Sliding type goods shelf and workbin turnover system

Abstract

The embodiment of the utility model provides a sliding type goods shelf and a workbin turnover system. The sliding type goods shelf comprises a fixing frame and at least one workbin storage layer. The two ends, in the width direction, of the sliding type goods shelf are the goods inlet end and the goods outlet end correspondingly. The at least one material box storage layer is arranged in the fixing frame at intervals in the height direction; the height of each material box storage layer at the goods inlet end is higher than the height of each material box storage layer at the goods outlet end, so that the to-be-transferred material boxes slide to the goods outlet end from the goods inlet end; a material box taking and placing robot used for moving the material boxes located at the goods outlet end out of the sliding type goods shelf can be hung at the goods outlet end of the sliding type goods shelf. According to the sliding type goods shelf, the material box taking and placing robot is hung at the goods outlet end of the sliding type goods shelf, when the material box slides to the goods outlet end, the material box taking and placing robot fixedly connected to the goods outlet end takes the material box, and therefore workers do not need to take goods at the goods outlet end of the sliding type goods shelf, and the workload of the workers is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics equipment, in particular to a sliding shelf and a material box turnover system. Background Art

[0002] Sliding racks (also known as flow racks) have inclined slides, which are usually equipped with unpowered rollers. This allows workers to place boxes at the high loading port, which then slides down the inclined slide under its own weight to the low loading port, where other workers can then retrieve the boxes. In other words, manual labor is required at both ends of the sliding rack.

[0003] However, in the prior art, the weight of each material box can reach 30kg to 50kg. When workers at both ends are required to frequently pick up and put out the goods, the workload of the workers will be huge. Utility Model Content

[0004] The purpose of the present invention is to provide a sliding shelf and material box turnover system to reduce the workload of staff. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a sliding rack, comprising: a fixed frame and at least one material box storage layer; the two ends of the sliding rack along the width direction are respectively a loading end and a shipping end;

[0006] At least one material box storage layer is spaced apart in height within the fixed frame; wherein the height of each material box storage layer at the inlet end is higher than that at the outlet end, so that the material box can slide from the inlet end to the outlet end;

[0007] The shipping end of the sliding shelf can be equipped with a material box picking and placing robot, which is used to move the material boxes located at the shipping end out of the sliding shelf.

[0008] Optionally, each material box storage layer includes: a plurality of inclined slides arranged in parallel from the input end to the output end, each inclined slide forming one or more material box storage positions from the input end to the output end for storing material boxes.

[0009] Optionally, each inclined slide has a plurality of storage locations for the material bin;

[0010] The sliding shelf also includes: at least one front and rear box limiting mechanism; each front and rear box limiting mechanism includes a limiting plate; the limiting plate is movably arranged at the bottom of each inclined slide of each layer of the material box storage layer, and is located between the two adjacent front and rear material box storage positions; it is used to extend the inclined slide when the material box reaches the material box storage position located at the front side of the two adjacent material box storage positions, so as to limit the material box on the rear side material box storage position.

[0011] Optionally, each inclined slide includes: two rows of rollers arranged in parallel from the inlet end to the outlet end;

[0012] Each roller column includes: a roller support beam connecting the cargo input end to the cargo output end and a plurality of material box rollers arranged continuously on the roller support beam along the direction from the cargo input end to the cargo output end; each front and rear box limiting mechanism is arranged between two adjacent roller columns.

[0013] Optionally, each front and rear box limiting mechanism further includes: front and rear box limiting rollers, an elastic member and a balance plate;

[0014] The front and rear box limiting rollers and the limiting plates are respectively arranged at the first and second ends opposite to each other of the balance plate;

[0015] The front and rear box limiting rollers are arranged in parallel with the material box rollers and are used to protrude the material box rollers when there is no material box on the two adjacent material box storage positions; when pressed down by the material box, the second end of the balance plate is driven to tilt up, so that the limiting plate extends out of the inclined slideway;

[0016] The elastic member is arranged at the first end or the second end of the balance plate and is connected to the roller support beam. It is used to drive the limit plate to retract to the bottom of the material box roller when there is no material box on the two adjacent material box storage positions, and drive the first end of the balance plate to tilt up, so that the front and rear box limit rollers protrude from the material box roller.

[0017] Optionally, a plurality of delivery end cross beams are provided at intervals along the height direction at the delivery end of the sliding rack; a plurality of delivery end cross beams are provided at intervals along the height direction at the delivery end of the sliding rack;

[0018] Each material box storage layer is connected between an inlet beam and an outlet beam.

[0019] Optionally, the fixing frame further includes: a plurality of guide limit plates;

[0020] From the inlet end to the outlet end, at least two guide limit plates are located between the inlet end beam and the outlet end beam;

[0021] Along the length direction of each material box storage layer, two adjacent guide limit plates are located on both sides of each column of material box storage positions.

[0022] Optionally, an end limit mechanism is provided upwardly on the delivery end crossbeam along the height direction of the sliding shelf;

[0023] The end limit mechanism is used to limit the material box from sliding out of the sliding shelf when the material box reaches the shipping end.

[0024] Optionally, the end limit mechanism includes: a limit bracket and a guide shaft; along the height direction of the sliding shelf, the limit bracket extends upward with a pair of mounting ears; the guide shaft is installed between the pair of mounting ears and is rotatably connected to the pair of mounting ears.

[0025] The guide shaft is used to roll with the material box when the material box picking and placing robot grasps the material box.

[0026] Optionally, the loading end of the sliding rack is further provided with multiple receiving storage layers, which are respectively connected to the loading end cross beams of each layer; each receiving storage layer extends out of the loading end cross beam to receive the material boxes to be turned over.

[0027] In a second aspect, an embodiment of the present invention further provides a material box turnover system, which includes any sliding shelf described in the first aspect and a material box picking and placing robot hung on the shipping end of the sliding shelf.

[0028] Optionally, the material box turnover system further includes: a docking mechanism; the docking mechanism is arranged adjacent to the material box picking and placing robot and is located on a side away from the sliding shelf;

[0029] The material box picking and placing robot is used to move the material box at the shipping end of the sliding shelf out of the sliding shelf and place it on the docking position on the top of the docking mechanism.

[0030] Optionally, the docking mechanism includes: a cache rack and a handling robot; the cache rack is adjacent to the material box picking and placing robot; the handling robot is located on a side of the cache rack away from the material box picking and placing robot;

[0031] The transport robot is used to transport the material boxes temporarily stored on the buffer rack to the destination.

[0032] Optionally, the docking mechanism is a transmission line arranged adjacent to the sliding rack; the transmission line is used to transport the material box to the destination.

