Storing and taking warehouse system

Abstract

The utility model discloses an access warehouse system which comprises a ground rail, a sliding plate is connected to the ground rail in a sliding mode, a material taking unit and a material storage unit are installed on the sliding plate, the material taking unit comprises a shell fixedly installed in the middle of the upper surface of the sliding plate, a servo electric cylinder is installed in the shell, and the output end of the servo electric cylinder is fixedly connected with an installation plate. A six-axis mechanical arm is rotationally mounted at the top of the mounting plate, a frame is rotationally mounted at the end, away from the mounting plate, of the six-axis mechanical arm, and a material taking mechanism is fixedly connected to the side face, away from the six-axis mechanical arm, of the frame. According to the utility model, the material taking unit and the material storage unit are arranged between the two vertical warehouses in the warehouse, so that materials on the vertical warehouses on the two sides of the ground rail can be taken; materials of different heights can be taken, and the angle of the clamped materials can be adjusted during material taking, so that the influence of the vertical warehouse frame body on material taking is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of storage, and in particular relates to a storage and access library system. Background Art

[0002] A vertical warehouse is also called a high-bay warehouse or an elevated warehouse. It generally refers to a warehouse that uses shelves of several layers, more than ten layers or even dozens of layers to store unit goods, and uses corresponding material handling equipment to carry out goods storage and retrieval operations. Together with the material handling equipment, it constitutes a storage and retrieval system. Current material handling equipment usually includes a stacker that can move horizontally and vertically along the edge of the shelf, and a fork or push-pull device fixed to the stacker, as well as a box-type robot. The fork or push-pull device is used to complete the retrieval or storage of goods placed in the cargo space of the vertical warehouse. There are many structures of the vertical warehouse frame. When it is necessary to set an angle condition for the clamped goods to avoid the vertical warehouse frame affecting the material retrieval, the material handling equipment is only capable of moving in the horizontal and numerical directions and cannot solve the above problem. Utility Model Content

[0003] (1) Technical problems to be solved

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a storage and retrieval system that solves the technical problem that the material handling equipment can only move in the horizontal and numerical directions and cannot adjust the angle conditions of the clamped goods.

[0005] (2) Technical solution

[0006] In order to solve the above technical problems, the utility model provides a storage and retrieval system, including a ground rail, a sliding plate is slidably connected to the ground rail, a material picking unit and a material storage unit are installed on the sliding plate, the material picking unit includes a shell fixedly installed on the middle part of the upper surface of the sliding plate, a servo electric cylinder is installed inside the shell, the output end of the servo electric cylinder is fixedly connected to the mounting plate, a six-axis robotic arm is rotatably installed on the top of the mounting plate, a frame is rotatably installed on the end of the six-axis robotic arm away from the mounting plate, and a material picking mechanism is fixedly connected to the side of the frame away from the six-axis robotic arm.

[0007] Preferably, the material taking mechanism includes a mounting bracket fixedly connected to the frame, a cylinder is fixedly connected to the middle of a side of the mounting bracket away from the frame, and an output end of the cylinder is fixedly connected to a support plate.

[0008] Furthermore, both ends of the mounting bracket are fixedly connected to side brackets, each side bracket is fixedly connected to a spring positioning column, and a clamping plate is slidably installed on one side of the mounting bracket away from the frame and on both sides of the cylinder.

[0009] Furthermore, the clamping plate is slidably connected to the mounting bracket through a sliding assembly, which includes a slide rail fixedly mounted on the mounting bracket and a slide block fixedly connected to the clamping plate, and the slide block is slidably connected to the slide rail on a side away from the clamping plate.

[0010] Furthermore, a hydraulic rod is installed on the frame, and the hydraulic rod is used to drive the clamping plate to move.

[0011] Furthermore, an infrared camera is fixedly connected to the top of the frame, a first sensor is fixedly connected to one side of the top of the mounting bracket, an RFID antenna is fixedly connected to the other side of the top of the mounting bracket, and a second sensor is fixedly connected to the bottom of the support plate.

