A loading device for a stereoscopic warehouse

Abstract

The utility model relates to a kind of loading device for stereoscopic warehouse, stereoscopic warehouse can be set with in left and right direction accurate pick-and-place warehousing robot II, warehousing robot II can place in delivery conveyor after taking out goods;The end of the delivery conveyor is equipped with vehicle position adjusting mechanism, loading robot is equipped above delivery conveyor and vehicle position adjusting mechanism;Vehicle position adjusting mechanism can park truck, and the spatial position of truck can be adjusted, let loading robot take down goods from delivery conveyor along front-back direction, and accurately place goods at the position where truck needs to be placed.The utility model reaches the beneficial effect is: it can realize automatic loading, and it is compatible with high loading precision, to improve loading efficiency, and further improve the operating efficiency of warehouse.

Description

Technical Field

[0001] This utility model relates to the field of automated warehouse technology, and in particular to a loading device for automated warehouses. Background Technology

[0002] Most existing storage warehouses typically include an automated warehouse area, a forklift area, and a truck loading area. In the automated warehouse area, there are multiple fixed racks; each rack has three or four shelves, is about tens of meters long and about 1-2 meters wide, and can hold boxes / pallets on each shelf; multiple racks are arranged in parallel with each other at intervals, and the parallel intervals are the aisles that can raise the picking forklifts. (1) When no goods are stored or retrieved, the forklifts are parked in the forklift area; (2) When retrieving goods from the warehouse: when it is necessary to retrieve something from the warehouse, the forklifts are driven to the aisle, and then the corresponding boxes / goods are forked off, and then the goods are transferred to the truck parking area, and finally the boxes / goods are loaded onto the trucks, and then the trucks can transport them outwards; (3) When storing goods, the trucks are driven to the truck loading area, and then the forklifts are used to move the goods to the racks and place the goods on the corresponding shelves.

[0003] Currently, some intelligent automated warehouses exist, including automated warehouse areas, forklift areas, truck loading areas, and manual sorting areas. The automated warehouse area has multiple fixed, parallel racks (20 meters high, 20-30 meters long, and 1-2 meters wide), with tracks connecting the racks. Stacker cranes operate on these tracks, and a conveyor belt is located near the tracks. Forklifts are parked in the forklift area, trucks are parked in the truck loading area, and in the manual sorting area, workers load goods onto bins and affix two-dimensional codes to the bins. The implementation principle is as follows: (1) When storing goods, a. people load the goods onto the bins / pallets and attach two-dimensional codes to the bins / pallets. People scan the codes of the bins / pallets with a handheld terminal to bind the goods with the bin / pallet information; b. then people need to use a forklift to transfer the bins / pallets to the conveyor belt at the warehouse entrance (there is a scanning device at the warehouse entrance, which automatically completes the scanning and transmits the information obtained from the scanning to the system, and the system allocates the storage path and location); c. the conveyor belt in front of the warehouse transfers the bins / pallets to the aisle; d. the stacker crane in the aisle picks up the bins / pallets and stores them in the corresponding shelf position on the rack. (2) When picking up goods, the warehouse staff receives the picking list and scans the task QR code through a handheld terminal. The system (WPS system) reads the picking information and automatically completes the picking in sequence. The electronic screen at the picking port displays the current picking order information. The stacker crane enters the aisle according to the system instructions to pick up the order bins / pallets. The system displays the real-time status of goods storage and retrieval through the display screen. The bins / pallets are transported to the outlet by the conveyor belt, and then the staff picks up the goods. After picking, the goods are stored on the shelf.

[0004] However, current intelligent automated warehouses are more suitable for storing express delivery goods, but many industrial intelligent automated warehouses are still designed with reference to the style of current express delivery intelligent automated warehouses. This leads to the following problems: (1) high cost; (2) low efficiency in picking and placing goods; (3) more cables, which increases the probability of fire.

[0005] The process of retrieving goods from the automated warehouse in Neijiang and loading them onto trucks is divided into two parts: in-warehouse operations and outbound loading. Warehouse operations: a. The Warehouse Management System (WMS) receives the outbound instruction and generates a specific "picking task list" based on the order. This task list is then sent to the Warehouse Control System (WCS, the brain responsible for all automated equipment execution); b. The WCS locates the target goods in the database based on the task list; c. The WCS then instructs the stacker crane to move along the tracks in the aisle. The lifting mechanism moves to the target location and uses the forks to remove the pallet / box from the rack, which then retracts into the loading platform; d. The stacker crane removes the pallet / box. Outbound loading: There are several methods: (1) The first method is fully manual loading. The stacker crane places the pallet / box in the temporary storage area, and the workers use forklifts to move the boxes to the truck position and load them using forklifts (this is the current mainstream method); (2) The second method is automatic loading. The stacker crane places the pallet / box on the conveyor belt, and the conveyor belt transports the goods to the truck position. Then the workers use forklifts to load the goods; (3) The third method is automated loading. The stacker crane places the pallet / box on the conveyor belt, and the conveyor belt transports the goods to the truck position. A loading robot is set up at the truck position. The loading robot identifies the boxes on the conveyor belt and then grabs the boxes and places them on the truck through the gripping mechanism (this mode has very strict requirements on the last vehicle model and the stopping accuracy. It often cannot be loaded accurately. The workers need to adjust it little by little afterward, so the application effect is not good).

