Warehouse loading and unloading module based on unmanned vehicle

Abstract

The utility model discloses a kind of warehousing loading and unloading module based on unmanned vehicle, including feeding station, discharging station, unmanned vehicle, feeding assembly and discharging assembly;Feeding station is used to receive material;Discharging station is used to transport material;Unmanned vehicle is provided with storage space, and unmanned vehicle can be back and forth between feeding station and discharging station;Feeding assembly includes first six-axis robot and the first driving device of driving first six-axis robot horizontal movement, and first six-axis robot is used to transfer material from feeding station to storage space;Discharging assembly includes second six-axis robot and the second driving device of driving second six-axis robot horizontal movement, and second six-axis robot is used to transfer material from storage space to discharging station.Realize automatic loading and unloading of unmanned vehicle, in this mode, it will not occupy too much space, degree of automation is high, the setting of six-axis robot collocation driving device, so that six-axis robot can more flexibly loading and unloading operation to unmanned vehicle.

Description

Technical Field

[0001] This utility model relates to the field of loading and unloading equipment, and in particular to a warehouse loading and unloading module based on unmanned vehicles. Background Technology

[0002] Explosives are substances that can cause an explosion, such as explosives, detonators, and black powder. In the explosives manufacturing industry, there are usually manufacturing workshops and storage rooms. After the explosives are manufactured in the manufacturing workshop, they need to be transferred to the storage room for storage. The manufacturing workshop and the storage room are usually far apart, so transportation equipment is needed to transfer the items.

[0003] In the existing technology, there are transportation devices that use a double-speed chain structure for transferring goods, that is, a double-speed chain structure is arranged between the manufacturing workshop and the storage room. In this structure, the double-speed chain structure occupies additional aisle space, affecting the normal movement of personnel. At the same time, the deployment cost is high and the maintenance cost is increased. In order to save costs, there are unmanned vehicles for transportation. However, the loading and unloading of unmanned vehicles still rely on manual handling. In this method, the manual labor intensity is high, a large investment of human resources is required, and the degree of automation is low.

[0004] Therefore, it is necessary to design a new technical solution to solve the above problems. Utility Model Content

[0005] In view of this, the present invention addresses the deficiencies of the existing technology and its main objective is to provide a warehouse loading and unloading module based on unmanned vehicles. This module uses unmanned vehicles to move between loading and unloading stations, and is equipped with loading and unloading components to achieve automatic loading and unloading of the unmanned vehicles. This method does not occupy excessive space, has a high degree of automation, and the six-axis robot with a drive device allows for more flexible loading and unloading operations. The loading and unloading operations can be completed without moving the unmanned vehicles. The structure is ingeniously designed and easy to use.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A warehouse loading and unloading module based on unmanned vehicles includes:

[0008] A material loading station, which is used to receive materials;

[0009] A material unloading station, which is used to transport materials;

[0010] An unmanned vehicle, which is equipped with storage space, is capable of traveling between the loading station and the unloading station;

[0011] A feeding assembly, comprising a first six-axis robot and a first drive device for driving the first six-axis robot to move horizontally, wherein the first six-axis robot is used to transfer materials from the feeding station to the storage space.

[0012] The unloading assembly includes a second six-axis robot and a second drive device for driving the second six-axis robot to move horizontally. The second six-axis robot is used to transfer materials from the storage space to the unloading station.

[0013] As a preferred embodiment, the unmanned vehicle is equipped with a side-opening door for its storage space.

[0014] As a preferred embodiment, both the first driving device and the second driving device include a horizontal slide rail, a sliding seat slidably connected to the horizontal slide rail, and a driving motor for driving the sliding seat to slide on the horizontal slide rail. The first six-axis robot and the second six-axis robot are both mounted on the corresponding sliding seats.

[0015] As a preferred embodiment, the sliding seat is further provided with a motor mounting position, the drive motor is mounted on the motor mounting position, the drive motor is connected to a drive gear, and correspondingly, the horizontal slide rail is provided with a rack that meshes with the drive gear. The drive motor drives the sliding seat to slide on the horizontal slide rail through the cooperation of the drive gear and the rack.

[0016] As a preferred embodiment, the loading station is equipped with a loading conveyor track, and the unloading station is equipped with an unloading conveyor track.

