Goods taking and placing mechanism

Abstract

The utility model discloses a goods picking and placing mechanism which comprises a lifting support, a lifting assembly and a telescopic assembly, the lifting support comprises a first lifting table supporting frame, a second lifting table supporting frame, a lifting table mounting plate and a sliding table mounting base, and the lifting assembly comprises a sliding lifting plate, a lifting servo motor, a ball screw and two lifting linear guide rails. A plurality of tray support positions are sequentially arranged on the sliding lifting plate from top to bottom, the tray support positions are used for placing trays, and the trays are used for placing goods; and the telescopic assembly comprises a telescopic module mounting base, a telescopic module and an equipment butt-joint pallet fork, the telescopic module mounting base is arranged at the bottom end of the sliding lifting plate, the telescopic module is longitudinally arranged on the telescopic module mounting base, and the telescopic module provides power for extension and retraction of the equipment butt-joint pallet fork. The goods taking and placing mechanism can be used for warehouse-out and warehouse-in of goods in a three-dimensional warehouse, and transfer storage and automatic taking and placing of the goods are achieved in cooperation with the three-dimensional warehouse and a stand column stacking machine.

Description

Technical Field

[0001] This utility model relates to a goods picking and placing mechanism. Background Technology

[0002] With the rapid development of the modern logistics industry, automated warehouses and stacker cranes have been widely used to improve the efficiency of goods storage and retrieval. However, the loading and unloading ports of automated warehouses lack dedicated loading and unloading mechanisms. In most cases, automated stacker cranes directly push goods to the loading and unloading ports, and then manual handling is required, which cannot achieve fully automated goods transfer. Utility Model Content

[0003] The purpose of this utility model is to overcome the defects of the prior art and provide a picking and placing mechanism that can be used for the outbound and inbound of goods in an automated warehouse, and can be used in conjunction with the automated warehouse and the stacker crane to realize the transfer, storage and automatic picking and placing of goods.

[0004] The technical solution to achieve the above objective is: a cargo handling mechanism, comprising a lifting support, a lifting assembly, and a telescopic assembly, wherein:

[0005] The lifting support includes a first lifting platform support frame, a second lifting platform support frame, a lifting platform mounting plate, and a slide mounting base. The first lifting platform support frame and the second lifting platform support frame are connected by a transition connecting plate. The lifting platform mounting plate is vertically arranged, and the bottom end of the lifting platform mounting plate is fixed on the first lifting platform support frame. The slide mounting base is installed on the lifting platform mounting plate by adjusting bolts.

[0006] The lifting assembly includes a sliding lifting plate, a lifting servo motor, a ball screw, and two lifting linear guides. The two lifting linear guides are respectively located on both sides of the slide table mounting base. The two sides of the sliding lifting plate are connected to the two lifting linear guides via sliders. The lifting servo motor is located at the top of the slide table mounting base, and its output end is connected to the ball screw. The screw nut on the ball screw is connected to the sliding lifting plate via a weighing sensor. The sliding lifting plate has several pallet support positions arranged sequentially from top to bottom. The pallet support positions are used to place pallets, and the pallets are used to place goods.

[0007] The telescopic assembly includes a telescopic module mounting base, a telescopic module, and equipment docking forks. The telescopic module mounting base is located at the bottom end of the sliding lifting plate, and the telescopic module is longitudinally arranged on the telescopic module mounting base. The telescopic module provides power for the extension and retraction of the equipment docking forks.

[0008] In the aforementioned loading and unloading mechanism, the adjusting bolt consists of an internal screw and an external bolt. The internal screw of the adjusting bolt passes through the external bolt to fix the entire adjusting bolt to the lifting platform mounting plate. The sliding platform mounting base is threadedly connected to the external bolt of the adjusting bolt. The verticality and tilt direction of the sliding platform mounting base are adjusted by rotating the external bolt of the adjusting bolt.