[0006] Of the three methods of loading and unloading goods, the first method, which involves both forklift transportation and loading, is very inefficient. The second method, which uses conveyor belt transportation and forklift loading, requires constant adjustment of the forklift's position and is also inefficient. The third method, which should theoretically be very efficient, is difficult to control in terms of placement accuracy during actual loading, leading workers to believe that the accuracy is also affected when calibrating the position of the cargo boxes (this is also a persistent challenge for intelligent automated warehouses).

[0007] Therefore, based on the third type of outbound loading mentioned above, our company has made corresponding modifications to the machine to ensure high precision during the actual loading process, thereby improving loading efficiency and thus enhancing the operational efficiency of the automated warehouse (our company has developed this technology, and it is currently performing excellently in the experimental stage). Utility Model Content

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a loading device for automated warehouses, solving the problem of low warehouse operating efficiency caused by the low loading accuracy in existing automated loading systems.

[0009] The purpose of this utility model is achieved through the following technical solution: a loading device for an automated warehouse, wherein the automated warehouse can be equipped with a storage robot II that can accurately pick up and place goods in the left and right directions, and the storage robot II can take out the goods and place them on the outbound conveyor belt. A vehicle position adjustment mechanism is provided at the end of the outbound conveyor belt, and a loading robot is provided above the outbound conveyor belt and the vehicle position adjustment mechanism. The vehicle position adjustment mechanism can park trucks and adjust their spatial position, allowing the loading robot to take goods from the outbound conveyor belt in the front-to-back direction and accurately place the goods in the required position on the truck.

[0010] As a preferred technical solution of this application, the outbound conveyor belt is also provided with a position auxiliary adjustment mechanism, which can adjust the front-back and left-right positions of the goods.

[0011] As a preferred technical solution of this application, the vehicle position adjustment mechanism includes an upper frame plate and a lower frame plate; height telescopic cylinders are provided at each corner of the lower surface of the lower frame plate to form a horizontal adjustment structure; a support wheel A is installed on the lower frame plate, and the axis of the support wheel A is located in the plane; the upper frame plate is placed on the support wheel A, and horizontal telescopic cylinders in various directions are provided in the horizontal plane of the upper frame plate to form an angle adjustment structure in the horizontal plane.

[0012] Furthermore, height telescopic cylinders are respectively installed at the front and rear positions of the left lower surface of the lower frame plate, and height telescopic cylinders are respectively installed at the front and rear positions of the right side of the lower frame plate. The upper ends of these four height telescopic cylinders are hinged to the upper frame plate with a rotating joint, and the lower ends are hinged to the ground with a rotating joint. The axis of rotation of the rotating joints at the upper and lower ends of these four height telescopic cylinders is along the front-rear direction. Support wheels B and C are provided at both the left and right ends of the lower frame plate. Fixed seats are provided on the left and right sides of the lower frame plate. The fixed seats are mounted with first limiting grooves along the vertical direction through multiple pads. Support wheels B and C are adapted to the first limiting grooves. The axis of rotation of support wheel B is along the left-right direction, and the wheel surface of the wheel is in rolling contact with the side wall of the first limiting groove. The axis of rotation of support wheel C is along the front-rear direction, and the wheel surface of the wheel is in rolling contact with the bottom surface of the first limiting groove. This structure allows support wheels B and C to slide within the first limiting groove during height adjustment, thus forming a structure that abuts against the lower shelf in the left and right directions, and thus creating a secure structure during height adjustment. This structure also allows for adjustment of the front and rear position of the lower shelf by adjusting the number and thickness of the pads, thus creating a structure that allows for manual calibration of the lower shelf height.

[0013] Furthermore, a second limiting groove is provided at the center of the lower surface of the upper shelf along the front-back direction; a center wheel D is provided at the center of the lower shelf, the axis of the center wheel D is in the up-down direction, and the wheel surface of the wheel is adapted to fit and fit against the left and right side walls of the second limiting groove, forming a structure in which the upper shelf can rotate in the horizontal plane with the center wheel D as the center.

[0014] As a preferred technical solution of this application, the loading robot includes a horizontal frame that is supported in the left and right directions, and a walking frame that can move in the left and right directions on the horizontal frame; a front gripping arm and a rear gripping arm that can move in the front and back directions on the walking frame.

[0015] As a preferred technical solution of this application, the picking and placing mechanism of the warehouse robot II is provided with picking and placing mechanisms on the opposite sides of the left support wall frame and the right support wall frame respectively. The picking and placing mechanism has a gripping arm, the upper end of which is hinged and the lower end of which has a load-bearing horizontal plate. When the lower end of the gripping arm rotates inward, the load-bearing horizontal plate can be fastened to the bottom surface of the goods - forming a structure for picking up and holding the goods.

