Homocentric-square-shaped feeding device for intelligent storage

Abstract

The utility model relates to a homocentric-square-shaped feeding device for intelligent warehousing. The homocentric-square-shaped feeding device comprises a carrier conveying line, a grabbing mechanical arm, a transfer table and a code scanner. The carrier conveying line is of a concentric-square-shaped structure and comprises four roller lines connected in sequence, and the four roller lines are marked as a carrier input roller line, a material grabbing roller line, a carrier output roller line and a carrier backflow roller line respectively. The carrier conveying line further comprises a carrier reversing mechanism and a carrier positioning mechanism. The carrier reversing mechanism is arranged at the connection point between every two adjacent roller lines so as to achieve carrier reversing. The carrier positioning mechanism is located at a preset grabbing station on the grabbing roller line. The carrier conveying line shaped like the Chinese character'hui 'is constructed to drive the carriers to circularly flow in the bin head, the flow rate of the carriers in the bin head is increased, the situation that the multiple full-load carriers queue up at the feeding port of the bin head to wait for material warehousing is avoided, the space utilization rate and the working efficiency are improved, and the material warehousing period is shortened.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent warehousing technical field especially, and relates to a kind of backshaped feeding device of intelligent warehousing. BACKGROUND

[0002] Intelligent warehousing is a kind of intelligent and high-efficiency warehousing operation for material, intelligently manages and tracks the warehousing, storage and delivery of material, and greatly improves the efficiency of internal material management of enterprise. With the improvement of intelligent level of mechanical processing, intelligent warehousing has been gradually applied in major manufacturing industries. For automobile electronic components, semiconductor components and other materials, in order to improve the efficiency of material transfer, the material belt is usually wound on the tray, and the carrier is also needed for batch transfer during circulation. This material circulation mode determines that not only the transfer and storage of the tray need to be considered during circulation, but also the transfer and storage of the carrier need to be considered.

[0003] In the traditional intelligent warehousing design, when warehousing, the worker (also AGV) moves the carrier to the feeding port of the warehouse head of the intelligent warehouse, waits for the tray loaded with material to be completely grabbed into the warehouse, and then the worker moves away the empty carrier. The disadvantage of this design is that the tray loaded with material needs to stay at the feeding port of the warehouse head to wait for the robot to grab one by one, and then be taken away by RGV to transfer to the rack for storage after positioning, code scanning and material moving. The worker needs to wait for the current carrier to unload before moving away the empty carrier and placing it in the designated carrier standby area, and then moving the next full carrier to the feeding port of the warehouse head. Therefore, multiple full carriers often queue up at the feeding port of the warehouse head to wait for material warehousing, with low space utilization, low work efficiency and long material warehousing cycle. UTILITY MODEL CONTENTS

[0004] Therefore, the utility model provides a backshaped feeding device of intelligent warehousing, constructs backshaped carrier conveying line to drive the carrier to circulate at the warehouse head, improve the circulation rate of the carrier at the warehouse head, avoid the situation that multiple full carriers queue up at the feeding port of the warehouse head to wait for material warehousing, improve the space utilization and work efficiency, and shorten the material warehousing cycle.

[0005] A backshaped feeding device of intelligent warehousing comprises:

[0006] The vehicle conveyor line has a U-shaped structure and includes four sequentially connected roller conveyors, labeled as vehicle input roller conveyor, material grabbing roller conveyor, vehicle output roller conveyor, and vehicle return roller conveyor. The vehicle conveyor line also includes a vehicle reversing mechanism and a vehicle positioning mechanism. The vehicle reversing mechanism is located at the connection point between two adjacent roller conveyors to achieve vehicle reversal. The vehicle positioning mechanism is located at a pre-set material grabbing station on the material grabbing roller conveyor.

[0007] A material handling robot; a material handling robot is located above a material handling roller line and is used to pick up a material tray from a carrier positioned by a carrier positioning mechanism;

[0008] Transfer station; the transfer station is located above the material handling roller conveyor; the transfer station is used to receive and position the material trays transferred by the material handling robot; and

[0009] Barcode scanner; The barcode scanner is located above the transfer station to scan the material trays on the transfer station to read material information.