[0033] Optionally, a material box picking and placing robot includes: a support frame, a lateral motion mechanism, a lifting mechanism, and a material box picking and placing mechanism provided on the lifting mechanism;

[0034] The shipping end of the sliding rack is provided with at least one horizontal track at intervals along the vertical direction; the support frame is based on a transverse motion mechanism and is movably connected to the horizontal track; so that the support frame and the material box picking and placing mechanism slide horizontally along the horizontal track;

[0035] The material box picking and placing mechanism is movably connected to the support frame based on the lifting mechanism; so that the material box picking and placing mechanism moves up and down along the height direction of the support frame to pick up and place the material box at the shipping end of the sliding shelf.

[0036] Optionally, the material box picking and placing mechanism includes: a loading platform and a picking and placing component;

[0037] The pick-and-place assembly is slidably connected to the cargo platform and can move relative to the cargo platform in a direction close to or away from the sliding shelf, moving close to the sliding shelf to pick up the material box on the sliding shelf, or moving away from the sliding shelf to place the material box on the cargo platform;

[0038] The pick-and-place assembly includes a hook and a rotating mechanism. The rotating mechanism can rotate the hook horizontally to rotate the material box picked up by the hook away from the sliding shelf or toward the sliding shelf.

[0039] Optionally, the material box picking and placing mechanism further includes: a sliding connection member; the sliding connection member is fixedly connected to the cargo platform;

[0040] The support frame is a support door frame including two door posts; each door post is provided with a lifting mechanism;

[0041] Each lifting mechanism includes: a lifting motor, a first synchronous belt, a bottom transmission wheel and a top transmission wheel; the top transmission wheel is fixed to the top of the support mast; the bottom transmission wheel is fixed to the bottom of the support mast;

[0042] The lifting motor is fixed to the top or bottom of the supporting mast and is connected to the top transmission wheel or the bottom transmission wheel;

[0043] The first synchronous belt passes around the bottom transmission wheel and the top transmission wheel, and the head and tail ends are fixedly connected to the sliding connector;

[0044] The lifting motor drives the first synchronous belt, the bottom transmission wheel and the top transmission wheel to drive the material box picking and placing mechanism to move up and down along the height direction of the support frame to pick up material boxes at different heights on the sliding shelf.

[0045] Optionally, there are multiple lateral motion mechanisms; each lateral motion mechanism includes: a lateral drive motor and a lateral sliding mechanism;

[0046] The lateral sliding mechanism of each lateral motion mechanism is respectively fixedly arranged on the support frame, and the lateral sliding mechanism of each lateral motion mechanism is slidably connected to a horizontal track;

[0047] The transverse driving motor is connected to the transverse sliding mechanism to move the transverse sliding mechanism to drive the support frame and the material box picking and placing mechanism to move transversely along the horizontal track.

[0048] The present invention provides a sliding shelf container turnover system. By mounting a container pick-and-place robot on the delivery end of the sliding shelf, when a container slides to the delivery end, the container pick-and-place robot fixedly connected to the delivery end can pick up the container. This allows the container pick-and-place robot to pick up the container at the delivery end of the sliding shelf, eliminating the need for workers to pick up the container at the delivery end of the sliding shelf, thereby reducing their workload. Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0050] Figure 1a This is a structural diagram of a first embodiment of a material box turnover system including a sliding shelf provided by the present invention;

[0051] Figure 1b for Figure 1a A schematic top view of a container turnover system including a sliding shelf is shown;

[0052] Figure 1c for Figure 1a The schematic diagram of the structure of the box picking and placing robot in the box turnover system including the sliding shelf is shown;

[0053] Figure 2a A schematic diagram of the three-dimensional structure of the sliding shelf in the second embodiment of the material box turnover system including the sliding shelf provided by the present invention;

[0054] Figure 2b for Figure 2a A front view of a container turnover system including a sliding shelf is shown;

[0055] Figure 2c for Figure 2a A rear view of the container turnover system including the sliding rack is shown;

[0056] Figure 2d for Figure 2a A side view of the container turnover system including the sliding rack shown in a first state;

[0057] Figure 2e for Figure 2a A side view of the container turnover system including the sliding rack shown in a second state;

[0058] Figure 2f for Figure 2a A side view of the container turnover system including the sliding rack in a third state is shown;

[0059] Figure 3 A side view of a third embodiment of a material box turnover system including a sliding shelf provided by the present invention;

[0060] Figure 4a A side view of a fourth embodiment of a material box turnover system including a sliding shelf provided by the present invention;

[0061] Figure 4b for Figure 4a A simplified schematic diagram of a sliding rack including a container turnover system of the sliding rack is shown;

[0062] Figure 4c for Figure 4b A partial enlarged view of a portion A of a sliding rack of a material box turnover system including the sliding rack is shown;

[0063] Figure 4d for Figure 4b A partial enlarged view of a portion B of a sliding rack of a material box turnover system including the sliding rack is shown;

[0064] Figure 4e for Figure 4a The schematic diagram of the front and rear box limiting mechanism structure on the sliding shelf of the material box turnover system including the sliding shelf is shown;

[0065] Figure 4f for Figure 4b A partial enlarged view of a portion C of a sliding rack of a material box turnover system including the sliding rack is shown;

[0066] Figure 4g for Figure 4a A schematic structural diagram of a guide limit plate and an end limit mechanism installed on a sliding shelf of a material box turnover system including a sliding shelf is shown;

[0067] Figure 4h for Figure 4g A partial enlarged view of the D part in the middle;

[0068] Figure 5a This is a structural diagram of a fifth embodiment of a material box turnover system including a sliding shelf provided by the present invention;

[0069] Figure 5b for Figure 5a The schematic diagram of the working process of the material box turnover system including the sliding rack shown;

[0070] Figure 6This is a structural diagram of a sixth embodiment of a material box turnover system including a sliding shelf provided by the present invention;

[0071] Figure 7 This is a structural diagram of a seventh embodiment of a material box turnover system including a sliding shelf provided by the present invention;

[0072] Figure 8 This is a structural diagram of an eighth embodiment of a material box turnover system including a sliding shelf provided by the present invention;

[0073] Reference numerals:

[0074] Sliding rack 100; fixed frame 110; fixed frame side beam 1101; floor support vertical beam 1102; control module 1103; inlet end 111; outlet end 112; outlet end crossbeam 114; inlet end crossbeam 115; guide limit plate 116; end limit mechanism 117; limit bracket 1171; guide shaft 1172; mounting ear 1173; material box storage layer 120; inclined slide 121 ; Material box 122; Material box storage position 123; Roller array 1211; Roller support beam 1212; Material box roller 1213; Front and rear box limiting mechanism 130; Limiting plate 131; Rotating shaft 1311; Front and rear box limiting rollers 132; Elastic member 133; Balance plate 134; Receiving storage layer 140; Receiving storage position sign 141; Receiving storage layer rotating shaft 142; Receiving storage position 143; Horizontal track 150;

[0075] Container pick-and-place robot 200; support frame 210; lateral motion mechanism 220; lifting mechanism 230; container pick-and-place mechanism 240; support gantry 211; lifting motor 2301; first synchronous belt 2302; bottom transmission wheel 2303; top transmission wheel 2304; lateral drive motor 221; lateral sliding mechanism 222; cargo platform 241; pick-and-place assembly 242; sliding connector 243; hook 2421; rotating mechanism 2422;

[0076] Docking mechanism 300; docking position 310; cache rack 320; handling robot 330; transmission line 340. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of the present invention.