[0016] Furthermore, the picking and placing mechanism is also provided with an auxiliary holding mechanism; the auxiliary holding mechanism has a wedge block that can move along the arm length direction of the gripping arm; when the gripping arm picks up the gripped goods, the gripping arm has a small angle with the vertical direction, and when the wedge block moves along the arm length direction, it will produce a small distance movement in the horizontal direction, thereby allowing the goods to be slowly gripped on the left and right sides - forming a structure that avoids displacement of the goods in the left and right directions when they are gripped.

[0017] As a preferred technical solution of this application, the outbound conveyor belt is formed by splicing multiple conveyor belt units; each conveyor unit includes a conveyor belt and a drive motor supporting both ends of the conveyor belt, and a support roller is provided on the lower surface of the conveyor belt to support the conveyor belt. The outbound conveyor belt has an output belt unit that can move back and forth—forming a structure that separates from the original outbound conveyor belt; this forward and backward moving conveyor belt unit has a lower base and an upper platform, the lower base can move in the forward and backward direction, the upper platform can rotate in the horizontal plane, and the upper platform is provided with a conveyor belt and a corresponding drive motor. The position auxiliary adjustment mechanism is set at the front / rear side of the outbound conveyor belt, and includes multiple pressure cylinders on the left side and multiple pressure cylinders on the right side; each pressure cylinder has a pressure plate at its end and can move left and right. When the conveyor belt unit, which can move forward and backward, travels in the forward and backward direction to the position auxiliary adjustment mechanism, the pressure cylinders in the left and right positions can adjust the left and right positions of the goods on the conveyor belt unit—squeezing the left and right sides of the goods; when the conveyor belt unit is rotated ninety degrees, the pressure cylinders in the left and right positions can squeeze the other two sides of the goods.

[0018] This utility model has the following advantages: it can realize automatic loading and has high loading accuracy, thereby improving loading efficiency and thus improving warehouse operation efficiency. Attached Figure Description

[0019] Figure 1 A schematic diagram of a warehouse setup including an outbound conveyor belt and a loading robot. Figure 2 This is a schematic diagram of the structure between the loading robot and the vehicle position adjustment mechanism. Figure 3 This is a schematic diagram of the vehicle position adjustment mechanism; Figure 4 This is a structural diagram of the lower frame plate in a vehicle position adjustment mechanism; Figure 5 This is a schematic diagram of the structure of the first limiting groove in the vehicle position adjustment mechanism; Figure 6 This is a structural diagram of the upper frame plate in a vehicle position adjustment machine; Figure 7 This is a structural diagram of the loading robot; Figure 8 A schematic diagram of the structure in which the position auxiliary adjustment mechanism is installed on the conveyor belt; Figure 9 This is a schematic diagram of the position auxiliary adjustment mechanism and its structure in the conveyor belt unit; Figure 10 This is a schematic diagram of the structure of a warehouse robot; Figure 11 This is a schematic diagram of the warehouse robot when it is not picking up any goods. Figure 12 This is a first-person view structural diagram of the picking and placing mechanism in a warehouse robot. Figure 13 This is a structural diagram of the picking and placing mechanism in a warehouse robot from a second-view perspective. Figure 14 This is a third-person view structural diagram of the picking and placing mechanism in a warehouse robot. Figure 15 This is a schematic diagram of the structure between the lifting motor and the lifting chain in a warehouse robot. In the picture: 210-Left support wall frame, 220-Right support wall frame, 230-Upper and lower sliding grooves, 240-Pick-up and drop mechanism, 241-Roller A, 242-Back frame, 243-Clamping arm, 243-1-Bearing cross plate, 244-Clamping telescopic mechanism, 245-Auxiliary clamping mechanism, 245-1-First telescopic cylinder, 245-2-Second telescopic cylinder, 245-3-Wedge-shaped piece, 245-3-1 Piston piece, 250-Traveling base, 260-Front and rear traveling mechanism, 270-Left and right traveling mechanism, 271-Ejection telescopic mechanism, 272-Slide rail, 280-Lifting motor, 283-Lower sprocket, 284-Lifting chain; 410-Outbound conveyor belt, 411-Conveyor belt unit, 420-Vehicle position adjustment mechanism, 421-Upper shelf plate, 422-Lower shelf plate, 423-Height telescopic cylinder, 424-Support wheel A, 425-Horizontal telescopic cylinder, 426-First limit groove, 427-Support wheel B, 428-Support wheel C, 429-Pad plate, 4211-Second limit groove, 4212-Center wheel D, 430-Loading robot, 431-Horizontal frame, 432-Traveling frame, 433-Front gripper, 434-Rear gripper arm, 440-Position auxiliary adjustment mechanism, 441-Pressure cylinder. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0021] It should be noted that in existing automated warehouses: when goods / boxes are received, they are picked up by forklifts and placed on the receiving conveyor belt, and stacker cranes pick up the goods on the conveyor belt and place them on the shelves; when goods are shipped out, the stacker cranes remove the goods from the shelves and place them on the shipping conveyor belt, and then the forklifts are used to manually pick up the goods one by one and place them on the truck (this method is slow in terms of shipping efficiency).