[0010] The aforementioned intelligent warehousing zigzag feeding device operates by placing a carrier loaded with a pallet onto the carrier conveyor line. With the assistance of a carrier reversing mechanism, the carrier flows sequentially through four roller conveyors. The carrier enters from the carrier input roller conveyor, then proceeds to the gripping roller conveyor. Upon reaching the preset gripping station, the carrier is intercepted and positioned by the carrier positioning mechanism. A gripping robot then picks up the pallet from the carrier and transfers it to a transfer platform. On the transfer platform, the pallet is positioned and scanned by a barcode scanner to record material information. It then waits for the RGV (RGV rack) docked with the rack to remove the pallet, completing the feeding process. Once all pallets in the carrier have been removed, the carrier positioning mechanism releases the empty carrier. The carrier flows to the carrier output roller conveyor, then back to the carrier return roller conveyor to await feeding again. After feeding is complete, the carrier flows back to the carrier input roller conveyor. Multiple carriers circulate and are reused sequentially on the carrier conveyor line, thus achieving a zigzag cyclical working mode for the carriers. Through the above design, a U-shaped vehicle conveyor line is constructed to drive the vehicles to circulate at the silo head, thereby increasing the vehicle circulation rate at the silo head, avoiding the situation where multiple fully loaded vehicles are queuing at the silo head inlet waiting for materials to enter the warehouse, improving space utilization and work efficiency, and shortening the material entry cycle.

[0011] In one embodiment, the vehicle reversing mechanism includes: a first vehicle interception component and a vehicle lifting and conveying component; the first vehicle interception component is located at the junction of two adjacent roller conveyors and is used to intercept vehicles arriving at the junction; the vehicle lifting and conveying component is used to convey the vehicles intercepted by the first vehicle interception component to the next roller conveyor. When a vehicle flows to the junction, it is first intercepted by the first vehicle interception component, and then the vehicle lifting and conveying component moves the stationary vehicle to the next roller conveyor.

[0012] In one of the embodiments, the first carrier intercepting assembly comprises a first blocking rod and a first intercepting driver connected to the first blocking rod; the first blocking rod is located in the gap between two adjacent rollers on the roller line; the first intercepting driver is used to drive the first blocking rod to rise to intercept the carrier moving on the roller line. When the carrier flows to the docking point, the first intercepting driver drives the first blocking rod hidden in the gap between the two rollers to rise to intercept the carrier, so that the carrier stays at the docking point, which is simple in structure and high in working efficiency.

[0013] In one of the embodiments, the carrier lifting and conveying assembly comprises a reversing conveyor belt, a lifting platform connected to the reversing conveyor belt, and a reversing lifting driver connected to the lifting platform; the reversing conveyor belt is located in the gap between two adjacent rollers on the roller line; the reversing lifting driver is used to drive the reversing conveyor belt to rise to drive the carrier to move away from the current roller line and transfer to the next roller line. When the carrier is stopped by the first carrier intercepting assembly, the carrier is just above the reversing conveyor belt, the lifting platform is driven to rise by the reversing lifting driver, at this time, the reversing conveyor belt hidden in the gap between the two rollers rises to lift the carrier and convey the carrier to the next roller line, which is simple in structure and high in working efficiency.

[0014] In one of the embodiments, the carrier reversing mechanism further comprises a carrier sensor arranged adjacent to the carrier lifting and conveying assembly; the carrier sensor is electrically connected to the first carrier intercepting assembly and the carrier lifting and conveying assembly respectively. When the carrier moves to the docking point, the carrier sensor detects that the carrier has arrived, the first carrier intercepting assembly works first to stop the carrier, and then the carrier lifting and conveying assembly works to convey the carrier to the next roller line.

[0015] In one of the embodiments, the carrier positioning mechanism comprises a second carrier intercepting assembly and a carrier positioning assembly; the second carrier intercepting assembly is located at a preset picking station on the picking roller line and is used to intercept the carrier moving to the preset picking station; the carrier positioning assembly is used to position the carrier tightly. When the carrier flows to the preset picking station, the carrier is first intercepted by the second carrier intercepting assembly, and then the carrier positioning assembly positions the carrier to match the position of the carrier with the picking point of the picking manipulator.

[0016] In one of the embodiments, the second carrier intercepting assembly comprises a second blocking rod and a second intercepting driver connected to the second blocking rod; the second blocking rod is located in the gap between two adjacent rollers on the roller line; the second intercepting driver is used to drive the second blocking rod to rise to intercept the carrier moving on the roller line. When the carrier flows to the preset picking station, the second intercepting driver drives the second blocking rod hidden in the gap between the two rollers to rise to intercept the carrier, so that the carrier stays at the preset picking station, which is simple in structure and high in working efficiency.