[0009] In the aforementioned loading and unloading mechanism, an upper limit sensor and a lower limit sensor are provided on one side of the sliding table mounting base, and a metal sensor detection frame is provided on the sliding lifting plate. The upper limit sensor and the lower limit sensor locate the origin, upper limit, and lower limit of the sliding lifting plate by detecting the position of the metal sensor detection frame.

[0010] In the aforementioned loading and unloading mechanism, a docking fork guide rail is provided on the upper side of the telescopic module mounting base; the docking fork of the equipment is connected to the docking fork guide rail via a slider.

[0011] In the aforementioned cargo handling mechanism, a camera is mounted above the sliding lifting plate via a camera mounting plate, and the camera is used to acquire information about the length, width, and height of the goods on the pallet.

[0012] In the aforementioned picking and placing mechanism, the picking and placing mechanism is installed at the picking and placing port, and a lifting door is installed on the outside of the picking and placing port.

[0013] The picking and placing mechanism of this utility model can be used for the outbound and inbound of goods in an automated warehouse, and can be used in conjunction with the automated warehouse and the stacker crane to realize the transfer, storage and automatic picking and placing of goods. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram (front view) of the picking and placing mechanism of this utility model;

[0015] Figure 2 This is a three-dimensional structural diagram (side view) of the picking and placing mechanism of this utility model;

[0016] Figure 3 This is a top view of the picking and placing mechanism of this utility model;

[0017] Figure 4 This is a front view of the picking and placing mechanism of this utility model;

[0018] Figure 5 This is a side view of the picking and placing mechanism of this utility model;

[0019] Figure 6 This is a diagram showing the usage state of the picking and placing mechanism of this utility model. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solution of this utility model, its specific embodiments are described in detail below with reference to the accompanying drawings:

[0021] Please see Figures 1 to 6 The preferred embodiment of this utility model is a loading and unloading mechanism, which includes a lifting bracket, a lifting component, and a telescopic component.

[0022] The lifting support includes a first lifting platform support frame 42, a second lifting platform support frame 59, a lifting platform mounting plate 43, and a slide mounting base 46. The first lifting platform support frame 42 and the second lifting platform support frame 49 are connected by a transition connecting plate 86. The lifting platform mounting plate 43 is vertically arranged, and its bottom end is fixed to the first lifting platform support frame. The second lifting platform support frame 59 is fixed to the ground by expansion bolts, thereby fixing the entire loading and unloading mechanism to the hardened ground. The slide mounting base 46 is mounted on the lifting platform mounting plate 43 by adjusting bolts 44. The adjusting bolts 44 consist of an internal screw and an external bolt. The internal screw of the adjusting bolt 44 passes through the external bolt to fix the entire adjusting bolt to the lifting platform mounting plate 43. The slide mounting base 46 is threadedly connected to the external bolt of the adjusting bolt 44. By rotating the external bolt of the adjusting bolt 44, the verticality and tilt direction of the slide mounting base 46 can be adjusted.

[0023] The lifting assembly includes a sliding lifting plate 50, a lifting servo motor 45, a ball screw 47, and two lifting linear guides 54. The two lifting linear guides 54 are respectively located on both sides of the slide table mounting base 46. The two sides of the sliding lifting plate 50 are connected to the two lifting linear guides 54 via sliders. The lifting servo motor 45 is located at the top of the slide table mounting base 46. The output end of the lifting servo motor 45 is connected to the ball screw 47 via a coupling. The screw nut 48 on the ball screw 47 is connected to the sliding lifting plate 50 via a weighing sensor 49. Several pallet support positions 51 are arranged sequentially from top to bottom on the sliding lifting plate 50. The pallet support positions 51 are used to place pallets, and goods are placed on the pallets. In this embodiment, there are three pallet support positions from top to bottom. By rotating the outer bolt of the adjusting bolt 44 to adjust the verticality and tilt direction of the slide table mounting base 46, the horizontality and tilt direction of the pallets placed on the pallet support positions 51 of the sliding lifting plate 50 can be adjusted.