[0022] Therefore, some loading robots are currently used in the market. These robots use stacker cranes to remove goods from shelves during outbound processing, then place them on the outbound conveyor belt, and finally load them onto trucks. However, this fully automated loading method cannot accurately place goods (it requires manual prying and placing of goods on the truck, which still affects efficiency and is a major drawback, so most companies do not use it). The reasons for this problem are: a. Forklifts are used to place the truck onto the conveyor belt during inbound processing (forklift placement leads to low positional accuracy), and stacker cranes also forklift goods onto shelves (forklift placement leads to low positional accuracy); b. Forklifts are used again to place the goods onto the outbound conveyor belt during outbound processing (forklift placement leads to low positional accuracy); c. The truck's parking position is not precise. Therefore, the accuracy of loading robots when loading goods onto trucks is not high (of course, one can think of setting up a position correction device between the loading robot and the outbound conveyor belt to correct the position of the goods, but the position of the truck cannot be corrected; and if only a position correction device is set up between the loading robot and the outbound conveyor belt, the position deviation of the accumulated goods is large when the position correction device is working, so the amount of correction each time is small (if the correction amplitude and speed are too large, it is easy to cause the stacked goods to tip over, while if the correction is too large and the speed is too small, a large amount of goods will accumulate at the position correction device - affecting loading efficiency, so some companies do not adopt this method even if it is easy to think of - preferring to manually pry the position of the goods on the truck)).

[0023] Therefore, this solution offers the following approach: a. Improve the accuracy of goods throughout the entire process of warehousing and outbound (instead of setting up position correction devices between the outbound conveyor belt and the loading mechanism), and avoid goods concentrating at the position correction device; b. Set up a vehicle position adjustment mechanism to adjust the position of the truck.

[0024] The present invention will be further illustrated below through specific embodiments (it should be noted that, in the absence of conflict, the embodiments and features and technical solutions in the embodiments of the present invention can be combined with each other).

[0025] See Figure 1 , Figure 2 This specific embodiment discloses a loading device for an automated warehouse. The automated warehouse can be equipped with a storage robot II that can accurately pick up and place goods in the left and right directions. The storage robot II can take out the goods and place them on the outbound conveyor belt 410. The vehicle position adjustment mechanism 420 is located at the end of the outbound conveyor belt 410, and a loading robot 430 is located above the outbound conveyor belt 410 and the vehicle position adjustment mechanism 420. The vehicle position adjustment mechanism 420 can park trucks and adjust the spatial position of the trucks, allowing the loading robot 430 to take goods from the outbound conveyor belt 410 in the front-back direction and accurately place the goods in the required position on the truck. In addition, a position auxiliary adjustment mechanism 440 is provided between the end of the outbound conveyor belt 410 and the vehicle position adjustment mechanism 420; the position auxiliary adjustment mechanism 440 can adjust the front-back and left-right positions of the goods.

[0026] It should be noted that in this solution: (1) By setting up warehouse robot II, when the goods are taken from the inbound conveyor belt and placed on the shelf during the inbound process, the inbound accuracy can be guaranteed; when the goods are taken from the shelf and placed on the outbound conveyor belt during the outbound process, the removal accuracy can be guaranteed; (2) In addition, the position accuracy of the goods is further adjusted by the position auxiliary adjustment mechanism 440 during the outbound process; (3) The position of the truck can be adjusted by the vehicle position adjustment mechanism to ensure the accuracy between the loading robot and the vehicle position adjustment mechanism; (4) Through the design of (1) and (2) above, the position accuracy of the goods can be divided into Scattered throughout the various warehouse operation steps (instead of only being calibrated before loading), thus avoiding the accumulation of goods before the loading step and improving the overall warehouse operation efficiency; (5) Through the aforementioned design (1) and (2), the loading robot 430 is able to grip goods with high positional accuracy, and through the aforementioned design (3), the positional accuracy of the vehicle is guaranteed. The high accuracy of the goods and the high accuracy of the vehicle ensure the overall loading accuracy, and the entire process is automated loading. That is, by improving the loading accuracy in automated loading, the loading efficiency is improved (avoiding manual prying of the goods on the truck), thereby improving the overall warehouse operation efficiency.

[0027] The vehicle position adjustment mechanism will be further explained below.