[0012] Furthermore, two material storage units are provided, and the two material storage units are symmetrically arranged on both sides of the material taking unit. Each material taking unit includes an electrical control box fixedly installed on the top of the sliding plate. Multiple material temporary storage bins are installed on the top of the electrical control box. Each material temporary storage bin includes a frame, and two conveying mechanisms are installed inside each frame.

[0013] Furthermore, each conveying mechanism includes two fixed frames, both ends of the two fixed frames are rotatably connected to pulleys, and the pulleys at both ends of each fixed frame are connected by belt transmission, wherein a rotating shaft is fixedly connected between the two pulleys at the same end of the two fixed frames, and a driven wheel is fixedly connected to the rotating shaft, and the driven wheel is connected to the driving wheel through a transmission belt transmission, and the driving wheel is fixedly connected to the output end of the motor, the motor is fixedly connected to the motor frame, and the motor frame is fixedly connected to one of the fixed frames, and the sides of the two fixed frames away from each other are fixedly connected to the L-shaped mounting block, and the end of the L-shaped mounting block away from the fixed frame is fixedly connected to the frame.

[0014] Furthermore, a first lower connecting plate is fixedly connected to the two corner sides of the bottom of each rack, a quick lock is fixedly connected to each first lower connecting plate, a first upper connecting plate is fixedly connected to the top of each rack and at a position corresponding to the first lower connecting plate, and positioning pins that cooperate with the quick lock are fixedly connected to the top of the first upper connecting plate and the two corners of the top of the electrical control box.

[0015] Furthermore, the other two corner sides of the bottom of the frame are fixedly connected to a second lower connecting plate, a guide hole is opened in the middle of the second lower connecting plate, the top of the frame and the corresponding position of the second lower connecting plate are fixedly connected to a second upper connecting plate, and the top of the second upper connecting plate and the other two corners of the top of the electric control box are fixedly connected to guide columns that match the guide holes;

[0016] Two side baffles are fixedly connected to the frame at positions corresponding to each conveying mechanism, the front inner wall and the back inner wall of the frame are fixedly connected to a rotating motor, and the output end of the rotating motor is fixedly connected to a transverse baffle.

[0017] (3) Beneficial effects

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The utility model arranges the material taking unit and the material storage unit between the two vertical warehouses in the warehouse, so that materials on the vertical warehouses on both sides of the ground rail can be taken. Moreover, due to the coordinated arrangement of the servo electric cylinder and the six-axis robot arm, materials at different heights can be taken and the angle of the clamped materials can be adjusted when taking materials, so as to avoid the vertical warehouse frame from affecting the material taking. Moreover, with the coordination of the material taking unit and the material storage unit, twelve materials can be taken at one time and then transmitted through the ground rail, thereby improving the material taking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the storage and access library system;

[0021] Figure 2 It is a main view schematic diagram of the storage and access library system;

[0022] Figure 3 A schematic diagram of the structure of the six-axis robotic arm of the storage and retrieval system;

[0023] Figure 4 It is a structural diagram of the material-retrieving mechanism of the storage and retrieval system;

[0024] Figure 5 For access to the library system Figure 4 A schematic diagram of the structure at center A;

[0025] Figure 6 A schematic diagram of the structure of the rack of the storage and access library system;

[0026] Figure 7 It is a structural diagram of the conveying mechanism of the storage and retrieval system;

[0027] Figure 8 For access to the library system Figure 1 A magnified schematic diagram of the structure at point B in the middle.