[0017] In one of the embodiments, the carrier positioning assembly comprises: a lateral pressing plate and a pressing driver connecting the lateral pressing plate; the pressing driver is used to drive the lateral pressing plate to press the carrier in a direction perpendicular to the direction of the carrier advancing. When the carrier is intercepted by the second carrier intercepting assembly, one side of the carrier is just opposite to the lateral pressing plate, the pressing driver drives the lateral pressing plate to extend to push the carrier to move to the other side of the roller line and be pressed and fixed, so as to realize the positioning of the carrier, which is simple in structure and high in working efficiency.

[0018] In one of the embodiments, the transfer station comprises: a linear slide rail and a plurality of carrier tables slidingly installed on the linear slide rail; each carrier table is provided with a movable clamp for positioning a tray. The plurality of carrier tables can be used alternately, when a previous tray is placed in one of the carrier tables by the grabbing manipulator, the grabbing manipulator can go to grab a next tray and transfer to another carrier table while performing the positioning and code scanning process. Moreover, the carrier tables can be divided into different lanes corresponding to the racks to dock different RGVs, so as to reduce the standby time of the grabbing manipulator and improve the efficiency of material warehousing.

[0019] In one of the embodiments, the intelligent warehouse's H-shaped feeding device further comprises: a lifting mechanism; the lifting mechanism comprises: a lifting claw located outside the grabbing roller line and a lifting driver connecting the lifting claw; the lifting claw is parallel to the grabbing roller line, and the extension direction of the lifting claw is perpendicular to the transmission direction of the grabbing roller line; the lifting driver is used to lift the carrier reaching a preset grabbing station to separate from the grabbing roller line. The lifting mechanism is used to adjust the height of the carrier, shorten the lifting stroke of the grabbing manipulator when grabbing the tray, and improve the working efficiency of grabbing. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application;

[0021] Figure 2 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application; Figure 1 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application;

[0022] Figure 3 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application; Figure 1 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application;

[0023] Figure 4 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application; Figure 3 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application;

[0024] Figure 5 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application; Figure 4 It is a perspective view of the intelligent warehouse's H-shaped feeding device according to one of the embodiments of the present application;

[0025] Figure 6 for Figure 5 a perspective view of a carrier reversing mechanism in a carrier conveying line shown in

[0026] Figure 7 for Figure 6 a schematic view of a combination use of a carrier reversing mechanism and a roller line shown in

[0027] Figure 8 for Figure 5 a schematic view of a combination use of a carrier positioning mechanism in a carrier conveying line and a roller line shown in

[0028] Figure 9 for Figure 8 a working principle diagram of a carrier positioning mechanism shown in

[0029] Figure 10 for Figure 4 a schematic view of a combination use of a grabbing manipulator, a transfer table, a code scanner, and a lifting mechanism in a H-shaped feeding device of intelligent warehousing shown in

[0030] Figure 11 for Figure 10 a structural schematic view of a transfer table shown in

[0031] The meanings of the respective reference signs in the drawings are as follows:

[0032] 100 - H-shaped feeding device of intelligent warehousing;

[0033] 10 - carrier conveying line, 11 - carrier input roller line, 12 - grabbing roller line, 13 - carrier output roller line, 14 - carrier return roller line, 15 - carrier reversing mechanism, 151 - first carrier intercepting assembly, 1511 - first material blocking rod, 1512 - first intercepting driver, 152 - carrier lifting conveying assembly, 1521 - reversing conveying belt, 1522 - lifting table, 1523 - reversing lifting driver, 153 - carrier inductor, 16 - carrier positioning mechanism, 161 - second carrier intercepting assembly, 1611 - second material blocking rod, 1612 - second intercepting driver, 162 - carrier positioning assembly, 1621 - lateral pressing plate, 1622 - material pressing driver;

[0034] 20 - grabbing manipulator;

[0035] 30 - transfer table, 31 - linear slide rail, 32 - material loading table, 321 - movable clamp;

[0036] 40 - code scanner;

[0037] 50 - lifting mechanism, 51 - lifting claw, 52 - lifting driver;

[0038] 200 - carrier;

[0039] 300 - tray. DETAILED DESCRIPTION

[0040] In order to make the above objectives, characteristics and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific details set forth herein without departing from the scope of the present application. It should be noted that the present application is not limited in scope to the particular embodiments described herein. It is contemplated that other modifications will occur to those skilled in the art upon reading and understanding the present disclosure. Therefore, the present application should be understood to encompass all such variations as falling within the scope of the present application. The summary of the present application does not necessarily encompass all aspects of the present application.