[0028] See Figures 2-6 The vehicle position adjustment mechanism 420 includes an upper frame plate 421 and a lower frame plate 422; The lower frame plate 422 has a horizontal adjustment structure: height telescopic cylinders 423 are respectively installed at the front and rear positions of the lower left side surface of the lower frame plate 422, and height telescopic cylinders 423 are respectively installed at the front and rear positions of the right side surface of the lower frame plate 422. The upper ends of these four height telescopic cylinders 423 are hinged to the upper frame plate with a rotating joint, and the lower ends are hinged to the ground with a rotating joint. The axis of rotation of the rotating joints at the upper and lower ends of these four height telescopic cylinders 423 is along the front-rear direction; and thus, a horizontal adjustment structure is formed. Furthermore, support wheels B427 and C428 are provided at both the left and right ends of the lower frame plate 422. Fixed seats are provided on both the left and right sides of the lower frame plate 422. The fixed seats are mounted on the first limiting groove 426 along the vertical direction through multiple pads 429. Both support wheels B427 and C428 are adapted to the first limiting groove 426. The axis of rotation of support wheel B427 is along the left and right direction, and the wheel surface of the wheel is in rolling contact with the side wall of the first limiting groove 426. The axis of rotation of support wheel C428 is along the front and back direction, and the wheel surface of the wheel is in rolling contact with the bottom surface of the first limiting groove 426. Furthermore, a support wheel A424 is installed on the lower plate 422, and the axis of the support wheel A424 is located in the plane; The upper frame plate 421 is equipped with horizontal telescopic cylinders 425 in various directions in the horizontal plane of the circumference, forming an angle adjustment structure in the horizontal plane.

[0029] The upper frame plate 421 is placed on the support wheel A424; and a second limiting groove 4211 is provided in the middle of the lower surface of the upper frame plate 421 along the front-back direction; a center wheel D4212 is provided at the center of the lower frame plate 422, the axis of the center wheel D4212 is in the up-down direction, and the wheel surface of the wheel is adapted to fit and fit against the left and right side walls of the second limiting groove 4211, forming a structure in which the upper frame plate can rotate in the horizontal plane with the center wheel D as the center; During operation: (1) The truck is driven onto the upper frame plate 421. If the truck is not in a horizontal plane, the lower frame plate 422 is adjusted to a horizontal position by the extension and retraction of multiple height telescopic cylinders 423 (thereby adjusting the upper frame plate 421 to a horizontal position, and thus adjusting the truck to a horizontal position). During the process of adjusting the truck to a horizontal position, the support wheel B427 and the support wheel C428 slide up and down along the first limit groove 426 (the corresponding rollers abut against the first limit groove 426) -- achieving hard support in the left and right and front and back directions, avoiding the situation of unreliable support due to the weight of the truck. (2) Due to long-term operation, the same air pressure in the height telescopic cylinder 423 may support the upper shelf 421 at different height positions (with a certain small error). At this time, when placing the cargo box, the cargo box may fall onto the vehicle board due to gravity. At this time, the front and rear position structure of the lower shelf can be adjusted by the number and thickness of the pads, thereby forming a structure that can manually calibrate the height of the lower shelf; thus ensuring a relatively accurate height position between the upper shelf and the loading robot 430.

[0030] The loading robot 430 will be further explained below.

[0031] See Figure 2 , Figure 7The loading robot 430 includes a horizontal frame 431 that is supported in the left and right directions. The horizontal frame 431 is equipped with a walking frame 432 that can move in the left and right directions. The walking frame 432 has a front gripping arm 433 and a rear gripping arm 434 that can move in the front and back directions. (A loading robot of any type can be designed as needed. This solution only selects a more common loading robot, mainly to achieve gripping in the front and back directions.)

[0032] It should be noted that in this solution, the warehouse robot II clamps goods in the left and right directions when picking up and placing them (clamping ensures the positional accuracy of the goods in the left and right directions), while the loading robot 430 clamps goods in the front and back directions. That is, in this solution, even without the position auxiliary adjustment mechanism 440, the accuracy of the goods can still be guaranteed. Combined with the vehicle position adjustment mechanism 420, the accuracy of loading can still be guaranteed.

[0033] The following is a further explanation of the warehouse robot II.