[0028] The markings in the accompanying drawings are: 1. Ground rail; 2. Sliding plate; 3. Retrieving unit; 4. Storage unit; 5. Housing; 6. Servo cylinder; 7. Mounting plate; 8. Six-axis robotic arm; 9. Frame; 10. Retrieving mechanism; 11. Hydraulic rod; 12. Infrared camera; 13. First sensor; 14. RFID antenna; 15. Second sensor; 16. Electric control box; 17. Rack; 18. Conveying mechanism; 19. First lower connecting plate; 20. Quick lock; 21. First upper connecting plate; 22. Second lower connecting plate; 23. Second upper connecting plate; 24. Guide column ; 25. Locating pin; 26. Side baffle; 27. Rotating motor; 28. Cross baffle; 1001. Mounting bracket; 1002. Cylinder; 1003. Support plate; 1004. Side bracket; 1005. Spring positioning column; 1006. Clamping plate; 1007. Slide rail; 1008. Sliding block; 1801. Fixed frame; 1802. Pulley; 1803. Belt; 1804. Rotating shaft; 1805. Driven pulley; 1806. Transmission belt; 1807. Driving pulley; 1808. Motor; 1809. L-shaped mounting block; 1810. Motor frame. DETAILED DESCRIPTION

[0029] This specific embodiment is a storage and access library system, and its structural diagram is as follows Figures 1-8 As shown, it includes a ground rail 1, which is installed in the warehouse and is located between two vertical warehouses inside the warehouse. A plurality of materials to be taken are placed on the two vertical warehouses. A sliding plate 2 is slidably connected to the ground rail 1. The cooperation between the ground rail 1 and the sliding plate 2 is the existing technology and is not repeated here. A material taking unit 3 and a material storage unit 4 are installed on the sliding plate 2. The material taking unit 3 includes a shell 5 fixedly installed on the middle part of the upper surface of the sliding plate 2. A servo electric cylinder 6 is installed inside the shell 5. The output end of the servo electric cylinder 6 is fixedly connected to a mounting plate 7. A six-axis robot arm 8 is rotatably installed on the top of the mounting plate 7. A frame 9 is rotatably installed on the end of the six-axis robot arm 8 away from the mounting plate 7. A material taking mechanism 10 is fixedly connected to the side of the frame 9 away from the six-axis robot arm 8. The products placed on the vertical warehouse include but are not limited to cage boxes and other materials.

[0030] Among them, the material-retrieving mechanism 10 includes a mounting bracket 1001 fixedly connected to the frame 9, a cylinder 1002 is fixedly connected to the middle of the side of the mounting bracket 1001 away from the frame 9, the output end of the cylinder 1002 is fixedly connected to a support plate 1003, both ends of the mounting bracket 1001 are fixedly connected to side brackets 1004, each side bracket 1004 is fixedly connected to a spring positioning column 1005, the mounting bracket 1001 is away from the frame 9 and is located on both sides of the cylinder 1002. A clamping plate 1006 is slidably installed. 6 is slidably connected to the mounting bracket 1001 through a sliding assembly. The sliding assembly includes a slide rail 1007 fixedly mounted on the mounting bracket 1001 and a slide block 1008 fixedly connected to the clamping plate 1006. The slide block 1008 is slidably connected to the slide rail 1007 on a side away from the clamping plate 1006. A hydraulic rod 11 is installed on the frame 9. The hydraulic rod 11 is used to drive the clamping plate 1006 to move, and the cylinder 1002 drives the support plate 1003 to move. The height of the support plate 1003 can be adjusted. At the same time, the output of the two hydraulic rods 11 When the end driving clamping plate 1006 moves in the direction away from the material, the clamping plate 1006 can drive the sliding block 1008 to move on the slide rail 1007. At the same time, the clamping plate 1006 will squeeze the spring positioning column 1005 during the movement. When the two clamping plates 1006 move to a position slightly larger than the width of the material, the hydraulic rod 11 stops driving the clamping plate 1006 to move. When the material picking mechanism 10 penetrates into the material on the column, the support plate 1003 holds up the bottom of the material, and the two clamping plates 1006 are on both sides of the material. At this time, the telescopic end of the hydraulic rod 11 Reset. During the resetting process, the telescopic end of the hydraulic rod 11, the spring positioning column 1005 is no longer squeezed by the clamping plate 1006. The spring positioning column 1005 begins to reset and pushes the clamping plate 1006 to move until the clamping plate 1006 contacts the material. At this time, the material can be clamped with the cooperation of the support plate 1003 and the clamping plate 1006. Since the cylinder 1002 can adjust the height of the support plate 1003, and the hydraulic rod 11 can adjust the distance between the two clamping plates 1006, the material picking mechanism 10 can clamp materials of different sizes.