[0024] The rotation of the lifting servo motor 45 drives the screw nut 48 on the ball screw 47 to move up and down, which in turn drives the sliding lifting plate 50 to move up and down along the lifting linear guide rail 54. In use, the entire loading and unloading mechanism is set at the loading and unloading port, which is equipped with a lifting door. The weighing sensor 49 can weigh the pallet and the goods on it. The lifting servo motor 45 can adjust the upper surface of the pallet to keep it level with the lower edge of the lifting door, facilitating the loading and unloading of goods.

[0025] The pallets on pallet support position 51 are stacked. When the pallets at the loading and unloading port are used up, the column stacker crane 1 will pick up two stacks of pallets (each stack has 5-10 pallets) from the pallet storage rack 3 and place them on the bottom pallet support position and the middle pallet support position. The servo motor 45 rotates to drive the sliding lifting plate 50 to move, ensuring that the surface of the top pallet is level with the bottom edge of the lifting door.

[0026] The telescopic assembly includes a telescopic module mounting base, a telescopic module 53, and a docking fork 52. The telescopic module mounting base is located at the bottom end of the sliding lifting plate 50, and the telescopic module 53 is longitudinally mounted on the telescopic module mounting base. The telescopic module 53 provides power for the extension and retraction of the docking fork 52. A docking fork guide rail 55 is provided on the upper side of the telescopic module mounting base; the docking fork 52 is connected to the docking fork guide rail 55 via a slider. The docking fork guide rail 55 provides support and guidance for the extension and retraction of the docking fork 52. When the lifting servo motor 45 drives the sliding lifting plate 50 to move up and down along the lifting linear guide rail 54, it can drive the docking fork 52 to move up and down, adjusting the position of the docking fork 52.

[0027] An upper limit sensor 56 and a lower limit sensor 57 are provided on one side of the slide table mounting base 46. A metal sensor detection frame 58 is provided on the sliding lifting plate 50. The upper limit sensor 56 and the lower limit sensor 57 locate the origin, upper limit, and lower limit of the sliding lifting plate 50 by detecting the position of the metal sensor detection frame 58. One side of the slide table mounting base 46 is provided with two sensor mounting grooves, one above the other. The upper limit sensor 56 and the lower limit sensor 57 are respectively installed in the two sensor mounting grooves. The height of the limit sensors can be adjusted by adjusting the position of each limit sensor in the sensor mounting groove.

[0028] A camera 75 is mounted above the sliding lifting plate 50 via a camera mounting plate 76. The camera 75 is used to acquire information about the length, width, and height of the goods on the pallet.

[0029] Please see again Figure 6 The picking and placing mechanism of this utility model is installed at the picking and placing port 5 of the three-dimensional odd-shaped shelf 2 during use. The picking and placing port 5 is equipped with a picking and placing port terminal, and a lifting door is provided on the outside of the picking and placing port 5. A column stacker crane 1 is provided in the middle of the odd-shaped shelf 2. A pallet storage rack 3 is provided on the odd-shaped shelf 2. A camera mounting plate 76 can be installed on the odd-shaped shelf 2.

[0030] The picking and placing mechanism of this utility model has both manual picking and placing functions and equipment picking and placing functions.

[0031] The logic for manual pickup and delivery is as follows:

[0032] Manual loading / unloading logic: The loading / unloading terminal acquires relevant information, such as facial recognition data, QR code, phone number, account password, storage information, tracking number, and package delivery information. Then, the lifting door is opened, and the operator places the goods onto the pallet in the pallet support position 51 of the sliding lifting platform 50. Camera 75 acquires the length, width, and height of the goods and sends this information to the column stacker crane 1. Weighing sensor 49 acquires the weight of the goods and sends this information to the column stacker crane 1. The column stacker crane 1 matches the number of shelf compartments and the shelf height occupied by the goods based on their weight, length, width, and height information, and places the goods, along with the pallet carrying them, into the matched shelf position. Then, the lifting door rises, completing the storage of the goods. Smaller goods occupy fewer compartments, and larger goods occupy more compartments; heavier goods are placed at lower shelf positions, and lighter goods are placed at higher shelf positions.