[0034] See Figures 10-15 The storage robot is gantry-shaped and includes a left support wall frame 210, a right support wall frame 220, and a pick-and-place mechanism 240. In the middle, the left support wall frame 210 and the right support wall frame 220 are positioned opposite each other and are spaced parallel to each other. The tops of the left support wall frame 210 and the right support wall frame 220 are connected by a gantry crossbeam (forming a gantry frame assembly). Furthermore, the left support wall frame 210 and the right support wall frame 220 have the same structure, both including a front column and a rear column. The outer surfaces of the front column and the rear column are connected by multiple reinforcing rods (forming an integral structure). In addition, upper and lower sliding grooves are opened on the opposite surfaces of the front column and the rear column. Rollers A241 (mounted as a rotating pair) are installed on the front and rear outer sides of the pick-up and place mechanism 240. The pick-up and place mechanism 240 is adapted to the upper and lower sliding grooves 230 through the rollers A241 on the front and rear sides (the diameter of the rollers A241 is the same as the width of the upper and lower sliding grooves 230, so the pick-up and place mechanism 240 can not only smoothly slide up and down to perform the lifting action, but also there is no left and right or front and back swaying during the lifting action, or the amplitude of the front and back swaying is extremely slight, so the accuracy of the lifting action is guaranteed). Furthermore, the picking and placing mechanism 240 includes a back frame 242 and a clamping arm 243; wherein, the two sides of the back frame 242 are fitted with upper and lower sliding grooves 230 via rollers A241; the lower inner side of the clamping arm 243 has a load-bearing horizontal plate 243-1 (which serves to grab and lift the goods), the upper end of the clamping arm 243 is hinged to the back frame 242 in a rotating joint, and a clamping telescopic mechanism 244 with telescopic action is provided between the middle of the clamping arm 243 and the back frame 242; In addition, the clamping arm 243 has a middle crossbeam 243-2 and a lower crossbeam 243-3, and an auxiliary clamping mechanism 245 is provided on the clamping arm 243. Specifically, the auxiliary clamping mechanism 245 includes a first telescopic cylinder 245-1, a second telescopic cylinder 245-2, and a wedge-shaped member 245-3. The base of the first telescopic cylinder 245-1 is fixed on the middle crossbeam 243-2, and the output end of the cylinder is fixed on the upper surface of the wedge-shaped member 245-3. The lower surface of the wedge-shaped member 245-3 is fixed to the output end of the second telescopic cylinder 245-2. The base of the fixed connection and the second telescopic cylinder 245-2 is the free end; the working principle of the auxiliary clamping mechanism 245 is that when the auxiliary clamping mechanism 245 extends, it can abut against the side of the clamped goods, so that the clamping arm and the auxiliary clamping mechanism form a reliable rigid clamping of the clamped goods. When the first telescopic cylinder 245-1 extends, the wedge 245-3 can abut against the side of the clamped goods. After the second telescopic cylinder 245-2 extends, the base of the second telescopic cylinder 245-2 abuts against the lower crossbeam 243-3, forming a structure in which the wedge block can reliably apply force.

[0035] It should be noted that during operation: (1) Warehouse robot II can move along the track to the top of the inbound conveyor belt (so that the goods are located directly below the gantry frame); (3) a. Under the action of the lifting mechanism, the picking and placing mechanism 240 slides up and down through the roller A241. At this time, the clamping telescopic mechanism 244 extends and the clamping arm 243 opens. When it descends to the appropriate position (a corresponding laser sensor is set, and the laser sensor is wirelessly connected to the entire warehouse system, and the laser sensor senses the position of the object), the telescopic mechanism 244 retracts, so that the lower end of the clamping arm 243 rotates upward, and the load-bearing horizontal plate 243-1 of the clamping arm 243 is fastened to the left and right ground of the goods; b. A pressure sensor is provided on the load-bearing horizontal plate 243-1 (the pressure sensor is wirelessly connected to the warehouse system). When the pressure sensor senses When the pressure is applied, it indicates that the goods have been clamped. Then the first telescopic cylinder 245-1 extends, allowing the wedge block 245-3 to move downward along the clamping arm 243 (since the clamping arm 243 has a slight angle with the vertical plane), so the wedge block 245-3 can be regarded as approaching the side of the goods at an angle, thus achieving clamping of both sides of the goods and ensuring the reliability of the goods being clamped (when the wedge block 245-3 approaches the goods at an angle with a slight angle with the vertical plane, the distance to the goods in the horizontal direction is very small. Compared with the method of clamping directly from the horizontal direction, this clamping method can avoid the goods from moving in the left and right directions, thus achieving accurate clamping of the goods); (4) After clamping is completed, let the warehouse robot II move to the position where the goods need to be placed via the track.

[0036] It should be noted that, to achieve the above actions, a PLC panel can be installed on the warehouse robot. The PLC panel has a wireless signal receiver, which is electrically connected to various sensors and drive mechanisms via the PLC panel. The automated warehouse has an operating room with a corresponding control panel. The control panel has control buttons, which transmit instructions via the control panel, which in turn transmits the operation signals via a wireless signal generator. Alternatively, corresponding motion control can be programmed on the PLC, automatically completing a series of actions upon receiving the corresponding operation signal (similar to the operating principle of a machine tool).

[0037] Further, see Figure 13 The wedge 245-3 has a piston chamber, in which a piston 245-3-1 is installed. The protruding end of the piston 245-3-1 has a flexible layer. The piston chamber is connected to a pressurizing and depressurizing air pipe. When pressurized gas is introduced, the piston can press against the side of the clamped cargo.

[0038] Furthermore, the clamping telescopic mechanism 244 is a clamping telescopic cylinder, and corresponding clamping telescopic cylinders are mounted in a rotating pair on the back of the clamping arm 243 near the left and right sides.

[0039] The following section provides a further explanation of the traveling structure of the left support wall frame 210 and the right support wall frame 220.

