first clamping arm 3 and the second clamping arm 4 are two relatively independent components.

[0034] The first clamping arm 3 includes a first base 31, a first telescopic arm 32 connected to the first base 31, and a first jaw 33 located at the end of the first telescopic arm 32. The first base 31 can move along the second slide rail 2.

[0035] The second clamping arm 4 includes a second base 41, a second telescopic arm 42 connected to the second base 41, and a second jaw 43 located at the end of the second telescopic arm 42. The second base 41 can move along the second slide rail 2. In this embodiment, the structures of the first clamping arm 3 and the second clamping arm 4 are basically the same, except that the orientations of the first jaw 33 and the second jaw 43 are different. Of course, in other embodiments, the two can have different structures, and specific limitations are not made.

[0036] The first jaw 33 of the first clamping arm 3 and the second jaw 43 of the second clamping arm 4 are used to clamp an object towards each other. Here, it is emphasized that the first clamping arm 3 and the second clamping arm 4 are two independent components, and their movements along the second slide rail 2 are independent of each other. The moving stroke of the first clamping arm 3 along the second slide rail 2 is not affected by the second clamping arm 4. Similarly, the moving stroke of the second clamping arm 4 along the second slide rail 2 is not affected by the first clamping arm 3. Therefore, the distance between the first clamping arm 3 and the second clamping arm 4 can be adjusted arbitrarily, and the opening size of the first jaw 33 and the second jaw 43 is not restricted, and both can clamp goods of any volume size.

[0037] The first slide rail 1 includes a track one 11 and a track two 12 that are arranged parallel and opposite to each other. In this embodiment, the first slide rail 1 is located at the top of the warehouse. Specifically, the track one 11 and the track two 12 are respectively arranged on the support frames 7 extending from the ground to the top of the warehouse, and are located on both sides of the warehouse. Therefore, the space between the track one 11 and the track two 12 is used to place goods.

[0038] The second slide rail 2 is perpendicular to the first slide rail 1, that is, both ends of the second slide rail 2 are movably arranged on the track one 11 and the track two 12 respectively. Specifically, as Figure 3 shown, pulleys 24 are arranged at both ends of the second slide rail 2, and the pulleys 24 form grooves 241, and protruding rails 13 that can be snapped into the grooves 241 are respectively formed on the track one 11 and the track two 12.

[0039] As Figure 7 shown, the second slide rail 2 has a track three 21 and a track four 22 that are arranged parallel and opposite to each other. At the same time, the ends of the track three 21 and the track four 22 are connected into one body through a mounting seat 25, and the above-mentioned pulleys 24 are connected to the mounting seat 25.

[0040] The first telescopic arm 32 of the first clamping arm 3 passes through the gap between the track three 21 and the track four 22 from top to bottom, and the second telescopic arm 42 of the second clamping arm 4 also passes through the gap between the track three 21 and the track four 22 from top to bottom. Both the first telescopic arm 32 and the second telescopic arm 42 include a plurality of telescopically sleeved arm bodies, and the plurality of arm bodies can be telescopically extended up and down to realize the elongation or shortening of the first telescopic arm 32 and the second telescopic arm 42. Specifically, it can be realized by the prior art and will not be elaborated here.

[0041] The first jaw 33 is perpendicular to the first telescopic arm 32. Specifically, the first jaw 33 includes two spaced-apart claw parts 331, and the claw parts 331 are plate-shaped.

[0042] As Figures 4 - 6As shown in the figure, at least two sets of roller pairs 34 are provided on the lower surfaces of the first base 31 and the second base 41. In this embodiment, two rollers facing each other up and down are taken as a set of roller pairs. Of course, in other embodiments, the two rollers up and down may not be facing each other. The two rollers 341 of the roller pair 34 are rotatably connected to the seat body 342, and the two rollers 341 of the roller pair 34 are clamped on the third rail 21 or the fourth rail 22 up and down. Specifically, the distance between the outer edges of the two rollers of a set of roller pairs 34 is approximately equal to the thickness of the third rail 21 and the fourth rail 22. Moreover, under the restriction of the seat bodies 342 on both sides, the first base 31 and the second base 41 will not shift in the width direction and height direction relative to the second slide rail 2, and the overall matching structure is stable.

[0043] In order to drive the first base 31 and the second base 41 to translate along the second slide rail 2, the third rail 21 or the fourth rail 22 has a driving tooth section 23. In this embodiment, the driving tooth section 23 is located on the side surface of the fourth rail 22 facing the third rail 21. Correspondingly, as Figure 9 shown, driving wheels 35 that can mesh and drive with the driving tooth section 23 are provided on the first base 31 and the second base 41. The driving wheels 35 are equipped with power sources, and are driven to rotate through structures such as motors and reducers in the prior art. Under the meshing action of the outer peripheral teeth of the driving wheels 35 and the tooth section 23, the bases are driven to translate along the second slide rail 2.

[0044] In this embodiment, both the first base 31 and the second base 41 are provided with four sets of roller pairs 34, two of which are clamped on the third rail 21 and two are clamped on the fourth rail 22.