[0033] Manual retrieval logic: The retrieval terminal obtains relevant information, such as facial information, QR code, barcode, pickup number, phone number, account password, storage information, courier number, and courier pickup information. The column stacker crane 1 matches the corresponding goods according to the relevant information obtained from the retrieval terminal and takes out the pallet carrying the goods along with the goods and places it on the pallet support position 51 of the sliding lifting plate 50. Then the lifting door opens, and the operator takes the goods from the retrieval port. The camera 75 detects whether the goods have been taken out. After confirmation that the goods have been taken out, the lifting door closes to complete the goods retrieval.

[0034] The equipment's pick-up and drop-off logic is as follows:

[0035] Equipment loading and unloading logic: Transfer equipment (such as unmanned vehicles, AGVs, batch transfer vehicles, etc.) acquires information (facial recognition, QR code, phone number, account password, storage information, tracking number, package details, weight, length, width, and height) of the goods at the receiving point (door-to-door pickup location, customer location, office, etc.) or cargo logistics center (various express delivery warehousing and distribution centers, large logistics warehouses, etc.). The goods are then delivered in batches to the loading and unloading port. After information exchange is completed at the loading and unloading port terminal, the lifting door opens, and the equipment docking forks 52 extend to... The goods are removed from the transfer equipment, the docking forks 52 retract, and the pallet and its contents are brought into the loading / unloading port. The stacker crane matches the number of racks and the height of the racks occupied by the goods according to their weight, length, width, and height (smaller goods occupy fewer racks, and larger goods occupy more racks; heavy goods are placed at lower racks, and lighter goods are placed at higher racks). The goods, along with the pallet carrying them, are placed on the matched rack position. Then the lifting door closes, completing the storage of the goods.

[0036] Equipment Retrieval Logic: After the transfer equipment (unmanned vehicle, AGV, batch transfer vehicle, etc.) obtains relevant information (facial information, QR code, phone number, account password, storage information, courier number, courier receipt information, etc.) at the pick-up and drop-off terminal, the column stacker crane 1 matches the corresponding goods according to the relevant information obtained from the pick-up and drop-off terminal, and takes out the pallet carrying the goods along with the goods and places it on the equipment docking fork 52 at the pick-up and drop-off port. The lifting door opens, the equipment docking fork 52 extends to transfer the goods to the transfer equipment, the equipment docking fork 52 retracts, the lifting door closes, and the transfer equipment (unmanned vehicle, AGV, batch transfer vehicle, etc.) delivers the goods to the corresponding receiving point (door-to-door pickup location, customer location, office, etc.) or cargo logistics center (various express warehousing and operation centers, large logistics warehouses, etc.) according to the logistics information to complete the goods retrieval.

[0037] In this embodiment, there are three pallet support positions from top to bottom. When the inventory process occurs, the goods are placed on the pallet in the uppermost pallet support position 51. The forks on the column stacker crane 1 use electromagnets to pick up the pallet along with the goods and place it on the odd-shaped shelf 2. The sliding lifting plate 50 rises so that the height of the new pallet surface is level with the lower end of the lifting door. If the inventory process continues, the number of pallets will decrease one by one. When the number of pallets decreases to the bottom pallet support position (there are a total of three pallet support positions. When the three pallet support positions are idle, the bottom support position and the middle support position always keep pallets buffered), the column stacker crane 1 enters the pallet replenishment state. When there is no inventory or retrieval idle time, the column stacker crane 1 takes a stack of pallets from the pallet storage rack 3 and places it on the middle pallet support position of the retrieval port.