[0017] As a preferred embodiment, both the first and second six-axis robots are equipped with a material handling fixture. The material handling fixture includes a horizontal plate, a first vertical plate fixedly disposed at the bottom of the horizontal plate, and a second vertical plate movably disposed at the bottom of the horizontal plate. A bottom support is provided at the bottom of the first vertical plate. A third driving device connected to the second vertical plate is provided on the first vertical plate. The third driving device drives the second vertical plate to move back and forth. A suction cup for picking up materials is provided on the second vertical plate. A fourth driving device and a top clamping member connected to the fourth driving device are also provided on the horizontal plate. A front limiting member is provided at the front end of the top clamping member. The bottom support, the second vertical plate, the top clamping member, and the front limiting member together constitute a clamping space.

[0018] As a preferred embodiment, the bottom support includes three single forks arranged at intervals.

[0019] As a preferred embodiment, the suction cups are arranged in four spaced-apart configurations and are located at the bottom of the second vertical plate.

[0020] As a preferred embodiment, a guide rod is provided at the bottom of the horizontal plate, a first rod sleeve is provided on the first vertical plate, the first rod sleeve is sleeved outside the guide rod, and a second rod sleeve is provided on the second vertical plate, the second rod sleeve is sleeved outside the guide rod and slidably connected to the guide rod.

[0021] As a preferred embodiment, the front-end limiting member includes a guide section and a vertical section arranged sequentially from bottom to top.

[0022] Compared with the prior art, this utility model has obvious advantages and beneficial effects. Specifically, as can be seen from the above technical solution:

[0023] The main feature is that by setting up unmanned vehicles to travel between the loading and unloading stations, and with the help of loading and unloading components, the unmanned vehicles can be automatically loaded and unloaded. This method does not occupy too much space, has a high degree of automation, and the six-axis robot with a drive device allows it to perform loading and unloading operations on the unmanned vehicles more flexibly. The loading and unloading operations can be completed without moving the unmanned vehicles. The structure is ingeniously designed and easy to use.

[0024] To more clearly illustrate the structural features and effects of this utility model, the following detailed description of this utility model is provided in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0025] Figure 1 This is a top view schematic diagram of a preferred embodiment of the present utility model;

[0026] Figure 2 This is a perspective view of the feeding component according to a preferred embodiment of the present utility model;

[0027] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0028] Figure 4 This is a three-dimensional schematic diagram of the material handling fixture according to a preferred embodiment of the present utility model;

[0029] Figure 5 This is a perspective view of the material handling fixture of a preferred embodiment of the present invention.

[0030] Explanation of reference numerals in the attached diagram:

[0031] 10. Loading station; 20. Unloading station;

[0032] 30. Driverless vehicles; 31. Storage space;

[0033] 32. Side-opening door; 40. Feeding assembly;

[0034] 41. First six-axis robot; 42. First drive unit;

[0035] 50. Material unloading assembly; 51. Second six-axis robot;

[0036] 52. Second drive unit; 61. Horizontal slide rail;

[0037] 611. Rack; 62. Sliding seat;

[0038] 621. Motor mounting position; 63. Drive motor;

[0039] 631. Drive gear; 70. Material handling fixture;

[0040] 71. Horizontal plate; 711. Guide rod;

[0041] 72. First vertical plate; 721. Bottom support component;

[0042] 722. Third drive unit; 723. Single fork;

[0043] 724. First pole sleeve; 73. Second vertical plate;

[0044] 731. Suction cup; 732. Second rod sleeve;

[0045] 74. Fourth drive unit; 741. Top clamping component;

[0046] 75. Front limiting component; 751. Guide section;

[0047] 752. Vertical section; 76. Connecting seat. Detailed Implementation

[0048] First, it should be noted that in the description of this utility model, the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0049] Please refer to Figures 1 to 5 As shown, it illustrates the specific structure of a preferred embodiment of the present invention, including a loading station 10, a unloading station 20, an unmanned vehicle 30, a loading assembly 40, and an unloading assembly 50.

[0050] The loading station 10 is used to receive materials, and the unloading station 20 is used to transport materials. Specifically, the loading station 10 is equipped with a loading conveyor track, and the materials from the previous station are transported to the loading station 10 from the loading conveyor track. The unloading station 20 is equipped with an unloading conveyor track, and the unloading station 20 transports the materials to the next station through the unloading conveyor track.