[0031] An infrared camera 12 is fixedly connected to the top of the frame 9, and a first sensor 13 is fixedly connected to one side of the top of the mounting bracket 1001. The first sensor 13 is used to detect whether there is material clamped on the material picking mechanism 10. An RFID antenna 14 is fixedly connected to the other side of the top of the mounting bracket 1001, and a second sensor 15 is fixedly connected to the bottom of the pallet 1003. The second sensor 15 is used to detect whether there is material at the material picking position on the vertical warehouse. With the cooperation of the infrared camera 12, the first sensor 13, the RFID antenna 14 and the second sensor 15, the material picking mechanism 10 can have the functions of monitoring, RFID code reading, sensing the presence or absence of materials, and picking and placing materials.

[0032] There are two material storage units 4, and the two material storage units 4 are symmetrically arranged on both sides of the material taking unit 3. Each material taking unit 3 includes an electrical control box 16 fixedly installed on the top of the sliding plate 2. A plurality of material temporary storage bins are installed on the top of the electrical control box 16. Each material temporary storage bin includes a frame 17, and two conveying mechanisms 18 are installed inside each frame 17.

[0033] Each conveying mechanism 18 includes two fixed frames 1801, both ends of the two fixed frames 1801 are rotatably connected to pulleys 1802, and the pulleys 1802 at both ends of each fixed frame 1801 are connected by a belt 1803, wherein a rotating shaft 1804 is fixedly connected between the two pulleys 1802 at the same end of the two fixed frames 1801, and a driven wheel 1805 is fixedly connected to the rotating shaft 1804, and the driven wheel 1805 is connected to a driving wheel 1807 through a transmission belt 1806, and the driving wheel 1807 is fixedly connected to the output end of the motor 1808, and the motor 1808 is fixedly connected to the motor frame 1810, and the motor frame 1810 is fixedly connected to one of the fixed frames 1801, and the sides of the two fixed frames 1801 away from each other are fixedly connected to an L-shaped mounting block 1809, and the end of the L-shaped mounting block 1809 away from the fixed frame 1801 is fixedly connected to the frame 17;

[0034] The motor 1808 drives the driving wheel 1807 to rotate. During the rotation process, the driving wheel 1807 can drive the driven wheel 1805 to rotate through the transmission belt 1806. During the rotation process, the driven wheel 1805 can drive the rotating shaft 1804 to rotate. During the rotation process, the rotating shaft 1804 can drive the pulleys 1802 at both ends to rotate. During the rotation process, the pulley 1802 can drive another pulley 1802 on the same fixed frame 1801 to rotate through the belt 1803. The above is the working state of the conveying mechanism 18.

[0035] The bottom two corner sides of each frame 17 are fixedly connected to a first lower connecting plate 19, and each first lower connecting plate 19 is fixedly connected to a quick lock 20. The top of each frame 17 and the corresponding position of the first lower connecting plate 19 are fixedly connected to a first upper connecting plate 21. The top of the first upper connecting plate 21 and the top two corners of the electric control box 16 are fixedly connected with positioning pins 25 that match the quick lock 20. The other two corner sides of the bottom of the frame 17 are fixedly connected to a second lower connecting plate 22. A guide hole is opened in the middle of the second lower connecting plate 22. The top of the frame 17 and the corresponding position of the second lower connecting plate 22 are fixedly connected to a second upper connecting plate 23, and the second upper connecting plate 2 3 and the other two corners of the top of the electric control box 16 are fixedly connected with guide columns 24 that cooperate with the guide holes. When installing two adjacent racks 17, the cooperation of the guide holes and guide columns 24 respectively provided on the two adjacent racks 17 can achieve the positioning of the two racks 17 during installation, and prevent the two racks 17 from being offset during installation. When the rack 17 is installed on the top of the electric control box 16, the cooperation of the guide holes opened in the rack 17 and the guide columns 24 on the top of the electric control box 16 can achieve the positioning of the rack 17 during installation, and prevent the rack 17 from being offset during installation. After the rack 17 is installed, the rack 17 is fixed by the cooperation of the quick locker 20 and the positioning pin 25.

