Intelligent vertical warehouse

Abstract

The utility model provides an intelligent three-dimensional warehouse which comprises a warehouse-in assembly, a warehouse-out assembly, a plurality of storage units and a conveying assembly. The warehousing assembly comprises a warehousing mechanism, and the warehousing mechanism can receive material trays; the warehouse-out assembly comprises a warehouse-out mechanism, and the warehouse-out mechanism can output the trays; the plurality of storage units are used for accommodating trays; the conveying assembly comprises a conveying rail and a stacking machine, and the stacking machine is slidably connected to the conveying rail and can move back and forth in the extending direction of the conveying rail. And the stacking machine can move different material trays conveyed by the warehousing mechanism into different storage units, and can move the material trays located in a certain storage unit to the ex-warehouse mechanism. According to the intelligent vertical warehouse, receiving, storing and outputting of the specific trays can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of batching systems, and particularly relates to an intelligent vertical warehouse. Background Art

[0002] In the related art, when it is necessary to store the produced trays, workers need to manually put the trays into the storage cabinet; when it is necessary to take out the trays in the storage cabinet, workers need to manually take out the trays in the storage cabinet. The above process of handling trays requires a large amount of manpower, which brings inconvenience to industrial production. Summary of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides an intelligent vertical warehouse, which can realize the automatic storage and output of trays.

[0004] The intelligent vertical warehouse according to the first aspect embodiment of the utility model, which is used for receiving, storing and outputting trays, includes:

[0005] An inbound component, including an inbound mechanism, which can receive trays;

[0006] An outbound component, including an outbound mechanism, which can output trays;

[0007] A plurality of storage units, all of which are used to accommodate trays;

[0008] A conveying component, including a conveying track and a stacker, the stacker is slidably connected to the conveying track and can also move back and forth along the extending direction of the conveying track; the stacker can move different trays conveyed by the inbound mechanism into different storage units, and can move the trays in a certain storage unit to the outbound mechanism.

[0009] The intelligent vertical warehouse according to the embodiment of the utility model has at least the following beneficial effects: when trays need to be stored, the inbound mechanism can receive the trays, and the stacker moves along the conveying track and places the trays received by the inbound mechanism in the storage unit, so as to realize the storage of trays; when it is necessary to take out the trays from the warehouse, the stacker can take out the trays in the storage unit and move the trays to the outbound mechanism for output, so as to realize the output of the stored trays. The above inbound and outbound processes can be jointly completed by the inbound component, the outbound component and the stacker, which can effectively save the manpower for handling trays.

[0010] According to some embodiments of the present utility model, the outbound mechanism includes two first conveying parts, the two first conveying parts are arranged at intervals along a first direction, and can together support and convey the tray; a grasping channel is defined between the two first conveying parts arranged at intervals, and the grasping channel is used to avoid the manipulator when the manipulator grasps the tray; wherein, the first direction is perpendicular to the gravity direction and the conveying direction of the outbound mechanism.

[0011] According to some embodiments of the present utility model, the outbound mechanism further includes a second conveying part, the second conveying part can convey the tray to the first conveying part, and the second conveying part and the first conveying part have an outbound conveying plane for conveying the tray; the outbound assembly further includes a centering positioning mechanism, the centering positioning mechanism includes a first guiding part and a second guiding part, the first guiding part and the second guiding part are arranged at intervals along the first direction, and define a guiding channel, the first direction is perpendicular to the conveying direction of the outbound mechanism and parallel to the outbound conveying plane; the guiding channel extends along the conveying direction of the outbound mechanism, and the distance between the first guiding part and the second guiding part in the first direction gradually decreases along the conveying direction of the outbound mechanism, and a discharge port for the tray to pass through is formed at one end of the guiding channel facing the first conveying part, and the discharge port and the grasping channel are arranged along the conveying direction of the outbound mechanism.

[0012] According to some embodiments of the present utility model, the centering positioning mechanism includes a sliding part, a first slider and a second slider, the first slider is connected to the first guiding part, the second slider is connected to the second guiding part, and both the first slider and the second slider are slidably connected to the sliding part and can move along the first direction to adjust the size and position of the discharge port.