[0078] In order to solve the problems existing in the prior art, the embodiment of the present invention provides a material box turnover system and a sliding shelf to reduce the workload of staff.

[0079] Below, first, the material box turnover system provided by the embodiment of the present utility model is introduced.

[0080] The material box turnover system provided by the embodiment of the present invention has multiple implementation methods. Figure 1a-Figure 1c , the embodiment 1 of the material box turnover system is described in detail. Figure 1a This is a structural diagram of a first embodiment of a material box turnover system including a sliding shelf provided by the present invention; Figure 1b for Figure 1a A schematic top view of a container turnover system including a sliding shelf is shown; Figure 1c for Figure 1a The diagram shown is a structural diagram of a material box picking and placing robot in a material box turnover system including a sliding shelf.

[0081] like Figure 1a-Figure 1c As shown, the material box turnover system of this embodiment includes: a sliding rack 100 and a material box picking and placing robot 200; the sliding rack 100 includes: a fixed rack 110 and at least one material box storage layer 120; the two ends of the sliding rack 100 in the width direction are respectively an input end 111 and an output end 112; the at least one material box storage layer 120 is spaced apart in the height direction within the fixed rack 110; wherein, the height of each material box storage layer 120 at the input end 111 is higher than its height at the output end 112; so that the material box slides from the input end 111 to the output end 112; the material box picking and placing robot 200 is hung at the output end 112 of the sliding rack 100, and is used to move the material box 122 located at the output end 112 out of the sliding rack 100.

[0082] Depend on Figure 1a-Figure 1c It can be seen from the shown material box turnover system that by hanging the material box picking and placing robot at the delivery end of the sliding shelf, when the material box slides to the delivery end, the material box can be picked up by the material box picking and placing robot fixedly connected to the delivery end, so that the material box picking and placing robot can pick up the goods at the delivery end of the sliding shelf, thereby eliminating the need for staff to pick up the goods at the delivery end of the sliding shelf, reducing the workload of staff.

[0083] Figure 1a-Figure 1c In the material box turnover system shown in the figure, the sliding rack is also called the flow rack. Figure 1aAs shown, the sliding rack has four layers of material box storage layers 120, which are spaced apart in the height direction, and the height of each layer can accommodate material boxes. In actual applications, the number of layers of material box storage layers 120 is set based on actual needs. If fewer material boxes need to be circulated, only one layer of material box storage layer 120 can be set; alternatively, if more material boxes need to be circulated, multiple layers of material box storage layers 120 can be set. When multiple layers of material box storage layers 120 are provided, the multiple layers of material box storage layers 120 can be spaced apart in the height direction, and the multiple layers of material box storage layers 120 are all set within the fixed frame 110 so that the fixed frame 110 can protect the material boxes 122 stored in each layer of material box storage layer 120 and prevent the material boxes 122 from sliding out of the sliding rack 100.

[0084] like Figure 1a As shown, the fixed frame 110 includes at least four ground-supporting vertical beams 1102 and multiple fixed frame side beams 1101. The shipping end 112 of the sliding rack 100 is provided with multiple shipping end cross beams 114 spaced apart along the height direction; the loading end 111 of the sliding rack 100 is provided with multiple loading end cross beams 115 spaced apart along the height direction; the number of the multiple shipping end cross beams is equal to the number of the multiple loading end cross beams, and they correspond one to one along the height direction. In this way, each layer of the material box storage layer 120 is respectively connected between a loading end cross beam 115 and a shipping end cross beam 114. Each layer of the material box storage layer 120 is provided with at least two side beam fixed frame side beams 1101.

[0085] like Figure 1a As shown, in this embodiment, the height of each material box storage layer 120 at the loading end 111 is higher than its height at the loading end 112; and each material box storage layer 120 includes: a plurality of inclined slides 121 arranged in parallel from the loading end 111 to the loading end 112, so that the material box 122 can slide from the loading end 111 to the loading end 112 by its own weight.

[0086] Each inclined slide 121 forms one or more material box storage locations 123 from the inlet end 111 to the outlet end 112, and each material box storage location 123 can be used to store material boxes 122. For example, Figure 1a As shown, the flow rack is a double-deep flow rack, each column can have two material box storage locations 123, and each row can have eight material box storage locations 123. In actual application, the specific depth and number of material box storage locations are set based on the number of material boxes to be turned over, and there is no restriction here.

[0087] In this embodiment, the material box picking and placing robot 200 is mounted on the delivery end 112 of the sliding rack 100. In this way, when the material box 122 slides from the loading end 111 to the delivery end 112, the material box picking and placing robot 200 can move the material box 122 located at the delivery end 112 out of the sliding rack 100. Specifically, the material box picking and placing robot 200 can be fixedly connected to the delivery end 112 of the sliding rack 100 by bolts, or by other means, which are not limited here.

[0088] like Figure 1c As shown, the material box picking and placing robot 200 in this embodiment includes: a support frame 210, a lateral motion mechanism 220, a lifting mechanism 230 and a material box picking and placing mechanism 240 arranged on the lifting mechanism. Figure 1a and Figure 1b As shown, the delivery end 112 of the sliding rack 100 is provided with at least one horizontal track 150 spaced apart vertically; for example, two horizontal tracks 150 may be provided. The support frame 210 is movably connected to the horizontal track 150 based on a transverse motion mechanism 220; this allows the support frame 210 and the bin pick-and-place mechanism 240 to slide horizontally along the horizontal track 150.

[0089] like Figure 1c As shown, the number of the lateral motion mechanism 220 is multiple; specifically, each lateral motion mechanism 220 includes: a lateral drive motor 221 and a lateral sliding mechanism 222; for example, Figure 1c As shown, two lateral motion mechanisms 220 or four lateral motion mechanisms 220 may be provided.

[0090] Among them, the transverse sliding mechanism 222 of each transverse movement mechanism 220 is respectively fixedly set on the support frame 210, and the transverse sliding mechanism 222 of each transverse movement mechanism 220 is slidingly connected to a horizontal track 150; the transverse drive motor 221 is drive-connected to the transverse sliding mechanism 222, so that under the drive of the transverse drive motor 221, the transverse sliding mechanism 222 is moved to drive the support frame 210 and the material box picking and placing mechanism 240 to move laterally along the horizontal track 150.

[0091] In this way, the material box picking and placing robot 200 can pick up material boxes at different lateral positions on the same layer.

[0092] like Figure 1cAs shown, the bin access mechanism 240 is movably connected to the support frame 210 based on the lifting mechanism 230, so that the bin access mechanism 240 moves up and down along the height direction of the support frame 210 to access and place the bin 122 located at the delivery end 112 of the sliding rack 100. This facilitates the access to bins at different heights, increasing the versatility of the bin turnover system of the present invention.