[0036] Two side baffles 26 are fixedly connected to the frame 17 and at the corresponding positions of each conveying mechanism 18. The front inner wall and the back inner wall of the frame 17 are fixedly connected to a rotating motor 27. The output end of the rotating motor 27 is fixedly connected to a cross baffle 28. The material-grabbing mechanism 10 on the six-axis robotic arm 8 takes the material out of the vertical warehouse and places it on the conveying mechanism 18. First, the rotating motor 27 drives the cross baffle 28 to rotate to a vertical state. Then the six-axis robotic arm 8 drives the material-grabbing mechanism 10 to place the material on the belt 1803 of the conveying mechanism 18. Then the rotating motor 27 drives the cross baffle 28 to rotate to a horizontal state. At this time, the left and right sides of the material are limited by the action of the two side baffles 26, and the front and rear sides of the material are limited by the action of the two cross baffles 28 to prevent the material from falling from the conveying mechanism 18.

[0037] The technical solution provided by the utility model is that the six-axis robot arm 8 follows the ground rail 1 and is located between the two vertical warehouses. The six-axis robot arm 8 can freely adjust its angle. When it is necessary to clamp materials at a higher position in the vertical warehouse, the servo electric cylinder 6 drives the mounting plate 7 and the six-axis robot arm 8 to move upward, so that the materials at a higher position can be taken;

[0038] The material taking process is:

[0039] The six-axis robot arm 8 drives the frame 9 and the material-grabbing mechanism 10 to move to the material to be taken, and enables the pallet 1003 to drag the bottom of the material, and then the clamping plate 1006 can contact the material. At this time, the material is clamped by the material-grabbing mechanism 10. At the same time, since the six-axis robot arm 8 can flexibly adjust the angle, the material-grabbing mechanism 10 and the clamped material can be adjusted in the horizontal direction to avoid the influence of the vertical warehouse frame on the material grazing.

[0040] In summary, the present invention can retrieve materials from the vertical warehouses on both sides of the ground rail 1 by arranging the material-retrieving unit 3 and the material-storage unit 4 between the two vertical warehouses in the warehouse, and due to the coordinated arrangement of the servo electric cylinder 6 and the six-axis robot arm 8, it can retrieve materials at different heights and adjust the angle of the clamped materials when retrieving materials to avoid the influence of the vertical warehouse frame on the material retrieving, and with the coordination of the material-retrieving unit 3 and the material-storage unit 4, twelve materials can be retrieved at one time and then transmitted through the ground rail 1, thereby improving the material-retrieving efficiency.

[0041] All technical features in this embodiment can be freely combined according to actual needs.

[0042] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. A storage and access system, characterized in that: The invention comprises a ground rail (1), a sliding plate (2) is slidably connected to the ground rail (1), a material taking unit (3) and a material storage unit (4) are installed on the sliding plate (2), the material taking unit (3) comprises a shell (5) fixedly installed on the middle part of the upper surface of the sliding plate (2), a servo electric cylinder (6) is installed inside the shell (5), the output end of the servo electric cylinder (6) is fixedly connected to the mounting plate (7), a six-axis robot arm (8) is rotatably installed on the top of the mounting plate (7), a frame (9) is rotatably installed on the end of the six-axis robot arm (8) away from the mounting plate (7), and a material taking mechanism (10) is fixedly connected to the side of the frame (9) away from the six-axis robot arm (8).

2. The access library system according to claim 1, characterized in that: The material taking mechanism (10) comprises a mounting bracket (1001) fixedly connected to the frame (9); a cylinder (1002) is fixedly connected to the middle of a side of the mounting bracket (1001) away from the frame (9); and a support plate (1003) is fixedly connected to the output end of the cylinder (1002).