[0013] According to some embodiments of the present utility model, the first guiding part includes a first front guiding part and a first rear guiding part, and the second guiding part includes a second front guiding part and a second rear guiding part; the first front guiding part is slidably connected to the first rear guiding part along the length direction of the first guiding part, the first front guiding part is rotatably connected to the first slider, the first rear guiding part is rotatably connected to one side of the second conveying part in the first direction, and the rotation axis of the first front guiding part is parallel to the rotation axis of the first rear guiding part; the second front guiding part is slidably connected to the second rear guiding part along the length direction of the second guiding part, the second rear guiding part is rotatably connected to the second slider, the second rear guiding part is rotatably connected to the other side of the second conveying part in the first direction opposite to the first guiding part, and the rotation axis of the second front guiding part is parallel to the rotation axis of the second rear guiding part.

[0014] According to some embodiments of the present invention, the centering positioning mechanism also includes a first connecting rod and a second connecting rod. Along the conveying direction of the outbound conveying mechanism, the first connecting rod and the second connecting rod are located between the second conveying part and the first conveying part; in the direction perpendicular to the outbound conveying plane, the first guide and the first slider are respectively located on both sides of the second conveying part and the first conveying part, and the second guide and the second slider are respectively located on both sides of the second conveying part and the first conveying part; the first guide is connected to the first slider through the first connecting rod; the second guide is connected to the second slider through the second connecting rod.

[0015] According to some embodiments of the present invention, the sliding member includes a first sliding part and a second sliding part, the first sliding member is slidably connected to the first sliding part, the second sliding member is slidably connected to the second sliding part, and the first sliding part and the second sliding part are spaced apart along the first direction.

[0016] According to some embodiments of the present invention, the first guide member is rotatably connected to the second conveying part on the side away from the first conveying part in the conveying direction, and the second guide member is rotatably connected to the second conveying part on the side away from the first conveying part in the conveying direction.

[0017] According to some embodiments of the present invention, the warehousing component also includes a visual inspection module, which is used to measure the size of the material tray transported by the warehousing mechanism; the size of the discharge port is adjusted according to the size of the material tray measured by the visual inspection module.

[0018] According to some embodiments of the present invention, the warehousing mechanism includes an warehousing conveyor belt, which is capable of conveying material trays; and the visual inspection module is used to measure the size of the material trays conveyed by the warehousing conveyor belt.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0021] Figure 1 A top view of an intelligent vertical storage system according to some embodiments of the present invention;

[0022] Figure 2 for Figure 1 Schematic diagram of the conveying component;

[0023] Figure 3 forFigure 1 Schematic diagram of the outbound component

[0024] Figure 4 Schematic diagram of the outbound component of some embodiments of the present utility model

[0025] Figure 5 Schematic diagram of the outbound component of other embodiments of the present utility model

[0026] Reference numerals

[0027] Material tray 10

[0028] Inbound component 100, inbound mechanism 110

[0029] Outbound component 200, outbound mechanism 210, first conveying part 211, grasping channel 212, second conveying part 213, outbound conveying plane 214, centering positioning mechanism 220, first guiding member 221, first front guiding part 221a, first rear guiding part 221b, second guiding member 222, second front guiding part 222a, second rear guiding part 222b, guiding channel 223, discharge port 224, sliding member 230, first sliding part 231, second sliding part 232, first slider 240, second slider 250, first connecting rod 260, second connecting rod 270

[0030] Storage unit 300

[0031] Conveying component 400, conveying track 410, stacker 420, picking mechanism 421 Detailed implementation manners

[0032] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present utility model, and should not be construed as a limitation to the present utility model.

[0033] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0034] In the description of the present utility model, the meaning of "several" is more than one, the meaning of "multiple" is more than two, and understandings such as "greater than", "less than", "exceeding", etc. do not include the corresponding number, while understandings such as "above", "below", "within", etc. include the corresponding number. If "first" and "second" are described, they are only used to distinguish technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0035] In the description of the present utility model, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0036] In the description of the present utility model, the descriptions with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0037] Please refer to Figure 1 、 Figure 2 As shown, the present utility model discloses an intelligent automated storage and retrieval system (AS / RS) for receiving, storing, and outputting trays 10, including an inbound component 100, an outbound component 200, a plurality of storage units 300, and a conveying component 400; the inbound component 100 includes an inbound mechanism 110 that can receive the tray 10; the outbound component 200 includes an outbound mechanism 210 that can output the tray 10; the plurality of storage units 300 are all used to accommodate the tray 10; the conveying component 400 includes a conveying track 410 and a stacker 420, the stacker 420 is slidably connected to the conveying track 410 and can also move back and forth along the extension direction of the conveying track 410; the stacker 420 can move different trays 10 conveyed by the inbound mechanism 110 into different storage units 300, and can move the tray 10 located in a certain storage unit 300 to the outbound mechanism 210.