[0093] In order to enable the material box 122 to be transferred to another location by the material box picking and placing robot after grabbing the material box 122, the material box picking and placing mechanism 240 may also include: a cargo platform 241 and a picking and placing component 242; the picking and placing component 242 is slidably connected to the cargo platform 241, and can move relative to the cargo platform 241 in a direction close to or away from the sliding shelf 100, approaching the sliding shelf 100 to pick up the material box 122 on the sliding shelf 100, or moving away from the sliding shelf 100 to place the material box 122 on the cargo platform 241.

[0094] like Figure 1c As shown, the pick-and-place assembly 242 includes a hook 2421 and a rotating mechanism 2422 . The rotating mechanism 2422 can rotate the hook 2421 horizontally to rotate the material box taken by the hook 2421 away from the sliding rack 100 or toward the sliding rack 100 .

[0095] like Figure 1c As shown, the material box picking and placing mechanism 240 also includes: a sliding connector 243; the sliding connector 243 is fixedly connected to the cargo platform 241; the support frame 210 is: a support door frame 211 including two door posts; each door post is provided with a lifting mechanism 230; each lifting mechanism 230 includes: a lifting motor 2301, a first synchronous belt 2302, a bottom transmission wheel 2303 and a top transmission wheel 2304; the top transmission wheel 2304 is fixed to the top of the support door frame 211; the bottom transmission wheel 2303 is fixed to the bottom of the support door frame 211.

[0096] In this embodiment, the lifting motor 2301 is fixed to the top of the support gantry 211 and connected to the top drive pulley 2304. The first synchronous belt 2302 passes through the bottom drive pulley 2303 and the top drive pulley 2304, and is fixedly connected to the sliding connector 243 at both ends. The lifting motor 2301 drives the first synchronous belt 2302, the bottom drive pulley 2303, and the top drive pulley 2304, driving the material box pick-and-place mechanism 240 to move up and down along the height direction of the support frame 210.

[0097] By using the material box turnover system of the embodiment of the present invention, it is possible to pick up material boxes at different heights on the sliding shelf 100.

[0098] Then, see Figure 2a-2f, the second embodiment of the material box turnover system is described in detail. Figure 2a A schematic diagram of the three-dimensional structure of the sliding shelf in the second embodiment of the material box turnover system including the sliding shelf provided by the present invention; Figure 2b for Figure 2a A front view of a container turnover system including a sliding shelf is shown; Figure 2c for Figure 2a A rear view of the container turnover system including the sliding rack is shown; Figure 2d for Figure 2a A side view of the container turnover system including the sliding rack shown in a first state; Figure 2e for Figure 2a A side view of the container turnover system including the sliding rack shown in a second state; Figure 2f for Figure 2a A side view of the container turnover system including the sliding rack is shown in a third state.

[0099] like Figure 2a-2c As shown, the sliding rack 100 in this embodiment is a single-depth rack with three layers of material box storage layers 120. Each column of each material box storage layer 120 is provided with a material box storage position 123, and each row is provided with four material box storage positions 123. In addition, compared with the first embodiment, in this embodiment, a plurality of receiving storage layers 140 are further provided at the incoming goods end 111 of the sliding rack 100, which are respectively connected to the incoming goods end crossbeam 115 of each layer; each receiving storage layer 140 extends out of the incoming goods end crossbeam 115 to receive the material boxes to be turned over. Figure 2a As shown, each receiving storage layer 140 is connected to the incoming goods end beam 115 of each layer through the receiving storage layer rotating shaft 142, and the receiving storage position 143 of each receiving storage layer 140 corresponds to the material box storage position 123 on the sliding rack 100. Figure 2a As shown, each receiving storage position 143 is tilted relative to the receiving storage layer rotation axis 142. In this way, a worker can place a material box 122 to be turned over on the receiving storage layer 140, then lift the receiving storage position 143 relative to the receiving storage layer rotation axis 142 and push the material box 122 into the corresponding material box storage position 123 of the sliding rack 100, so that the material box 122 slides from the inlet end 111 to the outlet end 112.

[0100] like Figure 2a-2fAs shown, the fixed frame 110 also includes a control module 1103. The sliding rack 100 in this embodiment is provided with three receiving storage layers 140. On the inlet end crossbeam of the second receiving storage layer 140, a receiving storage location sign 141 is provided for each receiving storage location 143 on the lowest receiving storage layer 140. On the inlet end crossbeam of the third receiving storage layer 140, a receiving storage location sign 141 is provided for each receiving storage location 143 on the second and third receiving storage layers 140. This facilitates staff members to observe the receiving storage location signs 141. The control module 1103 is electrically connected to the receiving storage location sign 141 to communicate with the receiving storage location sign 141.

[0101] The material box picking and placing robot 200 in this embodiment can be the same as that in the first embodiment.

[0102] In order to more clearly illustrate the process of taking and placing the material box using the material box turnover system of the embodiment of the utility model, Figure 2d to Figure 2f , the following description will be made by taking the material box of the middle layer of the sliding rack 100 as an example.

[0103] In the initial stage, the hook 2421 on the bin picking and placing robot 200 can be located at any position, for example, Figure 2d At this time, the staff can put the material box 122 from the incoming goods end 111 through the second layer of receiving storage layer 140 to the empty material box storage position 123. Figure 2d The second receiving storage layer 140 shown has a spare container storage space 123; Figure 2d The vacant container storage space 123 of the second receiving storage layer 140 is filled with container 122, as shown in FIG. Figure 2e and then lift up the second layer of the receiving storage layer 140, at this time the material box 122 along the inclined slide 121 on the fixed frame 110 automatically moves to the delivery end 112 under the action of gravity.

[0104] At this time, if Figure 2e As shown, if the material box picking and placing mechanism 240 of the material box picking and placing robot 200 is not at the shipping end position corresponding to the material box 122, the lateral movement mechanism 220 of the material box picking and placing robot 200 can move on the horizontal track 150, and / or; the lifting mechanism 230 moves on the support frame 210, so as to move to the shipping end position corresponding to the above-mentioned material box 122.

[0105] It is understandable that, since a plurality of material box storage layers 120 can be provided on the above-mentioned fixed frame 110, and a plurality of rows of material box storage positions 123 can be provided on each material box storage layer 120, each row of material box storage positions 123 corresponds to a shipping end position at the shipping end.

[0106] Then, if Figure 2e As shown, the pick-and-place assembly 242 of the bin pick-and-place robot 200 can move toward the direction close to the fixed frame 110 to move the hook 2421 to the position shown in FIG. Figure 2b The position shown is closest to the fixing frame 110; then, the hook 2421 is used to grab the material box 122.

[0107] It is understandable that the pick-and-place assembly 242 may move simultaneously with the lateral motion mechanism 220 and the lifting mechanism 230 , or may move at different times, which is not limited here.