[0051] The unmanned vehicle 30 is equipped with a storage space 31, and the unmanned vehicle 30 can travel between the loading station 10 and the unloading station 20; specifically, see [reference needed]. Figure 2 As shown, the unmanned vehicle 30 is equipped with a side door 32 corresponding to the storage space 31. There are two side doors 32 arranged on the left and right, i.e., a double door configuration, which facilitates the loading and unloading of materials. The unmanned vehicle 30 uses existing mature technology, including obstacle avoidance structures such as cameras and radar, which will not be described in detail here.

[0052] The loading assembly 40 includes a first six-axis robot 41 and a first drive device 42 for driving the first six-axis robot 41 to move horizontally. The first six-axis robot 41 is used to transfer materials from the loading station 10 to the storage space 31. The unloading assembly 50 includes a second six-axis robot 51 and a second drive device 52 for driving the second six-axis robot 51 to move horizontally. The second six-axis robot 51 is used to transfer materials from the storage space 31 to the unloading station 20. The first six-axis robot 41 and the second six-axis robot 51 are existing mature technologies and will not be described in detail here.

[0053] See Figure 2 As shown, specifically, the first driving device 42 and the second driving device 52 both include a horizontal slide rail 61, a sliding seat 62 slidably connected to the horizontal slide rail 61, and a driving motor 63 that drives the sliding seat 62 to slide on the horizontal slide rail 61. The first six-axis robot 41 and the second six-axis robot 51 are both mounted on the corresponding sliding seat 62.

[0054] See Figure 3 As shown, the sliding seat 62 is also provided with a motor mounting position 621, and the drive motor 63 is provided on the motor mounting position 621. The drive motor 63 is connected to a drive gear 631. Correspondingly, the horizontal slide rail 61 is provided with a rack 611 that meshes with the drive gear 631. The drive motor 63 drives the sliding seat 62 to slide on the horizontal slide rail 61 through the cooperation of the drive gear 631 and the rack 611.

[0055] Both the first six-axis robot 41 and the second six-axis robot 51 are equipped with a material handling fixture 70. The material handling fixture 70 includes a horizontal plate 71, a first vertical plate 72 fixedly disposed at the bottom of the horizontal plate 71, and a second vertical plate 73 movably disposed at the bottom of the horizontal plate 71. A bottom support member 721 is disposed at the bottom of the first vertical plate 72. A third driving device 722 connected to the second vertical plate 73 is disposed on the first vertical plate 72. The third driving device 722 drives the second vertical plate 73 to move back and forth. A suction cup 731 for picking up materials is disposed on the second vertical plate 73. A fourth driving device 74 and a top clamping member 741 connected to the fourth driving device 74 are also disposed on the horizontal plate 71. A front limiting member 75 is disposed at the front end of the top clamping member 741. The bottom support member 721, the second vertical plate 73, the top clamping member 741, and the front limiting member 75 together constitute a clamping space.

[0056] When picking up materials, the bottom support 721 first supports the material, then the suction cup 731 picks up the material and abuts against the second vertical plate 73, and finally the top clamping member 741 clamps the material, and the suction cup 731 releases the suction of the material, so that the material is clamped in the clamping space. When discharging materials, the top clamping member 741 is first removed from the material, and then the second vertical plate 73 is driven to push the material out.

[0057] Specifically, see Figure 4 and Figure 5 As shown, the bottom support 721 includes three single forks 723 arranged at intervals, the suction cup 731 is provided with four arranged at intervals and is located at the bottom of the second vertical plate 73; the top of the horizontal plate 71 is provided with a connecting seat 76 for connecting a six-axis robot.

[0058] Preferably, a guide rod 711 is provided at the bottom of the horizontal plate 71, a first rod sleeve 724 is provided on the first vertical plate 72, the first rod sleeve 724 is sleeved on the guide rod 711, and a second rod sleeve 732 is provided on the second vertical plate 73, the second rod sleeve 732 is sleeved on the guide rod 711 and slidably connected to the guide rod 711. The guide rod 711 ensures the accurate displacement of the second vertical plate 73. The front limiting member 75 includes a guide section 751 and a vertical section 752 arranged sequentially from bottom to top. The guide section 751 allows the vertical section 752 to better block the front end of the material, preventing the vertical section 752 from directly inserting into the material and damaging it.