[0040] See Figure 10 , Figure 11 The lower ends of the left and right columns of the left support wall frame 210 and the right support wall frame 220 are all fixed with a walking base 250; wherein, a front and rear walking mechanism 260 is fixed on the outer position of the lower surface of the walking base 250, and a left and right walking mechanism 270 is provided on the inner position of the lower surface of the walking base 250. Furthermore, the left and right walking mechanism 270 is mounted on the lower surface of the walking base 250 via the push-out telescopic mechanism 271, and the front and rear walking mechanism 260 and the left and right walking mechanism 270 are also connected by the slide rail 272. During operation, if the warehouse robot needs to move along the forward and backward tracks, the ejector telescopic mechanism 271 retracts, allowing the forward and backward walking mechanism 260 to contact the forward and backward tracks on the ground. When the warehouse robot needs to move along the left and right tracks, the ejector telescopic mechanism 271 extends, allowing the left and right walking mechanism 270 to contact the left and right tracks. In this way, the switching between forward and backward and left and right walking directions is achieved. In addition, the forward and backward walking mechanism 260 and the left and right walking mechanism 270 are also coordinated by the slide rail 272, thus improving the positional accuracy of walking between the left and right directions and the forward and backward directions (both the forward and backward tracks and the left and right tracks are set on the warehouse floor).

[0041] The following section provides further explanation of the corresponding mechanisms for the lifting action.

[0042] See Figure 15 A lifting motor 280 is fixed on the gantry frame between the top of the left support wall frame 210 and the right support wall frame 220. Furthermore, a rotatable left lifting shaft 281 and a right lifting shaft 282 are fixed on the left and right sides of the lifting motor 280, respectively. The output end of the lifting motor 280 outputs two conveyor chains through a gearbox, and the two conveyor chains drive the left lifting shaft 281 and the right lifting shaft 282 to rotate simultaneously. In addition, the lower ends of the front columns of the left support wall frame 210 and the right support wall frame are connected to the lower ends of the rear columns by a reinforcing rod, and lower sprockets 283 are respectively provided at the front and rear positions of the reinforcing rod; lifting chains 284 are respectively wound between the upper sprocket and the corresponding lower sprocket at both ends of the left lifting shaft 281 and the right lifting shaft 282; the lifting chains 284 are fixedly connected to the back frame 242 of the pick-and-place mechanism.

[0043] The following section provides further explanation of the position adjustment mechanism and the outbound conveyor belt.

[0044] See Figure 8 , Figure 9 The outbound conveyor belt 410 is formed by splicing together multiple conveyor belt units 411; Each conveying unit includes 411 conveyor belts and a drive motor that supports both ends of the conveyor belt. Support rollers that support the conveyor belt are located on the lower surface of the conveyor belt. Furthermore, the outbound conveyor belt 410 has an output belt unit 411 that can move back and forth, forming a structure that separates from the original outbound conveyor belt; the conveyor belt unit 411 that can move back and forth has a lower base and an upper platform, the lower base can move in the back and forth direction, the upper platform can rotate in the horizontal plane, and the upper platform is equipped with a conveyor belt and a corresponding drive motor. In addition, the position auxiliary adjustment mechanism 440 is set at the front / rear side of the outbound conveyor belt, which includes multiple pressure cylinders 441 on the left side and multiple pressure cylinders 441 on the right side; each pressure cylinder 441 has a pressure plate at its end and can move left and right. During operation, when the conveyor belt unit 411, which can move back and forth, travels in the front-back direction to the position auxiliary adjustment mechanism 440, the left and right pressure cylinders 441 can adjust the left and right position of the goods on the conveyor belt unit 411 along the conveyor belt transmission direction—squeezing the left and right sides of the goods; when the conveyor belt unit 411 is rotated ninety degrees, the left and right pressure cylinders 441 can squeeze the other two sides of the goods.

[0045] The above embodiments only illustrate preferred implementation methods, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model.

Claims

1. A loading device for an automated warehouse, wherein the automated warehouse is equipped with a storage robot II capable of precise retrieval and placement in the left-right direction, the storage robot II being able to retrieve goods and place them on an outbound conveyor belt (410), characterized in that: A vehicle position adjustment mechanism (420) is provided at the end of the outbound conveyor belt (410), and a loading robot (430) is provided above the outbound conveyor belt (410) and the vehicle position adjustment mechanism (420). The vehicle position adjustment mechanism (420) can park trucks and adjust the spatial position of trucks, so that the loading robot (430) can take goods from the outbound conveyor belt (410) in the front-to-back direction and accurately place the goods in the position where the truck needs to be placed.

2. The loading device for an automated warehouse according to claim 1, characterized in that: The outbound conveyor belt (410) is also equipped with a position auxiliary adjustment mechanism (440), which can adjust the front-back and left-right positions of the goods.

3. A loading device for an automated warehouse according to claim 1 or 2, characterized in that: The vehicle position adjustment mechanism (420) includes an upper frame plate (421) and a lower frame plate (422). Height telescopic cylinders (423) are provided at each corner of the lower surface of the lower frame plate (422) to form a horizontal adjustment structure; The lower frame plate (422) is equipped with a support wheel A (424), and the axis of the support wheel A (424) is located in the plane; the upper frame plate (421) is placed on the support wheel A (424), and the upper frame plate (421) is provided with horizontal telescopic cylinders (425) in various directions in the horizontal plane of the circumference, forming an angle adjustment structure in the horizontal plane.