[0108] Then, if Figure 2f As shown, after grabbing the container 122 , the pick-and-place assembly 242 of the container picking and placing robot 200 can move away from the fixing frame 110 to place the container on the cargo platform 241 .

[0109] In this way, a complete pickup process can be achieved.

[0110] Subsequently, the container pick-and-place robot 200 can place the container at the target location. Specifically, the container pick-and-place robot 200 can use the lifting mechanism 230 to move the container pick-and-place mechanism 240 to the height corresponding to the target location. Finally, the rotating mechanism 2422 at the bottom of the hook 2421 can move the container on the loading platform 241 off the loading platform 241 and place the container at the target location.

[0111] A material box turnover system of an embodiment of the present invention hangs a material box picking and placing robot on the delivery end of a sliding shelf. When the material box slides to the delivery end through an inclined slide, the material box can be picked up by the material box picking and placing robot fixedly connected to the delivery end, so that the material box picking and placing robot can pick up the goods at the delivery end of the sliding shelf, thereby eliminating the need for staff to pick up the goods at the delivery end of the sliding shelf, thereby reducing the workload of staff.

[0112] Then, see Figure 3 , the third embodiment of the material box turnover system is described in detail. Figure 3 This is a side view of the third embodiment of the material box turnover system including the sliding shelf provided by the present invention. Figure 3 As shown, compared with the container turnover system of the second embodiment, the sliding rack 100 in this embodiment is also a single-depth rack with only three layers of container storage layers and no receiving container storage layer. In this case, the staff can directly place the container 122 on the container storage position 123 in each container storage layer 120, and then the container 122 automatically slides to the delivery end 112 under the action of gravity, and can then be used. Figure 1c A bin picking robot 200 is shown picking up a bin 122 .

[0113] Then, see Figure 4a-4h , the fourth embodiment of the material box turnover system is described in detail. Figure 4a A side view of a fourth embodiment of a material box turnover system including a sliding shelf provided by the present invention; Figure 4b for Figure 4a A simplified schematic diagram of a sliding rack including a container turnover system of the sliding rack is shown; Figure 4c for Figure 4b A partial enlarged view of a portion A of a sliding rack of a material box turnover system including a sliding rack is shown; Figure 4d for Figure 4b A partial enlarged view of a portion B of a sliding rack of a material box turnover system including the sliding rack is shown; Figure 4e for Figure 4a The schematic diagram of the front and rear box limiting mechanism structure on the sliding shelf of the material box turnover system including the sliding shelf is shown; Figure 4f for Figure 4b A partial enlarged view of a portion C of a sliding rack of a material box turnover system including the sliding rack is shown; Figure 4g for Figure 4a A schematic structural diagram of a guide limit plate and an end limit mechanism installed on a sliding shelf of a material box turnover system including a sliding shelf is shown; Figure 4h for Figure 4g A partial enlarged view of area D in the middle.

[0114] like Figure 4a As shown, compared with the third embodiment, the sliding rack 100 in this embodiment is a double-deep rack, also having three layers of material box storage layers, and a multi-layer receiving storage layer 140 is also provided at the incoming goods end 111 of the sliding rack 100. The material box picking and placing robot 200 in this embodiment can be the same as that in the first embodiment.

[0115] like Figure 4a As shown, each inclined slide 121 of each material box storage layer 120 of the double-deep sliding rack has two material box storage positions 123. In order to avoid collision between two adjacent front and rear material boxes, reduce safety hazards and reduce the risk of damage to the material boxes, in an embodiment of the utility model, a front and rear box limiting mechanism 130 can also be set for the sliding rack 100.

[0116] like Figure 4b As shown, each front and rear box limiting mechanism 130 includes a limiting plate 131; the limiting plate 131 is movably arranged at the bottom of the inclined slide 121 of each layer of the material box storage layer 120; and is used to extend the inclined slide 121 to limit the material box 122 on the rear material box storage position 123 when the material box 122 reaches the material box storage position on the front side of the two adjacent material box storage positions.

[0117] Specifically, each material box storage layer 120 in this embodiment can be the same as the material box storage layer 120 in the above-mentioned second embodiment. Figure 2a and Figure 4a As shown, each inclined slide 121 includes: two rows of rollers 1211 arranged in parallel from the cargo input end 111 to the cargo output end 112; each row of rollers 1211 includes: a roller support beam 1212 connecting the cargo input end 111 to the cargo output end 112 and a plurality of material box rollers 1213 continuously arranged on the roller support beam 1212 in the direction from the cargo input end 111 to the cargo output end 112; each front and rear box limiting mechanism 130 is arranged between two adjacent rows of rollers 1211.

[0118] By adding front and rear box limit mechanisms to the sliding rack, collisions between two adjacent boxes can be avoided, reducing safety hazards and the risk of box damage.

[0119] In this embodiment, Figures 4b-4e As shown, the front and rear box limiting mechanism 130 further includes: front and rear box limiting rollers 132, elastic members 133 and a balance plate 134; wherein the front and rear box limiting rollers 132 and the limiting plate 131 are respectively arranged at the first and second opposite ends of the balance plate 134.

[0120] The front and rear box limiting rollers 132 are arranged parallel to the material box roller 1213 and are used to protrude from the material box roller 1213 when there is no material box 122 on two adjacent material box storage positions 123; when pressed down by the material box 122, the second end of the balance plate 134 is driven to tilt up, so that the limiting plate 131 extends out of the inclined slide 121;

[0121] The elastic member 133 is provided at the first end or the second end of the balancing plate 134 and is connected to the roller support beam 1212. When there is no material box on the two adjacent material box storage positions, it drives the limiting plate 131 to retract to the bottom of the material box roller 1213 and drives the first end of the balancing plate 134 to tilt up, so that the front and rear box limiting rollers 132 protrude from the material box roller 1213. Figure 4a and Figure 4b As shown, the first end may be an end close to the shipping end 112 , and the second end may be an end away from the shipping end 112 .

[0122] In this embodiment, Figure 4e As shown, the balancing plate 134 is connected to the roller support beam 1212 via a rotating shaft 1311, so that the balancing plate 134 can form a seesaw-like structure based on the rotating shaft 1311. In this embodiment, by providing the front and rear box limiting rollers 132, the material box 122 can form a sliding contact when contacting the limiting plate 131, thereby reducing the friction between the limiting plate 131 and the material box 122 and reducing the wear of the limiting plate 131 on the bottom of the material box 122.

[0123] In this embodiment, the elastic component 133 can be a tension spring or a compression spring. Figure 4c-4e As shown, when the elastic component 133 is a tension spring, the elastic component can be installed at the second end. Figure 4c As shown, when there are no material boxes on the two adjacent material box storage positions, due to the tension of the tension spring, the limit plate 131 is pulled to the bottom of the material box roller 1213, driving the first end of the balance plate 134 to tilt; Figure 4d As shown, when there are material boxes on two adjacent material box storage positions, the front and rear box limiting rollers 132 are flush with the material box roller 1213 under the pressure of the material box 122. At this time, the tension spring is stretched and the limiting plate 131 protrudes from the material box roller 1213, thereby achieving the limitation of the material box.