[0041] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0042] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0043] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0045] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only embodiment.

[0046] As shown in Figures 1 to 11 , it is a back-shaped feeding device 100 of intelligent warehousing of an embodiment of the present application.

[0047] Reference can be made to Figure 9 , in the present embodiment, the tray 300 is a circular disc structure and is provided with a stringing hole at the shaft center. The carrier 200 is a combination structure of a flat table and a stringing rod.

[0048] As shown in Figures 1 to 4 , the back-shaped feeding device 100 of intelligent warehousing includes a carrier conveying line 10, a grabbing manipulator 20, a transfer table 30, and a code scanner 40. In operation, the carrier conveying line 10 is used to transmit the carrier 200, and the carrier 200 circulates in the warehouse head in a back-shaped route. The grabbing manipulator 20 is used to grab the tray 300 from the carrier 200 and move it to the transfer table 30. The transfer table 30 is used to position the tray 300 to meet the subsequent code scanning requirements of the code scanner 40. The code scanner 40 scans the tray 300 to read the material information.

[0049] In the following, the back-shaped feeding device 100 of intelligent warehousing is further described in combination with Figures 1 to 11 .

[0050] As shown in Figure 5As shown, the carrier conveyor line 10 has a U-shaped structure and includes four sequentially connected roller conveyors, labeled as carrier input roller conveyor 11, material grabbing roller conveyor 12, carrier output roller conveyor 13, and carrier return roller conveyor 14. In this embodiment, all four roller conveyors are active roller conveyor structures, meaning each roller conveyor rotates during operation. Figure 5 For example, two adjacent roller conveyors are placed at a 90° angle and connected together. In addition, in this embodiment, the feeding end of the carrier input roller conveyor 11 is provided with an extension section, which can be used to dock with an AGV (Automated Guided Vehicle) to facilitate AGV loading.

[0051] To enable the carrier 200 to move between different roller conveyors, the reversal of the carrier 200 at the connection point between two adjacent roller conveyors needs to be considered. Therefore, in this embodiment, the carrier conveyor line 10 further includes a carrier reversal mechanism 15 and a carrier positioning mechanism 16. The carrier reversal mechanism 15 is located at the connection point between two adjacent roller conveyors to enable the reversal of the carrier 200. The carrier positioning mechanism 16 is located at a preset gripping station on the gripping roller conveyor 12. It should be noted that... Figures 1 to 5 In the middle, because the image file has a lot of details, therefore... Figures 1 to 5 The format has been simplified, and the vehicle reversing mechanism 15 and the vehicle positioning mechanism 16 are not shown. Accordingly, in Figures 6 to 9 The vehicle reversing mechanism 15 and the vehicle positioning mechanism 16 are shown in the middle.

[0052] For example, such as Figure 6 As shown, in this embodiment, the vehicle reversing mechanism 15 includes a first vehicle interception component 151 and a vehicle lifting and conveying component 152. The first vehicle interception component 151 is located at the junction of two adjacent roller conveyors and is used to intercept vehicles 200 arriving at the junction. The vehicle lifting and conveying component 152 is used to convey the vehicles 200 intercepted by the first vehicle interception component 151 to the next roller conveyor. When a vehicle 200 flows to the junction, it is first intercepted by the first vehicle interception component 151, and then the vehicle lifting and conveying component 152 moves the stopped vehicle 200 to the next roller conveyor.

[0053] Furthermore, such as Figure 6 and Figure 7As shown in the embodiment, the first carrier intercepting assembly 151 comprises a first material blocking rod 1511 and a first intercepting driver 1512 connected to the first material blocking rod 1511. The first material blocking rod 1511 is located in the gap between two adjacent rollers on the roller line. The first intercepting driver 1512 is used to drive the first material blocking rod 1511 to rise to intercept the carrier 200 moving on the roller line. When the carrier 200 flows to the docking point, the first intercepting driver 1512 drives the first material blocking rod 1511 hidden in the gap between the two rollers to rise to intercept the carrier 200, so that the carrier 200 stays at the docking point, which is simple in structure and high in working efficiency.