[0045] As Figure 1 shown, an intelligent warehousing system includes the above-mentioned handling device and a loading platform 5 arranged on the warehouse floor for supporting goods. Of course, the loading platform 5 may not be placed on the ground, and there is no specific limitation. In this embodiment, a plurality of loading platforms 5 are arranged in an array between the first rail 11 and the second rail 12. Each loading platform 5 can be marked and provided with sensors, so that the second slide rail 2 can move along the first slide rail 1, the first clamping arm 3 can move along the second slide rail 2, and the second clamping arm 4 can move along the second slide rail 2 to be positioned at the target loading platform 5. The specific positioning here can be achieved through sensors, which is the prior art and will not be elaborated.

[0046] Specifically, the first telescopic arm 32 moves horizontally close to the second telescopic arm 42 along with the first base 31, or the second telescopic arm 42 moves horizontally close to the first telescopic arm 32 along with the second base 41, or the first telescopic arm 32 and the second telescopic arm 42 move closer to each other. After positioning to the target carrier 5, the first gripper 33 and the second gripper 43 each move downward. After moving to the height where the carrier 5 is located, they move closer to each other through the horizontal movement of the first base 31 and the second base 41, so that the first gripper 33 and the second gripper 43 grip the carrier 5 facing each other. The first telescopic arm 32 and the second telescopic arm 42 rise synchronously to lift the carrier 5 upward, and through the horizontal movement of the second slide rail 2 along the first slide rail 1 and the horizontal movement of the first base 31 and the second base 41 along the second slide rail 2, the goods are moved out of the warehouse.

[0047] To facilitate the first gripper 33 and the second gripper 43 to grip the carrier 5 facing each other, as Figure 8 shown, the carrier 5 includes a horizontal tabletop 51 and legs 52 located below the horizontal tabletop 51. The legs 52 and the lower surface of the horizontal tabletop 51 form a space 53 for the first gripper 33 and the second gripper 43 to extend into. Specifically, the legs 52 lift the horizontal tabletop 51 upward, so that the horizontal tabletop 51 does not fit on the ground, facilitating the insertion of the grippers.

[0048] In this embodiment, the number of the second slide rails 2 is one. Of course, in other embodiments, the number of the second slide rails 2 can also be two, that is, the first clamping arm 3 and the second clamping arm 4 are respectively arranged on two second slide rails 2. The number of the first clamping arms 3 is two, and the number of the second clamping arms 4 is also two. The two second slide rails 2 move closer to each other horizontally along the first slide rail 1, so that the two first clamping arms 3 and the two second clamping arms 4 can achieve more clamping in the length direction, or width direction, or length and width directions of the goods, and the clamping of the goods is more stable.

[0049] A transfer table 6 is arranged near the edge of the warehouse for the carrier 5. The goods transferred out by the handling device can be temporarily stored on the transfer table 6.

[0050] The above specific embodiments are used to explain and illustrate the present invention, rather than limiting the present invention. Any modifications and changes made to the present invention within the spirit and protection scope of the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A handling device for intelligent warehousing, characterized in that: include: First slide rail; a second slide rail, movable along the first slide rail; The first clamping arm and the second clamping arm each include a base, a telescopic arm connected to the base, and a clamping claw located at the end of the telescopic arm, wherein the base can move along the second slide rail; The first clamping arm and the second clamping arm move independently along the second slide rail, and the first clamping claws and the second clamping claws of the first clamping arm and the second clamping claws of the second clamping arm are used to clamp objects towards each other.

2. The handling device for intelligent warehousing according to claim 1, characterized in that: The first slide rail and the second slide rail are vertically arranged, the first slide rail comprises a track 1 and a track 2 which are arranged in parallel and opposite to each other, and two ends of the second slide rail are movably arranged on the track 1 and the track 2 respectively.

3. The handling device for intelligent warehousing according to claim 1, characterized in that: The second slide rail has a track three and a track four which are arranged in parallel and opposite to each other, and the telescopic arm passes through between the track three and the track four; the base is provided with at least two groups of roller pairs, and the roller pairs are clamped on the track three or the track four up and down.

4. The handling device for intelligent warehousing according to claim 3, characterized in that: The track three and / or track four has a driving tooth segment, and the base is provided with a driving wheel that can mesh with the driving tooth segment for transmission.

5. The handling device for intelligent warehousing according to claim 3, characterized in that: The base is provided with four groups of roller pairs, two of which are clamped on track three, and two of which are clamped on track four; the roller pairs include two rollers facing each other up and down.

6. The handling device for intelligent warehousing according to claim 1, characterized in that: The clamping claw is arranged perpendicularly to the telescopic arm.

7. An intelligent warehousing system, characterized in that: include: The handling device according to any one of claims 1 to 6; The loading platform is located on the warehouse floor and is used to support goods; The second slide rail can move along the first slide rail, and the first clamping arm and the second clamping arm can move along the second slide rail to be positioned at the target worktable. The telescopic arms move closer to or farther away from each other and rise and fall as the base moves, so that the first clamping jaw and the second clamping jaw clamp the worktable towards each other.

8. The intelligent storage system according to claim 7, characterized in that: The loading platform comprises a horizontal platform surface and supporting feet located below the horizontal platform surface, and the supporting feet and the lower surface of the horizontal platform surface form a space for the clamping claws to extend into.

9. The intelligent storage system according to claim 7, characterized in that: The loading platform array is arranged between track one and track two; the first slide rail and the second slide rail are located on the top of the warehouse.

10. The intelligent storage system according to claim 9, characterized in that: Also included is a transfer table, which is disposed adjacent to the edge stage.

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