[0038] If the inventory process is delayed, the number of pallets will decrease gradually. Once all pallets have been retrieved, the stacker crane 1 will stop its retrieval and placement process and sequentially retrieve two stacks of pallets from the pallet storage rack 3, placing them on the bottom and middle pallet support positions at the retrieval and placement port. If the retrieval process is delayed, the number of pallets will increase gradually. When the number of pallets reaches the top pallet support position, the stacker crane 1 will enter the pallet retrieval state. When there is no inventory or retrieval idle time, the stacker crane 1 will then retrieve pallets one by one from the top of the retrieval and placement mechanism. The pallets are placed on the pallet storage rack 3 and stacked into a stack. If the picking process continues, the number of pallets will increase one by one. When the pallets are stacked to the highest position of the top pallet support, the column stacker crane 1 stops the picking and placing process and picks up the whole stack of pallets from the picking and placing port and places them on the pallet storage rack 3. The picking and placing mechanism has a weighing function. If a single item exceeds the weight limit by 15kg when it is stored (the upper limit of weight can be set as needed), the system will refuse to store the item, or the staff will store the overweight item in another large cargo storage cabinet.

[0039] In summary, the picking and placing mechanism of this utility model can be used for the outbound and inbound of goods in an automated warehouse, and can be used in conjunction with the automated warehouse and the stacker crane to realize the transfer, storage and automatic picking and placing of goods.

[0040] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present utility model and are not intended to limit the present utility model. Any changes or modifications to the above embodiments within the scope of the essential spirit of the present utility model will fall within the scope of the claims of the present utility model.

Claims

1. A pick-and-place mechanism, characterized by, Including lifting support, lifting assembly and telescopic assembly, wherein: The lifting support includes lifting table support frame one, lifting table support frame two, lifting table mounting plate and sliding table mounting base, and the lifting table support frame one and the lifting table support frame two are connected through a transition connecting plate; the lifting table mounting plate is vertically arranged, the bottom end of the lifting table mounting plate is fixed on the lifting table support frame one, and the sliding table mounting base is installed on the lifting table mounting plate through an adjusting bolt; The lifting assembly includes a sliding lifting plate, a lifting servo motor, a ball screw and two lifting linear guides, the two lifting linear guides are arranged on the two sides of the sliding table mounting base respectively, the two sides of the sliding lifting plate are connected with the two lifting linear guides through sliding blocks respectively, the lifting servo motor is arranged at the top end of the sliding table mounting base, the output end of the lifting servo motor is connected with the ball screw, and the screw nut on the ball screw is connected with the sliding lifting plate through a load cell; a plurality of tray support positions are sequentially arranged on the sliding lifting plate from top to bottom, the tray support positions are used for placing trays, and the trays are used for placing goods; The telescopic assembly includes a telescopic module mounting seat, a telescopic module and a device docking fork, the telescopic module mounting seat is arranged at the bottom end of the sliding lifting plate, the telescopic module is longitudinally arranged on the telescopic module mounting seat, and the telescopic module provides power for the extension and retraction of the device docking fork.

2. The goods taking and placing mechanism according to claim 1, characterized in that, The adjusting bolt includes an inner screw and an outer bolt, the inner screw of the adjusting bolt passes through the outer bolt to fix the entire adjusting bolt on the lifting table mounting plate, the sliding table mounting base is threadedly connected with the outer bolt of the adjusting bolt, and the perpendicularity and inclination direction of the sliding table mounting base are adjusted by rotating the outer bolt of the adjusting bolt.

3. The goods taking and placing mechanism according to claim 1, characterized in that, One side of the sliding table mounting base is provided with an upper limit sensor and a lower limit sensor, a metal sensor detection frame is arranged on the sliding lifting plate, and the upper limit sensor and the lower limit sensor position the origin, upper limit and lower limit of the sliding lifting plate by detecting the position of the metal sensor detection frame.

4. The goods taking and placing mechanism according to claim 1, characterized in that, The upper side of the telescopic module mounting seat is provided with a docking fork guide rail, and the device docking fork is connected with the docking fork guide rail through a sliding block.

5. The goods taking and placing mechanism according to claim 1, characterized in that, A camera is arranged on the sliding lifting plate through a camera mounting plate, and the camera is used to acquire the length, width and height information of the goods on the tray.

6. The goods taking and placing mechanism according to claim 1, characterized in that, The goods taking and placing mechanism is installed on a goods taking and placing port, and a lifting door is installed outside the goods taking and placing port.

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