[0054] As shown in the embodiment, Figure 6 and Figure 7 As shown in the embodiment, the carrier lifting and conveying assembly 152 comprises a reversing conveying belt 1521, a lifting platform 1522 connected to the reversing conveying belt 1521, and a reversing lifting driver 1523 connected to the lifting platform 1522. The reversing conveying belt 1521 is located in the gap between two adjacent rollers on the roller line. The reversing lifting driver 1523 is used to drive the reversing conveying belt 1521 to rise to drive the carrier 200 to separate from the current roller line and transfer to the next roller line. When the carrier 200 is stopped by the first carrier intercepting assembly 151, the carrier 200 is just above the reversing conveying belt 1521, the reversing lifting driver 1523 drives the lifting platform 1522 to rise, at this time, the reversing conveying belt 1521 hidden in the gap between the two rollers rises to lift the carrier 200 and convey the carrier 200 to the next roller line, which is simple in structure and high in working efficiency.

[0055] Further, as shown in the embodiment, Figure 6 The carrier reversing mechanism 15 can further comprise a carrier sensor 153 arranged adjacent to the carrier lifting and conveying assembly 152. The carrier sensor 153 is electrically connected to the first carrier intercepting assembly 151 and the carrier lifting and conveying assembly 152 respectively. When the carrier 200 moves to the docking point, the carrier sensor 153 detects that the carrier 200 has arrived in place, the first carrier intercepting assembly 151 works first to stop the carrier 200, and then the carrier lifting and conveying assembly 152 works to convey the carrier 200 to the next roller line. For example, in the embodiment, the carrier sensor 153 is a proximity switch, which is triggered when the carrier 200 moves above the carrier sensor 153.

[0056] For example, as shown in the embodiment, Figure 8As shown, in the embodiment, the carrier positioning mechanism 16 comprises a second carrier intercepting assembly 161 and a carrier positioning assembly 162. The second carrier intercepting assembly 161 is located at a preset picking station on the picking drum line 12 and is used to intercept the carrier 200 moving to the preset picking station. The carrier positioning assembly 162 is used to position the carrier 200 tightly. When the carrier 200 is transferred to the preset picking station, the carrier 200 is first intercepted by the second carrier intercepting assembly 161, and then the carrier positioning assembly 162 positions the carrier 200 so that the position of the carrier 200 matches the picking point of the picking manipulator 20.

[0057] Further, as shown in Figure 8 and Figure 9 , the second carrier intercepting assembly 161 comprises a second material blocking rod 1611 and a second intercepting driver 1612 connected to the second material blocking rod 1611. The second material blocking rod 1611 is located in the gap between the adjacent two drums on the drum line. The second intercepting driver 1612 is used to drive the second material blocking rod 1611 to rise to intercept the carrier 200 moving on the drum line. When the carrier 200 is transferred to the preset picking station, the second intercepting driver 1612 drives the second material blocking rod 1611 hidden in the gap between the two drums to rise to intercept the carrier 200, so that the carrier 200 stays at the preset picking station, which is simple in structure and high in working efficiency.

[0058] As shown in Figure 8 and Figure 9 , in the embodiment, the carrier positioning assembly 162 comprises a lateral pressing plate 1621 and a pressing driver 1622 connected to the lateral pressing plate 1621. The pressing driver 1622 is used to drive the lateral pressing plate 1621 to press the carrier 200 in a direction perpendicular to the direction in which the carrier 200 advances. When the carrier 200 is stopped by the second carrier intercepting assembly 161, one side of the carrier 200 is just opposite to the lateral pressing plate 1621, and the pressing driver 1622 drives the lateral pressing plate 1621 to extend to push the carrier 200 to move to the other side of the drum line and be pressed tightly, thereby realizing the positioning of the carrier 200, which is simple in structure and high in working efficiency.

[0059] As shown in Figure 3 and Figure 4 , the picking manipulator 20 is located above the picking drum line 12 and is used to pick the tray 300 from the carrier 200 positioned by the carrier positioning mechanism 16. In the embodiment, the picking manipulator 20 is a multi-axis manipulator.

[0060] As shown in Figure 3 and Figure 4 , the transfer station 30 is located above the picking drum line 12. The transfer station 30 is used to receive the tray 300 transferred by the picking manipulator 20 and position the tray 300.