[0124] When the elastic component 133 is a compression spring, the elastic component can be installed at the first end, that is, Figure 4a The front and rear box limiting rollers 132 are on the same side as shown in the figure (the elastic component is not shown in the figure). At this time, when there are no boxes on the two adjacent box storage positions, the front and rear box limiting rollers 132 protrude from the box roller 1213 due to the rebound force of the compression spring, thereby driving the limiting plate 131 to rotate below the box roller 1213; when there are no boxes on the two adjacent box storage positions, the front and rear box limiting rollers 132 are compressed under the pressure of the box 122, and the front and rear box limiting rollers 132 are flush with the box roller 1213, driving the limiting plate 131 to protrude from the box roller 1213. This can limit the movement of the rear box 122 toward the shipping end, thereby avoiding collision between the two adjacent boxes, reducing safety hazards and the risk of damage to the boxes.

[0125] In this embodiment, Figure 4b As shown, the length of the front and rear box limiting mechanism 130 in the direction from the inlet end 111 to the outlet end 112 is greater than the length of the material box 122. This can prevent the other end of the front and rear box limiting mechanism 130 from also contacting the material box 122 when the material box 122 contacts the front and rear box limiting rollers 132, thereby slowing down the downward movement of the material box 122 or even preventing it from moving.

[0126] In this embodiment, Figure 4e As shown, in order to reduce the weight of the front and rear box limiting mechanism 130, a notch can be provided on the limiting plate 131.

[0127] like Figure 4aAs shown, multiple rows of boxes 122 can be placed along the length direction of each layer of the box storage layer 120; in order to prevent the multiple rows of boxes 122 from colliding with other rows of boxes 122 during the sliding process, in an embodiment of the utility model, two guide limit plates 116 can also be set on the fixed frame 110 for each row of boxes 122.

[0128] like Figure 4a As shown, from the input end 111 to the output end 112, two guide limit plates 116 are located between the input end cross beam 115 and the output end cross beam 114; and, each two adjacent rows of rollers are located between the two guide limit plates 116, so that along the length direction of each layer of material box storage layer 120, two adjacent guide limit plates 116 are located on both sides of each row of material boxes 122, thereby achieving guidance for each row of material boxes 122 and preventing collision between adjacent rows of material boxes.

[0129] In this embodiment, in order to prevent the material box 122 from sliding out of the sliding shelf 100 when sliding to the delivery end 112, Figure 4f 、 Figure 4g and Figure 4h As shown, an end limit mechanism 117 can also be set upward on the delivery end beam 114 along the height direction of the sliding shelf 100; the end limit mechanism 117 is used to limit the material box 122 from sliding out of the sliding shelf 100 when the material box 122 slides to the delivery end 112.

[0130] Specifically, such as Figure 4b 、 Figure 4f 、 Figure 4g and Figure 4h As shown, the end limit mechanism 117 includes a limit bracket 1171 and a guide shaft 1172. A pair of mounting ears 1173 extend upward from the limit bracket 1171 along the height of the sliding rack 100. The guide shaft 1172 is mounted between the mounting ears 1173 and is rotatably connected to the mounting ears 1173. This allows the guide shaft 1172 to roll with the bin 122 when the bin pick-and-place robot 200 grasps the bin 122, preventing the bottom of the bin 122 from hard contact with the delivery end crossbeam 114 and reducing damage to the bottom of the bin 122.

[0131] Then, see Figure 5a-5b , the fifth embodiment of the material box turnover system is described in detail. Figure 5a This is a structural diagram of a fifth embodiment of a material box turnover system including a sliding shelf provided by the present invention; Figure 5b for Figure 5a The figure shows a flow chart of the working process of the material box turnover system including the sliding rack.

[0132] In this embodiment, Figure 5aAs shown, the difference from the fourth embodiment is that the material box turnover system of this embodiment can also include: a docking mechanism 300; a docking position 310 can be set on the top of the docking mechanism. Figure 5a As shown, the docking mechanism 300 is arranged adjacent to the material box picking and placing robot 200, and is located on the side away from the sliding shelf 100; the material box picking and placing robot 200 is used to move the material box 122 located at the shipping end 112 of the sliding shelf 100 out of the sliding shelf 100, and place it on the docking position 310 at the top of the docking mechanism 300.

[0133] In this way, when the material box picking and placing robot 200 uses the hook 2421 of the picking and placing component 242 to grab the material box 122 from the sliding shelf 100 and place it on the cargo platform 241, the picking and placing component 242 can move in the direction away from the sliding shelf 100. After moving to the farthest end, the material box picking and placing robot 200 can control the lateral movement mechanism 220 and / or the lifting mechanism 230 to move to the position and / or height of the docking position 310, and then control the rotating mechanism 2422 to rotate so as to transfer the material box 122 from the cargo platform 241 to the docking position 310 for subsequent transfer of the material box 122.

[0134] In order to more clearly illustrate the working process of the material box turnover system of the utility model embodiment, Figure 5b To illustrate, Figure 5b As shown, the working process may include:

[0135] Step S110: Manually push the full box backward on the working side of the flow rack;

[0136] Step S120: The material box automatically moves to the rear end on the flow rack due to gravity;

[0137] Step S130: The end limit block fixes the material box at the end position to prevent the material box from continuing to fall downward or falling;

[0138] Step S140: The system notifies the material box that it has arrived, and the material box pick-up and place robot passes through the horizontal and vertical tracks to reach the designated material box storage location;

[0139] The system in this step refers to the system software installed in the control device that can communicate with the material box picking and placing robot.

[0140] Step S150: The box picking and placing robot's own box picking mechanism is activated, and the guide shaft of the end limit structure cooperates to move the box away from the limit point and place the box on its own box storage structure;

[0141] Step S160: The material box picking and placing robot moves to the material box docking position and places the material box on the docking position through its own material box picking and placing structure.

[0142] Specifically, when the staff manually puts the full box 122 on the receiving storage position 143 on the fixed rack 110 at the working side of the flow rack (i.e., the incoming goods end 111), the full box 122 can be pushed backwards, and then the box 122 automatically moves to the rear end (i.e., the outgoing goods end 112) on the flow rack due to the action of gravity. When the box 122 moves to the rear end, at this time, the end limit block (i.e., the end limit mechanism 117) on the fixed rack fixes the box 122 at the end (i.e., the outgoing goods end 112) to prevent the box 122 from continuing to move and falling. Then the system can notify the box picker (i.e., the box picker robot 200) that the box 122 has arrived. At this time, the box picker reaches the position of the box through the horizontal and vertical tracks (i.e., the horizontal track 150 and the support frame 210);

[0143] After the container 122 reaches its location, the hook 2421 on its own container retrieval mechanism (i.e., container retrieval mechanism 240) can grab the container 122, and then the container 122 can be rolled along the guide shaft of the end limit structure until the container 122 is moved away from the limit point and placed on its own container storage structure (i.e., the loading platform 241). It can be understood that the limit point is the position of the container 122 when it is restricted by the end limit mechanism 117.