4. A loading device for an automated warehouse according to claim 3, characterized in that: The lower frame plate (422) is provided with a height telescopic cylinder (423) at the front and rear positions on the left lower surface, and a height telescopic cylinder (423) is provided at the front and rear positions on the right side of the lower frame plate (422). The upper ends of the four height telescopic cylinders (423) are hinged to the upper frame plate with a rotating joint, and the lower ends are hinged to the ground with a rotating joint. The axis of rotation of the rotating joint at the upper and lower ends of the four height telescopic cylinders (423) is along the front and rear direction. The lower frame plate (422) is provided with support wheels B (427) and support wheels C (428) at both the left and right ends. The lower frame plate (422) has fixed seats on both the left and right sides. The fixed seats are installed with first limiting grooves (426) in the vertical direction through multiple pads (429). Support wheels B (427) and C (428) are both adapted to the first limiting grooves (426). The axis of rotation of support wheel B (427) is in the left and right direction, and the wheel surface of the wheel is in rolling contact with the side wall of the first limiting groove (426). The axis of rotation of support wheel C (428) is in the front and back direction, and the wheel surface of the wheel is in rolling contact with the bottom surface of the first limiting groove (426). This structure allows support wheels B and C to slide within the first limiting groove during height adjustment, thus forming a structure that abuts against the lower shelf in the left and right directions, and thus creating a secure structure during height adjustment. This structure also allows for adjustment of the front and rear position of the lower shelf by adjusting the number and thickness of the pads, thus creating a structure that allows for manual calibration of the lower shelf height.

5. A loading device for an automated warehouse according to claim 4, characterized in that: The lower surface of the upper plate (421) is provided with a second limiting groove (4211) in the front-back direction at the middle position. A central wheel D (4212) is provided at the center of the lower frame plate (422). The axis of the central wheel D (4212) is in the vertical direction, and the wheel surface of the wheel is adapted to fit the left and right side walls of the second limiting groove (4211), forming a structure in which the upper frame plate can rotate in the horizontal plane with the central wheel D as the center.

6. A loading device for an automated warehouse according to claim 1 or 2, characterized in that: The loading robot (430) includes a horizontal frame (431) that is supported in the left and right directions, and a walking frame (432) that can move in the left and right directions is provided on the horizontal frame (431); a front gripping arm (433) and a rear gripping arm (434) that can move in the front and back directions are provided on the walking frame (432).

7. A loading device for an automated warehouse according to claim 1 or 2, characterized in that: On the pick-and-place mechanism (240) of the warehouse robot II: Picking and placing mechanisms (240) are provided on the opposite sides of the left support wall frame (210) and the right support wall frame (220). The picking and placing mechanism (240) has a clamping arm (243). The upper end of the clamping arm (243) is hinged and the lower end has a load-bearing horizontal plate (243-1). When the lower end of the clamping arm (243) rotates inward, the load-bearing horizontal plate (243-1) can be fastened to the bottom surface of the goods, forming a structure for picking up and holding the goods.

8. A loading device for an automated warehouse according to claim 7, characterized in that: The pick-and-place mechanism (240) is also provided with an auxiliary holding mechanism (245). The auxiliary holding mechanism (245) has a wedge block (245-3), which can move along the arm length direction of the clamping arm (243). When the clamping arm (243) picks up the clamped goods, the clamping arm (243) has a small angle with the vertical direction. When the wedge block (245-3) moves along the arm length direction, it will produce a small distance movement in the horizontal direction, so that the goods are slowly clamped on the left and right sides - forming a structure that avoids displacement in the left and right directions when the goods are clamped.

9. A loading device for an automated warehouse according to claim 2, characterized in that: The outbound conveyor belt (410) is formed by splicing together multiple conveyor belt units (411); wherein each conveyor unit (411) includes a conveyor belt and a drive motor that supports both ends of the conveyor belt, and a support roller that supports the conveyor belt is provided on the lower surface of the conveyor belt. The outbound conveyor belt (410) has an output belt unit (411) that can move forward and backward – forming a structure that separates from the original outbound conveyor belt; the forward and backward moving conveyor belt unit (411) has a lower base and an upper platform, the lower base can move forward and backward, the upper platform can rotate in the horizontal plane, and the upper platform is provided with a conveyor belt and a corresponding drive motor. The position auxiliary adjustment mechanism (440) is set at the front / rear side of the outbound conveyor belt. It includes multiple pressure cylinders (441) on the left side and multiple pressure cylinders (441) on the right side. Each pressure cylinder (441) has a pressure plate at its end and can move left and right. When the conveyor belt unit (411) that can move forward and backward travels to the position auxiliary adjustment mechanism (440) in the forward and backward direction, the pressure cylinder (441) in the left and right position can adjust the left and right position of the goods on the conveyor belt unit (411) - squeezing the left and right walls of the goods; when the conveyor belt unit (411) is rotated ninety degrees, the pressure cylinder (441) in the left and right position can squeeze the other two sides of the goods.

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