[0061] In combination Figure 10 And Figure 11 As shown in the embodiment, the transfer station 30 comprises a linear slide rail 31 and a plurality of load tables 32 slidingly mounted on the linear slide rail 31. Each load table 32 is provided with a movable clamp 321 for positioning the tray 300. The plurality of load tables 32 can be used alternately. When the grabbing manipulator 20 places the previous tray 300 into one of the load tables 32 and performs the positioning and code scanning process, the grabbing manipulator 20 can go to grab the next tray 300 and transfer to another load table 32. Moreover, the load tables 32 can be divided into different lanes corresponding to different RGVs (Rail Guided Vehicles) to reduce the waiting time of the grabbing manipulator 20 and improve the efficiency of material warehousing. For example, in the embodiment, the transfer station 30 is provided with two load tables 32 corresponding to four lanes. One load table 32 flows between lane 1 and lane 2, and the other load table 32 flows between lane 3 and lane 4.

[0062] As shown in the embodiment, the code scanner 40 is located above the transfer station 30 to scan the tray 300 on the transfer station 30 to read the material information. For example, the code scanner 40 reads the material information by scanning the label attached to the tray 300. Figure 4

[0063] As shown in the embodiment, the code scanner 40 is located above the transfer station 30 to scan the tray 300 on the transfer station 30 to read the material information. For example, the code scanner 40 reads the material information by scanning the label attached to the tray 300. Figure 10 As shown in the embodiment, the smart warehouse's H-shaped feeding device 100 can further comprise a lifting mechanism 50. The lifting mechanism 50 comprises a lifting claw 51 located outside the grabbing drum line 12 and a lifting driver 52 connected to the lifting claw 51. The lifting claw 51 is parallel to the grabbing drum line 12, and the extension direction of the lifting claw 51 is perpendicular to the transmission direction of the grabbing drum line 12. The lifting driver 52 is used to lift the carrier 200 reaching the preset grabbing station to separate from the grabbing drum line 12. The lifting mechanism 50 is used to adjust the height of the carrier 200, shorten the lifting stroke of the grabbing manipulator 20 when grabbing the tray 300, and improve the working efficiency of grabbing.

[0064] Working principle:

[0065] As shown in the embodiment, during work, the carrier 200 loaded with the tray 300 is placed on the carrier conveying line 10, and under the assistance of the carrier reversing mechanism 15, it sequentially flows through the four drum lines. The carrier 200 flows from the carrier input drum line 11, and then when the carrier 200 enters the grabbing drum line 12 and reaches the preset grabbing station, the carrier 200 is intercepted and positioned by the carrier positioning mechanism 16. Figure 3

[0066] ​​Then, the grabbing manipulator 20 grabs the tray 300 from the carrier 200 and transfers to the transfer table 30. The tray 300 is positioned on the transfer table 30 and scanned by the code scanner 40 to record the material information, and then waits for the RGV docked with the shelf to take away the tray 300 to complete the material entry.

[0067] When the tray 300 in the carrier 200 is taken out, the carrier positioning mechanism 16 releases the empty carrier 200, and the carrier 200 flows to the carrier output roller line 13, and then flows to the carrier return roller line 14 to wait for re-material entry. After the material entry is completed, the carrier 200 flows to the carrier input roller line 11, and a plurality of carriers 200 flow and circulate on the carrier conveying line 10 in turn and are recycled, so as to realize the working mode of the carrier 200 in the loop-shaped circulation. When the empty carrier 200 flows out of the outlet of the warehouse head, the worker can put the tray 300 to be stored in the carrier 200. Alternatively, the empty carrier 200 can be temporarily left in the carrier output roller line 13 and the carrier return roller line 14 to wait for taking away.

[0068] The above-mentioned intelligent warehouse loop-shaped material entry device 100 constructs a loop-shaped carrier conveying line 10 to drive the carrier 200 to circulate in the warehouse head, improves the circulation rate of the carrier 200 in the warehouse head, avoids the situation that a plurality of full carriers 200 are queued at the material entry port of the warehouse head to wait for material storage, improves the space utilization rate and the work efficiency, and shortens the material storage period.

[0069] The technical features of the above embodiments can be combined in any way. In order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the description.