[0144] Finally, the container is moved to the container docking position 310 via the horizontal and vertical rails, and the container is placed on the docking position by its own container pick-up and placement structure, thereby completing the process of transporting the container 122 from the sliding shelf 100 to the docking position 310.

[0145] Then, see Figure 6 , the sixth embodiment of the material box turnover system is described in detail. Figure 6 This is a structural diagram of the sixth embodiment of the material box turnover system including the sliding shelf provided by the present invention; compared with the fifth embodiment, in this embodiment, the docking mechanism 300 in the material box turnover system of the present invention embodiment can also include: a docking mechanism of the cache rack 320 and the handling robot 330, in this regard, Figure 6 As shown, the cache rack 320 is adjacent to the bin pick-and-place robot 200; the transfer robot 330 is located on the side of the cache rack 320 away from the bin pick-and-place robot 200;

[0146] In this way, the material box picking and placing robot 200 can grab the material box 122 from the shipping end 112 and temporarily store the material box 122 on the buffer rack 320. Then, the transport robot 330 transports the material box 122 temporarily stored on the buffer rack 320 to the destination.

[0147] Then, see Figure 7, the seventh embodiment of the material box turnover system is described in detail. Figure 7 This is a structural diagram of the seventh embodiment of the material box turnover system including the sliding shelf provided by the present invention; compared with the fifth embodiment, in this embodiment, the docking mechanism 300 in the material box turnover system of the embodiment of the present invention can also be a transmission line 340, such as Figure 7 As shown, the transmission line 340 is arranged adjacent to the sliding rack 100, and the above-mentioned material box picking and placing robot 200 is located between the transmission line 340 and the sliding rack 100; in this way, after the material box picking and placing robot 200 grabs the material box 122 from the shipping end 112, the material box picking and placing robot 200 places the material box 122 on the transmission line 340, so that the transmission line 340 transports the material box 122 to the destination.

[0148] Then, see Figure 8 , the eighth embodiment of the material box turnover system is described in detail. Figure 8 This is a structural diagram of the eighth embodiment of the material box turnover system including the sliding rack provided by the present invention; compared with the fourth embodiment, in this embodiment, the sliding rack 100 can be a three-deep sliding rack. Figure 8 In the shown container turnover system, there are three container storage locations 123 on each inclined slide 121 of each container storage layer 120 of the three-deep sliding rack.

[0149] At this time, in order to avoid the front and rear collisions of the material boxes 122 on the three material box storage positions 123, a front and rear box limiting mechanism 130 can be set for the sliding shelf 100, or two front and rear box limiting mechanisms 130 can be set. The two front and rear box limiting mechanisms 130 can be set in sequence from the input end 111 to the output end 112.

[0150] It can be understood that the only difference between this embodiment and the fourth embodiment is the number of material box storage positions 123. The other structures are the same or similar, and reference can be made to the fourth embodiment, which will not be repeated here.

[0151] The sliding rack provided by the embodiment of the present invention includes: a fixed frame 110 and at least one layer of material box storage layer 120; the two ends of the sliding rack 100 in the width direction are respectively an input end 111 and an output end 112; at least one layer of material box storage layer 120 is spaced apart in the height direction in the fixed frame 110; wherein, the height of each layer of material box storage layer 120 at the input end 111 is higher than its height at the output end 112, so that the material box to be turned over can slide from the input end 111 to the output end 112; the output end 112 of the sliding rack 100 can be hung with a material box picking and placing robot 200, which is used to move the material box 122 located at the output end 112 out of the sliding rack 100.

[0152] The specific structure of the sliding shelf can be found in Figure 1a to Figure 4h The structure of the sliding shelf in the material box turnover system shown in will not be repeated here.

[0153] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A sliding shelf, characterized in that: include: A fixed frame (110) and at least one material box storage layer (120); the two ends of the sliding shelf (100) in the width direction are respectively a loading end (111) and a shipping end (112); The at least one material box storage layer (120) is spaced apart in the height direction within the fixed frame (110); wherein the height of each material box storage layer (120) at the inlet end (111) is higher than its height at the outlet end (112), so that the material box to be circulated can slide from the inlet end (111) to the outlet end (112); A material box picking and placing robot (200) can be mounted on the delivery end (112) of the sliding shelf (100), and the material box picking and placing robot (200) is used to move the material box (122) located at the delivery end (112) out of the sliding shelf (100).

2. The sliding shelf according to claim 1, characterized in that: Each material box storage layer (120) comprises: a plurality of inclined slides (121) arranged in parallel from the input end (111) to the output end (112); each inclined slide (121) forms one or more material box storage positions (123) from the input end (111) to the output end (112) for storing material boxes (122).

3. The sliding shelf according to claim 2, characterized in that: The number of the material box storage positions (123) of each inclined slideway (121) is multiple; The sliding shelf (100) further comprises: at least one front and rear box limiting mechanism (130); each of the front and rear box limiting mechanisms (130) comprises a limiting plate (131); the limiting plate (131) is movably arranged at the bottom of each inclined slideway (121) of each material box storage layer (120), and is located between two adjacent material box storage positions (123) at the front and rear sides; and is used for extending the inclined slideway (121) to limit the material box (122) on the rear material box storage position (123) when the material box (122) reaches the material box storage position at the front side of the two adjacent material box storage positions.

4. The sliding shelf according to claim 3, characterized in that: Each of the inclined slideways (121) comprises: two roller rows (1211) arranged in parallel from the inlet end (111) to the outlet end (112); Each roller array (1211) comprises: a roller support beam (1212) connecting the inlet end (111) to the outlet end (112), and a plurality of material box rollers (1213) continuously arranged on the roller support beam (1212) in a direction from the inlet end (111) to the outlet end (112); and each of the front and rear box limiting mechanisms (130) is arranged between two adjacent roller arrays (1211).

5. The sliding shelf according to claim 4, characterized in that: Each of the front and rear box limiting mechanisms (130) further includes: front and rear box limiting rollers (132), an elastic member (133) and a balance plate (134); The front and rear box limiting rollers (132) and the limiting plate (131) are respectively arranged at the first end and the second end opposite to each other of the balance plate (134); The front and rear box limiting rollers (132) are arranged in parallel with the material box roller (1213) and are used to protrude from the material box roller (1213) when there is no material box (122) on two adjacent material box storage positions (123); when pressed down by the material box (122), the second end of the balancing plate (134) is driven to tilt up, so that the limiting plate (131) extends out of the inclined slideway (121); The elastic member (133) is arranged at the first end or the second end of the balancing plate (134) and is connected to the roller support beam (1212). When there is no material box on two adjacent material box storage positions, it drives the limiting plate (131) to retract to below the material box roller (1213) and drives the first end of the balancing plate (134) to tilt up, so that the front and rear box limiting rollers (132) protrude from the material box roller (1213).