[0059] In this embodiment, both the third drive device 722 and the fourth drive device 74 are cylinders.

[0060] The key design feature of this utility model is:

[0061] The main feature is that by setting up unmanned vehicles to travel between the loading and unloading stations, and with the help of loading and unloading components, the unmanned vehicles can be automatically loaded and unloaded. This method does not occupy too much space, has a high degree of automation, and the six-axis robot with a drive device allows it to perform loading and unloading operations on the unmanned vehicles more flexibly. The loading and unloading operations can be completed without moving the unmanned vehicles. The structure is ingeniously designed and easy to use.

[0062] The above description is merely a preferred embodiment of the present utility model and does not constitute any limitation on the technical scope of the present utility model. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. A warehouse loading and unloading module based on unmanned vehicles, characterized in that, include: A material loading station, which is used to receive materials; A material unloading station, which is used to transport materials; An unmanned vehicle, which is equipped with storage space, is capable of traveling between the loading station and the unloading station; A feeding assembly, comprising a first six-axis robot and a first drive device for driving the first six-axis robot to move horizontally, wherein the first six-axis robot is used to transfer materials from the feeding station to the storage space. The unloading assembly includes a second six-axis robot and a second drive device for driving the second six-axis robot to move horizontally. The second six-axis robot is used to transfer materials from the storage space to the unloading station.

2. The warehouse loading and unloading module based on unmanned vehicles according to claim 1, characterized in that: The unmanned vehicle is equipped with a side-opening door for its corresponding storage space.

3. A warehouse loading and unloading module based on an unmanned vehicle according to claim 1, characterized in that: Both the first driving device and the second driving device include a horizontal slide rail, a sliding seat slidably connected to the horizontal slide rail, and a driving motor that drives the sliding seat to slide on the horizontal slide rail. The first six-axis robot and the second six-axis robot are both mounted on the corresponding sliding seats.

4. A warehouse loading and unloading module based on an unmanned vehicle according to claim 3, characterized in that: The sliding seat is also provided with a motor mounting position, the drive motor is mounted on the motor mounting position, the drive motor is connected to a drive gear, and correspondingly, the horizontal slide rail is provided with a rack that meshes with the drive gear. The drive motor drives the sliding seat to slide on the horizontal slide rail through the cooperation of the drive gear and the rack.

5. A warehouse loading and unloading module based on an unmanned vehicle according to claim 1, characterized in that: The loading station is equipped with a loading conveyor track, and the unloading station is equipped with an unloading conveyor track.

6. A warehouse loading and unloading module based on an unmanned vehicle according to claim 1, characterized in that: Both the first and second six-axis robots are equipped with a material handling fixture. The material handling fixture includes a horizontal plate, a first vertical plate fixedly disposed at the bottom of the horizontal plate, and a second vertical plate movably disposed at the bottom of the horizontal plate. A bottom support is disposed at the bottom of the first vertical plate. A third driving device connected to the second vertical plate is disposed on the first vertical plate. The third driving device drives the second vertical plate to move back and forth. A suction cup for picking up materials is disposed on the second vertical plate. A fourth driving device and a top clamping member connected to the fourth driving device are also disposed on the horizontal plate. A front limit member is disposed at the front end of the top clamping member. The bottom support, the second vertical plate, the top clamping member, and the front limit member together constitute a clamping space.

7. A warehouse loading and unloading module based on an unmanned vehicle according to claim 6, characterized in that: The bottom support includes three single forks arranged at intervals.

8. A warehouse loading and unloading module based on an unmanned vehicle according to claim 6, characterized in that: The suction cups are arranged in four spaced-apart configurations and are located at the bottom of the second vertical plate.

9. A warehouse loading and unloading module based on an unmanned vehicle according to claim 6, characterized in that: A guide rod is provided at the bottom of the horizontal plate, a first rod sleeve is provided on the first vertical plate, the first rod sleeve is sleeved outside the guide rod, and a second rod sleeve is provided on the second vertical plate, the second rod sleeve is sleeved outside the guide rod and slidably connected to the guide rod.

10. A warehouse loading and unloading module based on an unmanned vehicle according to claim 6, characterized in that: The front-end limiting component includes a guide section and a vertical section arranged sequentially from bottom to top.

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