3. The access library system according to claim 2, characterized in that: Both ends of the mounting bracket (1001) are fixedly connected to side brackets (1004), and each side bracket (1004) is fixedly connected to a spring positioning column (1005). The mounting bracket (1001) is away from the frame (9) and is slidably mounted with clamping plates (1006) on both sides of the cylinder (1002).

4. The access library system according to claim 3, characterized in that: The clamping plate (1006) is slidably connected to the mounting bracket (1001) via a sliding assembly, wherein the sliding assembly comprises a slide rail (1007) fixedly mounted on the mounting bracket (1001) and a sliding block (1008) fixedly connected to the clamping plate (1006), and the sliding block (1008) is slidably connected to the slide rail (1007) on a side away from the clamping plate (1006).

5. The access library system according to claim 4, characterized in that: A hydraulic rod (11) is installed on the frame (9), and the hydraulic rod (11) is used to drive the clamping plate (1006) to move.

6. The access library system according to claim 2, characterized in that: An infrared camera (12) is fixedly connected to the top of the frame (9), a first sensor (13) is fixedly connected to one side of the top of the mounting bracket (1001), an RFID antenna (14) is fixedly connected to the other side of the top of the mounting bracket (1001), and a second sensor (15) is fixedly connected to the bottom of the support plate (1003).

7. The storage and access library system according to claim 1, characterized in that: There are two material storage units (4), and the two material storage units (4) are symmetrically arranged on both sides of the material taking unit (3). Each of the material taking units (3) includes an electric control box (16) fixedly installed on the top of the sliding plate (2). A plurality of material temporary storage bins are installed on the top of the electric control box (16). Each of the material temporary storage bins includes a rack (17), and two conveying mechanisms (18) are installed inside each of the racks (17).

8. The storage and access library system according to claim 7, characterized in that: Each of the conveying mechanisms (18) comprises two fixed frames (1801), both ends of the two fixed frames (1801) are rotatably connected to pulleys (1802), the pulleys (1802) at both ends of each fixed frame (1801) are connected to each other through a belt (1803), wherein a rotating shaft (1804) is fixedly connected between the two pulleys (1802) at the same end of the two fixed frames (1801), and a driven wheel (1805) is fixedly connected to the rotating shaft (1804), and the driven wheel (1805) is connected to the driven wheel (1805) through a belt (1803). The transmission belt (1806) is connected to a driving wheel (1807), the driving wheel (1807) is fixedly connected to the output end of the motor (1808), the motor (1808) is fixedly connected to the motor frame (1810), and the motor frame (1810) is fixedly connected to one of the fixed frames (1801), and the two fixed frames (1801) are fixedly connected to an L-shaped mounting block (1809) at one end away from the fixed frame (1801), and the L-shaped mounting block (1809) is fixedly connected to the frame (17) at one end away from the fixed frame (1801).

9. The storage and access library system according to claim 8, characterized in that: The bottom two corner sides of each of the racks (17) are fixedly connected with a first lower connecting plate (19), and each of the first lower connecting plates (19) is fixedly connected with a quick locker (20). The top of each of the racks (17) and the position corresponding to the first lower connecting plate (19) are fixedly connected with a first upper connecting plate (21), and the top of the first upper connecting plate (21) and the top two corners of the electric control box (16) are fixedly connected with positioning pins (25) that match the quick locker (20).

10. The storage and access library system according to claim 9, characterized in that: The other two corner sides of the bottom of the frame (17) are fixedly connected with a second lower connecting plate (22), a guide hole is opened in the middle of the second lower connecting plate (22), the top of the frame (17) and the position corresponding to the second lower connecting plate (22) are fixedly connected with a second upper connecting plate (23), and the top of the second upper connecting plate (23) and the other two corners of the top of the electric control box (16) are fixedly connected with guide columns (24) that match the guide holes; Two side baffles (26) are fixedly connected to the frame (17) and at positions corresponding to each conveying mechanism (18); a rotating motor (27) is fixedly connected to the front inner wall and the back inner wall of the frame (17); and a transverse baffle (28) is fixedly connected to the output end of the rotating motor (27).

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