[0038] When a tray needs to be stored in the warehouse, the warehousing mechanism 110 can receive the tray 10. The stacker 420 moves along the conveying track 410 and places the tray 10 received by the warehousing mechanism 110 into the storage unit 300, thereby realizing the storage of the tray 10. When the tray 10 needs to be taken out of the warehouse, the stacker 420 can take out the tray 10 in the storage unit 300 and move the tray 10 to the out-of-warehouse mechanism 210 for output, thereby realizing the output of the stored tray 10. The above warehousing and out-of-warehouse processes can be jointly completed by the warehousing component 100, the out-of-warehouse component 200, and the stacker 420, which can effectively save the labor for handling the tray 10.

[0039] The following further introduces the working process of the intelligent vertical warehouse for automatically storing and outputting the tray 10 through some embodiments.

[0040] Please refer to Figure 1 、 Figure 2 As shown in the figure, the conveying track 410 extends in a straight line direction. An in-warehouse component 100 and an out-of-warehouse component 200 are respectively arranged at both ends of the conveying track 410, and a plurality of storage units 300 are respectively arranged on both sides of the conveying track 410.

[0041] The in-warehouse component 100 includes an in-warehouse mechanism 110. The in-warehouse mechanism 110 can convey the tray 10. The staff can directly put the tray 10 into the in-warehouse mechanism 110 through manual handling. The in-warehouse mechanism 110 cooperates with the stacker 420 to put the tray 10 into a specific storage unit 300. In some embodiments, the in-warehouse mechanism 110 can also be connected to the automated transportation line of other production equipment. The automated transportation line first conveys the produced tray 10 to the in-warehouse mechanism 110, and the in-warehouse mechanism 110 cooperates with the stacker 420 to put the tray 10 into a specific storage unit 300.

[0042] In some embodiments, the stacker 420 includes a picking mechanism 421 for handling the tray 10. When storing the tray 10 from the in-warehouse mechanism 110, the stacker can first slide along the conveying track 410 to one end close to the in-warehouse component 100 and pick up the tray 10 on the in-warehouse mechanism 110 through the picking mechanism 421, and then move along the conveying track 410 to a position close to the empty storage unit 300 and put the tray 10 into the empty storage unit 300 through the picking mechanism 421. When outputting the tray 10 in a specific storage unit 300, the stacker 420 can first move along the conveying track 410 to a position close to the specific storage unit 300 and take out the tray 10 in the specific storage unit 300 position through the picking mechanism 421, and then slide along the conveying track 410 to a section close to the out-warehouse component 200 and place the tray 10 on the out-warehouse mechanism 210 through the picking mechanism 421.

[0043] Without departing from the inventive concept of the present utility model, the picking mechanism 421 of the stacker 420 of the present utility model may be a mechanism such as a clamping jaw, a suction nozzle, and a manipulator, etc., which are commonly used for handling the tray 10.

[0044] It should be noted that those skilled in the art can adopt different embodiments to realize the conveyance of the tray 10 by the warehousing mechanism 110 and the outwarehousing mechanism 210. In some embodiments, the warehousing mechanism 110 includes a warehousing conveyor belt, and the warehousing conveyor belt can convey the tray 10; in some embodiments, the warehousing mechanism 110 includes multiple rollers arranged in parallel, and the warehousing mechanism 110 drives the multiple rollers simultaneously so that the multiple rollers can support the tray 10 and convey the tray 10. In some embodiments, the outwarehousing mechanism 210 includes an outwarehousing conveyor belt, and the outwarehousing conveyor belt can convey the tray 10; in some embodiments, the outwarehousing mechanism 210 includes multiple rollers arranged in parallel, and the outwarehousing mechanism 210 drives the multiple rollers simultaneously so that the multiple rollers can support the tray 10 and convey the tray 10.