[0070] The above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A back-to-back feeding device for intelligent warehousing, characterized in that, The utility model relates to a kind of material loading and unloading system, including: Carrier conveying line; The carrier conveying line is a back-shaped structure and includes: four drum lines connected in turn, and is marked as carrier input drum line, grabbing drum line, carrier output drum line and carrier backflow drum line respectively;The carrier conveying line further includes: carrier reversing mechanism and carrier positioning mechanism;The carrier reversing mechanism is arranged at the connection point between adjacent two drum lines to realize carrier reversing;The carrier positioning mechanism is located at the preset grabbing station on the grabbing drum line; Grabbing manipulator;The grabbing manipulator is located above the grabbing drum line and is used to grab tray from the carrier positioned by the carrier positioning mechanism; Transfer station;The transfer station is located above the grabbing drum line;The transfer station is used to receive the tray transferred by the grabbing manipulator and position the tray;And Code scanner;The code scanner is located above the transfer station to scan the tray on the transfer station to read material information.

2. The intelligent warehouse's back-shaped feeding device according to claim 1, characterized in that, The carrier reversing mechanism includes: first carrier intercepting assembly and carrier lifting conveying assembly;The first carrier intercepting assembly is located at the connection point of adjacent two drum lines and is used to intercept the carrier arriving at the connection point;The carrier lifting conveying assembly is used to convey the carrier intercepted by the first carrier intercepting assembly to the next drum line.

3. The intelligent warehouse's back-tongue-shaped feeding device according to claim 2, characterized in that, The first carrier intercepting assembly includes: first material blocking rod and first intercepting driver connected to the first material blocking rod;The first material blocking rod is located in the gap between adjacent two drums on the drum line;The first intercepting driver is used to drive the first material blocking rod to rise to intercept the carrier moving on the drum line.

4. The intelligent warehouse's back-tongue-shaped feeding device according to claim 2, characterized in that, The carrier lifting conveying assembly includes: reversing conveyor belt, lifting platform connected to the reversing conveyor belt, and reversing lifting driver connected to the lifting platform;The reversing conveyor belt is located in the gap between adjacent two drums on the drum line;The reversing lifting driver is used to drive the reversing conveyor belt to rise to drive the carrier to move away from the current drum line and transfer to the next drum line.

5. The intelligent warehouse's back-tongue-shaped feeding device according to claim 2, characterized in that, The carrier reversing mechanism further includes: carrier sensor arranged adjacent to the carrier lifting conveying assembly;The carrier sensor is electrically connected to the first carrier intercepting assembly and the carrier lifting conveying assembly respectively. 6.The intelligent warehouse's back-tally-shaped feeding device according to claim 1, wherein, The carrier positioning mechanism includes: second carrier intercepting assembly and carrier positioning assembly;The second carrier intercepting assembly is located at the preset grabbing station on the grabbing drum line and is used to intercept the carrier moving to the preset grabbing station;The carrier positioning assembly is used to position the carrier tightly.

7. The intelligent warehouse's back-tongue-shaped feeding device according to claim 6, characterized in that, The second carrier intercepting assembly includes: second material blocking rod and second intercepting driver connected to the second material blocking rod;The second material blocking rod is located in the gap between adjacent two drums on the drum line;The second intercepting driver is used to drive the second material blocking rod to rise to intercept the carrier moving on the drum line. 8.The intelligent warehouse's back-tongue-shaped feeding device according to claim 6, characterized in that, The carrier positioning assembly includes: lateral pressing plate and pressing material driver connected to the lateral pressing plate;The pressing material driver is used to drive the lateral pressing plate to press the carrier in the direction perpendicular to the carrier advancing. 9.The intelligent warehouse's back-tumed letter-shaped feeding device according to claim 1, wherein, The transfer station comprises linear slide rails and a plurality of material loading tables slidingly mounted on the linear slide rails; each of the material loading tables is provided with a movable clamp for positioning a material tray. 10.The intelligent warehouse's back-typed feeding device according to claim 1, wherein, Further comprising: a material lifting mechanism; the material lifting mechanism comprises lifting claws located outside the material grabbing cylinder line and a material lifting driver connecting the lifting claws; the lifting claws are arranged parallel to the material grabbing cylinder line, and the extending direction of the lifting claws is perpendicular to the transmission direction of the material grabbing cylinder line; the material lifting driver is used for lifting the carrier reaching the preset material grabbing station to separate from the material grabbing cylinder line.

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