6. The sliding shelf according to claim 2, characterized in that: The delivery end (112) of the sliding rack (100) is provided with a plurality of delivery end cross beams (114) spaced apart along the height direction; the delivery end (111) of the sliding rack (100) is provided with a plurality of delivery end cross beams (115) spaced apart along the height direction; Each of the material box storage layers (120) is respectively connected between an inlet end crossbeam (115) and an outlet end crossbeam (114).

7. The sliding shelf according to claim 6, characterized in that: The fixing frame (110) further includes: a plurality of guide limit plates (116); In the direction from the inlet end (111) to the outlet end (112), the at least two guide limit plates (116) are located between the inlet end crossbeam (115) and the outlet end crossbeam (114); Along the length direction of each material box storage layer (120), two adjacent guide limit plates (116) are located on both sides of each column of material box storage positions (123).

8. The sliding shelf according to claim 6, characterized in that: Along the height direction of the sliding shelf (100), the delivery end crossbeam (114) is upwardly provided with an end limit mechanism (117); The end limiting mechanism (117) is used to limit the material box (122) from sliding out of the sliding shelf (100) when the material box (122) reaches the delivery end (112).

9. The sliding shelf according to claim 8, characterized in that: The end limiting mechanism (117) comprises: a limiting bracket (1171) and a guide shaft (1172); along the height direction of the sliding shelf (100), the limiting bracket (1171) has a pair of mounting ears (1173) extending upward; the guide shaft (1172) is installed between the pair of mounting ears (1173) and is rotatably connected to the pair of mounting ears (1173); The guide shaft (1172) is used for rolling contact with the material box (122) when the material box picking and placing robot (200) grabs the material box (122).

10. The sliding shelf according to claim 6, characterized in that: The inlet end (111) of the sliding rack (100) is further provided with a plurality of receiving storage layers (140), which are respectively connected to the inlet end crossbeam (115) of each layer; each receiving storage layer (140) extends out of the inlet end crossbeam (115) for receiving material boxes to be circulated.

11. A material box turnover system, characterized in that: include: The sliding rack (100) according to any one of claims 1 to 10, and a material box picking and placing robot (200) mounted on the delivery end (112) of the sliding rack (100).

12. The material box turnover system according to claim 11, characterized in that: The material box turnover system further comprises: a docking mechanism (300); the docking mechanism (300) is arranged adjacent to the material box picking and placing robot (200) and is located on a side away from the sliding shelf (100); The material box picking and placing robot (200) is used to move the material box (122) located at the delivery end (112) of the sliding shelf (100) out of the sliding shelf (100) and place it on the docking position (310) on the top of the docking mechanism (300).

13. The material box turnover system according to claim 12, characterized in that: The docking mechanism (300) comprises: a cache rack (320) and a handling robot (330); the cache rack (320) is adjacent to the material box pick-and-place robot (200); the handling robot (330) is located on a side of the cache rack (320) away from the material box pick-and-place robot (200); The transport robot (330) is used to transport the material box (122) temporarily stored on the buffer rack (320) to a destination.

14. The material box turnover system according to claim 12, characterized in that: The docking mechanism (300) is a transmission line (340) arranged adjacent to the sliding shelf (100); the transmission line is used to transmit the material box (122) to the destination.

15. The material box turnover system according to claim 11, characterized in that: The material box picking and placing robot (200) comprises: a support frame (210), a lateral motion mechanism (220), a lifting mechanism (230), and a material box picking and placing mechanism (240) arranged on the lifting mechanism; The delivery end (112) of the sliding shelf (100) is provided with at least one horizontal track (150) at intervals along the vertical direction; the support frame (210) is movably connected to the horizontal track (150) based on the transverse motion mechanism (220) so that the support frame (210) and the material box picking and placing mechanism (240) slide horizontally along the horizontal track (150); The material box picking and placing mechanism (240) is movably connected to the support frame (210) based on the lifting mechanism (230); so that the material box picking and placing mechanism (240) moves up and down along the height direction of the support frame (210) to pick up and place the material box (122) located at the delivery end (112) of the sliding shelf (100).

16. The material box turnover system according to claim 15, characterized in that: The material box picking and placing mechanism (240) comprises: a cargo platform (241) and a picking and placing component (242); The pick-and-place assembly (242) is slidably connected to the cargo platform (241) and is capable of moving relative to the cargo platform (241) in a direction approaching or moving away from the sliding shelf (100), moving closer to the sliding shelf (100) to pick up a material box (122) on the sliding shelf (100), or moving away from the sliding shelf (100) to place a material box (122) on the cargo platform (241); The pick-and-place assembly (242) includes a hook (2421) and a rotating mechanism (2422), wherein the rotating mechanism (2422) can cause the hook (2421) to rotate horizontally so as to rotate the material box picked up by the hook (2421) away from the sliding shelf (100) or toward the sliding shelf (100).

17. The material box turnover system according to claim 16, characterized in that: The material box picking and placing mechanism (240) further includes: a sliding connection member (243); the sliding connection member (243) is fixedly connected to the cargo platform (241); The support frame (210) is a support door frame (211) comprising two door posts; each door post is provided with a lifting mechanism (230); Each lifting mechanism (230) comprises: a lifting motor (2301), a first synchronous belt (2302), a bottom transmission wheel (2303), and a top transmission wheel (2304); the top transmission wheel (2304) is fixed to the top of the support door frame (211); the bottom transmission wheel (2303) is fixed to the bottom of the support door frame (211); The lifting motor (2301) is fixed to the top or bottom of the support gantry (211) and is in driving connection with the top transmission wheel (2304) or the bottom transmission wheel (2303); The first synchronous belt (2302) passes around the bottom transmission wheel (2303) and the top transmission wheel (2304), and is fixedly connected to the sliding connection member (243) at both ends; The lifting motor (2301) drives the first synchronous belt (2302), the bottom transmission wheel (2303) and the top transmission wheel (2304), thereby driving the material box picking and placing mechanism (240) to move up and down along the height direction of the support frame (210) to pick up material boxes at different heights on the sliding shelf (100).

18. The material box turnover system according to claim 15, characterized in that: There are multiple lateral motion mechanisms (220); each lateral motion mechanism (220) includes: a lateral drive motor (221) and a lateral sliding mechanism (222); The transverse sliding mechanism (222) of each transverse motion mechanism (220) is respectively fixedly arranged on the support frame (210), and the transverse sliding mechanism (222) of each transverse motion mechanism (220) is slidably connected to one of the horizontal rails (150); The transverse driving motor (221) is drivingly connected to the transverse sliding mechanism (222) to move the transverse sliding mechanism (222) to drive the support frame (210) and the material box picking and placing mechanism (240) to move transversely along the horizontal track (150).

Images