[0045] Please refer to Figure 1 、 Figure 3 As shown, further, in some embodiments, the outwarehousing mechanism 210 includes two first conveying parts 211, and the two first conveying parts 211 are spaced apart along the first direction (i.e., Figure 3 the left-right direction in Figure 3 ), and can simultaneously support and convey the tray 10; a grasping channel 212 is defined between the two first conveying parts 211, and the grasping channel 212 is used to avoid the manipulator when the manipulator grasps the tray; wherein, the first direction is perpendicular to the gravity direction and the conveying direction of the outwarehousing mechanism (i.e., Figure 3 the forward direction in

[0046] ). Through the above solution, when the two first conveying parts 211 simultaneously support and convey the tray 10, the grasping channel 212 extending along the conveying direction between the two first conveying parts 211 can provide an accommodation space for the manipulator; in the vertical direction, the grasping channel 212 exposes the central area of the side surface of the tray 10 close to the first conveying part 211, providing a grasping position for the lower end of the manipulator that vertically grasps the tray 10, so that the manipulator can grasp the central area of the conveyed tray 10 by means of vertical clamping. Also, since when the tray 10 is conveyed by the outwarehousing mechanism 210, the larger-area tray surfaces are distributed on the upper and lower sides, it is more difficult for the manipulator to grasp the central area of the tray 10 to cause the tray 10 to break away from the manipulator during the process of handling the tray 10, enhancing the stability of the manipulator handling. In some embodiments, after the stacker 420 takes out the tray 10 in the storage unit 300, it can be directly placed on the two first conveying parts 211, and the two first conveying parts 211 simultaneously support and convey the tray 10.

[0047] However, due to the differences in specifications of the material trays 10, the influence of environmental factors and the limitations of the operating accuracy of the stacker 420, different material trays 10 may be offset during the process of being moved to the two first conveying parts 211, causing the material trays 10 to fall into the grabbing channel 212 and thus be unable to be output by the outbound mechanism 210.

[0048] In view of the above situation, please refer to Figure 3 、 Figure 4 、 Figure 5 As shown, the outbound mechanism 210 of some embodiments of the present invention further includes a second conveying portion 213, which can convey the material tray 10 to the first conveying portion 211. The second conveying portion 213 and the first conveying portion 211 have an outbound conveying plane 214 for conveying the material tray 10; the outbound assembly 200 further includes a centering positioning mechanism 220, which includes a first guide member 221 and a second guide member 222. The first guide member 221 and the second guide member 222 are arranged along the first direction (i.e., Figure 3 、 Figure 4 、 Figure 5 The guide channel 223 is spaced apart (in the left and right directions) and defines a guide channel 223; the guide channel 223 extends along the conveying direction of the out-stock mechanism 210, and the spacing between the first guide member 221 and the second guide member 222 in the first direction gradually decreases along the conveying direction of the out-stock mechanism 210. That is, along the conveying direction of the out-stock mechanism 210, the conveying width of the guide channel 223 gradually decreases, thereby stably guiding the material tray 10 in the center. The guide channel 223 has a discharge port 224 formed at one end facing the first conveying portion 211, through which the supply tray 10 passes. The discharge port 224 and the grabbing channel 212 are arranged along the conveying direction of the out-stock mechanism 210, that is, the discharge port 224 and the grabbing channel 212 are connected to each other, so that the material tray 10 can be conveyed to the top of the grabbing channel 212 through the discharge port 224.

[0049] The stacker 420 takes out the material tray 10 in the storage unit 300 and places it on the second conveying part 213. The second conveying part 213 can drive the material tray 10 to move to the first conveying part 211; in the above process, since the first guide member 221 and the second guide member 222 respectively located on both sides of the second conveying part 213 along the second direction jointly define the guide channel 223, the material tray 10 will be guided by the first guide member 221 and the second guide member 222 in the process of moving to the first conveying part 211 along the conveying direction, and enter the two first conveying parts 211 from the discharge port 224, thereby being supported and conveyed by the two first conveying parts 211 at the same time, avoiding falling into the grabbing channel 212.

[0050] Without departing from the inventive concept of the present utility model, those skilled in the art can set up a mechanism to adjust the postures of the first guiding member 221 and the second guiding member 222, so as to adjust the position and size of the discharge port 224. After the position of the grasping channel 212 changes, the position of the discharge port 224 can be adjusted accordingly with the position of the grasping channel 212, so that the tray 10 can still be jointly supported and conveyed by the two first conveying parts 211 when it is conveyed to the position of the first conveying part 211. On the other hand, a larger discharge port 224 can allow trays 10 with larger size specifications to pass through; a smaller discharge port 224 can enable trays 10 with smaller size specifications to be further adjusted by the first guiding member 221 or the second guiding member 222, so that the positions of the trays 10 with smaller size specifications are more unified when they are conveyed onto the first conveying part 211; therefore, when the intelligent automated storage and retrieval system stores trays 10 with different size specifications, adjusting the postures of the first guiding member 221 and the second guiding member 222 by a mechanism can enable the centering mechanism 220 to be adjusted as much as possible according to the size specifications of the trays 10.

[0051] Please refer to Figure 3 、 Figure 5 As shown in the figure, as a preferred embodiment, one side of the first guiding member 221 facing away from the first conveying part 211 in the conveying direction is rotatably connected to the second conveying part 213, and one side of the second guiding member 222 facing away from the first conveying part in the conveying direction is rotatably connected to the second conveying part 213.

[0052] The following further illustrates the process of adjusting the size and position of the discharge port 224 in the above solution in combination with specific embodiments. Please refer to Figure 5 As shown in the figure, when the first guiding member 221 and the second guiding member 222 rotate in the same direction, the position of the discharge port 224 will change with the rotation of the first guiding member 221 and the second guiding member 222. When the first guiding member 221 and the second guiding member 222 rotate in opposite directions, the size of the discharge port 224 will gradually increase or gradually decrease. In addition to being able to be adjusted as much as possible according to the size specifications of the trays 10, the above embodiments are simpler in the structural design of the first guiding member 221 and the second guiding member 222 because the first guiding member 221 and the second guiding member 222 only need to rotate around their own axes.

[0053] Please refer to Figure 4As shown, as a preferred embodiment, the centering positioning mechanism 220 includes a sliding member 230, a first slider 240, and a second slider 250. The first slider 240 is connected to the first guiding member 221, and the second slider 250 is connected to the second guiding member 222. Both the first slider 240 and the second slider 250 are slidably connected to the sliding member 230 and can move along the second direction to adjust the size and position of the discharge port 224. Through the above solution, when the first slider 240 moves along the sliding member 230 in the second direction, it can drive the first guiding member 221 to perform a translational motion. When the second slider 250 moves along the sliding member 230 in the second direction, it can drive the second guiding member 222 to perform a translational motion. Then, the position of the discharge port 224 jointly defined by the first guiding member 221 and the second guiding member 222 changes. On the other hand, when the first guiding member 221 and the second guiding member 222 move away from each other in the second direction, the size of the discharge port 224 increases; when the first guiding member 221 and the second guiding member 222 move closer to each other in the second direction, the size of the discharge port 224 decreases. Based on adjusting as much as possible according to the size specification of the tray 10, the above embodiment makes it easier to adjust the size of the discharge port 224 according to the moving distance of the first slider 240 and the second slider 250 in the second direction, and the size adjustment is more convenient.

[0054] Please refer to Figure 3 、 Figure 4 As shown, further, in some embodiments, the first guiding member 221 includes a first front guiding portion 221a and a first rear guiding portion 221b, and the second guiding member 222 includes a second front guiding portion 222a and a second rear guiding portion 222b. The first front guiding portion 221a is slidably connected to the first rear guiding portion 221b along the length direction of the first guiding member 221. The first front guiding portion 221a is rotatably connected to the first slider 240. The first rear guiding portion 221b is rotatably connected to one side of the second conveying portion 213 in the second direction. The rotation axis of the first front guiding portion 221a is parallel to the rotation axis of the first rear guiding portion 221b. The second front guiding portion 222a is slidably connected to the second rear guiding portion 222b along the length direction of the second guiding member 222. The second rear guiding portion 222b is rotatably connected to the second slider 250. The second rear guiding portion 222b is rotatably connected to the other side of the second conveying portion 213 in the second direction opposite to the first guiding member 221. The rotation axis of the second front guiding portion 222a is parallel to the rotation axis of the second rear guiding portion 222b.

[0055] Please refer to Figure 4As shown in the figure, taking the first guide member 221 as an example, the movement mode of the guide member in this embodiment is described as follows: When moving relative to the sliding member 230 in the second direction, the first slider 240 drives the rotation connection position with the first front guide portion 221a to move. Since the sliding connection between the first front guide portion 221a and the first rear guide portion 221b in the length direction restricts the movement perpendicular to the length direction between the first front guide portion 221a and the first rear guide portion 221b, the first front guide portion 221a makes a relative movement along the length direction of the first guide member 221 relative to the first rear guide portion 221b while driving the first rear guide portion 221b to rotate together, and the first rear guide portion 221b rotates around the rotation axis of the first rear guide portion 221b following the movement of the first front guide portion 221a; thus, when the first slider 240 moves relative to the sliding member 230 in the second direction, the distance between the two parts where the first guide member 221 is respectively connected to the first slider 240 and the outfeed mechanism 210 increases or decreases. Also, since the distance between the first slider 240 and the second conveying portion 213 remains unchanged in the conveying direction, the inclination angle of the length direction of the first guide member 221 relative to the conveying direction changes. Similarly, when the second slider 250 moves relative to the sliding member 230 in the second direction, the distance between the parts where the second guide member 222 is respectively connected to the second slider 250 and the outfeed mechanism 210 increases or decreases. Also, since the distance between the second slider 250 and the second conveying portion 213 remains unchanged in the conveying direction, the inclination angle of the length direction of the second guide member 222 relative to the conveying direction changes.

[0056] In summary, through the common movement of the first slider 240 and the second slider 250 in the second direction, the first guide member 221 and the second guide member 222 rotate and the inclination angles of the two relative to the conveying direction change, thereby causing corresponding changes in the position and size of the discharge port 224.

[0057] Please refer to Figure 3 、 Figure 4As shown, further, in some embodiments, the centering positioning mechanism 220 further includes a first connecting rod 260 and a second connecting rod 270. Along the conveying direction of the outbound mechanism 210, the first connecting rod 260 and the second connecting rod 270 are located between the second conveying part 213 and the first conveying part 211; in the direction perpendicular to the outbound conveying plane, the first guiding member 221 and the first slider 240 are respectively located on both sides of the second conveying part 213, and the second guiding member 222 and the second slider 250 are respectively located on both sides of the second conveying part 213; the first guiding member 221 is connected to the first slider 240 through the first connecting rod 260; the second guiding member 222 is connected to the second slider 250 through the second connecting rod 270. Through the above solution, only the first connecting rod 260 and the second connecting rod 270 are provided between the second conveying part 213 and the first conveying part 211, so that the distance between the second conveying part 213 and the first conveying part 211 in the conveying direction can be further reduced, thereby making it not easy for the tray 10 to fall out between the second conveying part 213 and the first conveying part 211.

[0058] Please refer to Figure 4 As shown, further, in some embodiments, the sliding member 230 includes a first sliding part 231 and a second sliding part 232. The first slider 240 is slidably connected to the first sliding part 231, and the second slider 250 is slidably connected to the second sliding part 232. The first sliding part 231 and the second sliding part 232 are arranged at intervals along the second direction. Through the above solution, the first slider 240 and the second slider 250 slide at different positions in the second direction of the sliding member 230, and will not collide when adjusting the size and position of the discharge port 224.

[0059] Please refer to Figure 1 、 Figure 3 As shown, further, in some embodiments, the inbound assembly 100 further includes a vision detection module. The vision detection module is used to measure the size of the tray 10 conveyed by the inbound mechanism 110; the size of the discharge port 224 is adjusted according to the size of the tray 10 measured by the vision detection module. The vision detection module can adjust the size of the discharge port 224 more accurately, which is beneficial to the guiding of the tray 10 by the centering positioning mechanism 220.

[0060] Please refer to Figure 1As shown, further, the warehousing mechanism 110 includes a warehousing conveyor belt that can convey the tray 10; the vision detection module is used to measure the size of the tray 10 conveyed by the warehousing conveyor belt. It has been described above that the warehousing mechanism 110 and the outwarehousing mechanism 210 can adopt various ways to realize the conveyance of the tray 10 by the warehousing mechanism 110 and the outwarehousing mechanism 210. When the vision detection module is provided in the warehousing assembly 100, those skilled in the art can set the color of the surface of the warehousing conveyor belt according to the tray 10, so that the color difference between the tray 10 and the warehousing conveyor belt is greater, and the vision detection module can more easily identify the tray 10, making the adjustment of the size of the discharge port 224 more accurate.

[0061] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. An intelligent automated storage and retrieval system for receiving, storing and outputting trays, characterized in that Comprising: A warehousing component, including a warehousing mechanism that can receive a tray. An outbound component, including an outbound mechanism that can output a tray. A plurality of storage units, all of which are used to accommodate trays. A conveying component, including a conveying track and a stacker. The stacker is slidably connected to the conveying track and can also move back and forth along the extending direction of the conveying track. The stacker can move different trays conveyed by the warehousing mechanism into different storage units and can move the tray located in a certain storage unit to the outbound mechanism.

2. The intelligent automated storage and retrieval system according to claim 1, wherein The outbound mechanism includes two first conveying parts. The two first conveying parts are arranged at intervals in a first direction and can support and convey the tray together. A grasping channel is defined between the two spaced first conveying parts. The grasping channel is used to avoid the manipulator when the manipulator grasps the tray. Wherein, the first direction is perpendicular to the gravity direction and the conveying direction of the outbound mechanism at the same time.

3. The intelligent automated storage and retrieval system according to claim 2, wherein, The outbound mechanism further includes a second conveying part that can convey the tray to the first conveying part. The second conveying part and the first conveying part have an outbound conveying plane for conveying the tray. The outbound component further includes a centering and positioning mechanism. The centering and positioning mechanism includes a first guiding part and a second guiding part. The first guiding part and the second guiding part are arranged at intervals in the first direction and define a guiding channel. The guiding channel extends along the conveying direction of the outbound mechanism. The distance between the first guiding part and the second guiding part in the first direction gradually decreases along the conveying direction of the outbound mechanism. An outlet for the tray to pass through is formed at one end of the guiding channel facing the first conveying part. The outlet is arranged along the conveying direction of the outbound mechanism with the grasping channel.

4. The intelligent automated storage and retrieval system according to claim 3, characterized in that The centering and positioning mechanism includes a sliding part, a first slider and a second slider. The first slider is connected to the first guiding part, and the second slider is connected to the second guiding part. The first slider and the second slider are both slidably connected to the sliding part and can move along the first direction to adjust the size and position of the outlet.

5. The intelligent automated storage and retrieval system according to claim 4, wherein The first guiding part includes a first front guiding part and a first rear guiding part. The second guiding part includes a second front guiding part and a second rear guiding part. The first front guiding part is slidably connected to the first rear guiding part along the length direction of the first guiding part. The first front guiding part is rotatably connected to the first slider. The first rear guiding part is rotatably connected to one side of the second conveying part in the first direction. The rotation axis of the first front guiding part is parallel to the rotation axis of the first rear guiding part. The second front guiding part is slidably connected to the second rear guiding part along the length direction of the second guiding part. The second rear guiding part is rotatably connected to the second slider. The second rear guiding part is rotatably connected to the other side of the second conveying part in the first direction opposite to the first guiding part. The rotation axis of the second front guiding part is parallel to the rotation axis of the second rear guiding part.

6. The intelligent automated storage and retrieval system according to claim 4, wherein The centering positioning mechanism also includes a first connecting rod and a second connecting rod. Along the conveying direction of the outbound mechanism, the first connecting rod and the second connecting rod are located between the second conveying part and the first conveying part; in the direction perpendicular to the outbound conveying plane, the first guide and the first slider are respectively located on both sides of the second conveying part, and the second guide and the second slider are respectively located on both sides of the second conveying part; the first guide is connected to the first slider through the first connecting rod; the second guide is connected to the second slider through the second connecting rod.

7. The intelligent automated storage and retrieval system according to claim 4, wherein The sliding member includes a first sliding portion and a second sliding portion. The first sliding block is slidably connected to the first sliding portion, and the second sliding block is slidably connected to the second sliding portion. The first sliding portion and the second sliding portion are spaced apart along the first direction.

8. The intelligent automated storage and retrieval system according to claim 3, wherein The first guide is rotatably connected to the second conveying portion at a side away from the first conveying portion in the conveying direction, and the second guide is rotatably connected to the second conveying portion at a side away from the first conveying portion in the conveying direction.

9. The intelligent automated storage and retrieval system according to any one of claims 4 to 8, characterized in that The warehousing component also includes a visual inspection module, which is used to measure the size of the material tray transported by the warehousing mechanism; the size of the discharge port is adjusted according to the size of the material tray measured by the visual inspection module.

10. The intelligent automated storage and retrieval system according to claim 9, wherein, The warehousing mechanism includes an warehousing conveyor belt, which can transport material trays; the visual inspection module is used to measure the size of the material trays transported by the warehousing conveyor belt.

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