CN111301922A

CN111301922A - Clamping type intelligent stereoscopic warehouse for storing and taking PCB finished products and storing method

Info

Publication number: CN111301922A
Application number: CN202010244586.1A
Authority: CN
Inventors: 李荣峰; 揭平良
Original assignee: Shenzhen Miracle Creation Technology Co ltd
Current assignee: Shenzhen Miracle Creation Technology Co ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-06-19

Abstract

A clamping type intelligent stereoscopic warehouse machine storage method for storing and taking PCB finished products relates to the technical field of storage systems. It includes: a plurality of shelves; the clamping plate caching frame is arranged on one side of the goods shelf; the clamping plate lifting device is arranged between the clamping plate cache frames; the clamping type mechanical arm is arranged between the adjacent goods shelves, can move in the horizontal or vertical direction relative to the goods shelves, is used for sending goods put in storage to a preset storage position for storage and taking the goods out when the goods are taken out of the storage; the warehousing operation center is arranged on the ground of the intelligent stereoscopic warehouse and is positioned on one side of the goods shelf; the warehouse-out operation center is arranged on the ground of the intelligent stereoscopic warehouse and is positioned at one side of the warehouse-in center, which is far away from the goods shelf, for warehouse-out operation; and the control center is arranged in the intelligent three-dimensional warehouse and is connected with the goods shelf, the clamping type mechanical arm, the warehousing operation center and the ex-warehouse operation center. By adopting the technical scheme, the goods storing and taking process is simple and convenient, the economic cost is low, and the flexibility is good.

Description

Clamping type intelligent stereoscopic warehouse for storing and taking PCB finished products and storing method

Technical Field

The invention relates to the technical field of warehousing systems, in particular to an intelligent stereoscopic warehouse for clamping and storing PCB finished products and a warehousing method.

Background

With the continuous improvement of the technology level, more intelligent and convenient warehousing systems and stereoscopic warehouses become a new trend for managing warehouses of large-scale factories and logistics companies. Traditional warehouse for storing PCB finished products mainly relies on manual management, and warehouse management personnel need know the goods shelves vacant position constantly to deposit new warehouse entry goods, still need to know the accurate position of each goods simultaneously, so that can in time seek out when drawing the goods. When the warehouse has more goods and the warehouse entry and exit are frequent, the great labor cost is consumed, and the efficiency of the PCB finished product in and out of the warehouse is difficult to ensure.

For solving above-mentioned problem, current intelligent stereoscopic warehouse though can save the PCB finished product, also can realize automatic access, but current intelligent stereoscopic warehouse mostly uses the tray to access as the unit, and deposit and need to break a jam, pile up neatly, tray inflow, carton inflow operation etc. usually when taking, the intelligent stereoscopic warehouse who sets up like this has access goods flow numerous and diverse, economic cost is high, the poor scheduling problem of flexibility ratio, consequently, remains to improve.

Disclosure of Invention

A first object of the present invention is to provide an intelligent stereoscopic warehouse for storing and taking PCB finished products in a clamping and embracing manner, which can store PCB finished products in a box unit, and meanwhile, a clamping and embracing type manipulator can rapidly adjust a clamping distance, a clamping height and a clamping position, so that the clamping and embracing type manipulator can clamp cargo boxes of different sizes, thereby not only simplifying the intelligent stereoscopic warehouse, but also reducing economic cost, and having the advantages of simple and convenient cargo storing and taking process, low economic cost and good flexibility.

In order to achieve the purpose, the invention adopts the technical scheme that: a press from both sides formula of embracing access PCB off-the-shelf intelligence stereoscopic warehouse, includes: the goods shelves are arranged on the ground of the intelligent stereoscopic warehouse and used for storing or caching goods; the card board caching frame is arranged on the ground of the intelligent stereoscopic warehouse, is positioned on one side of the goods shelf and is used for storing goods to be delivered out of the warehouse and card boards; the pallet lifting device is arranged between the pallet cache frames and used for storing pallets and goods placed on the pallets onto the pallet cache frames so as to be taken by goods taking personnel; the clamping type mechanical arm is arranged between the adjacent goods shelves, can move in the horizontal or vertical direction relative to the goods shelves, is used for sending goods put in storage to a preset storage position for storage and taking out the goods when the goods are taken out of the storage; the warehousing operation center is arranged on the ground of the intelligent stereoscopic warehouse, is positioned on one side of the goods shelf and is used for conveying goods to be stored in units of boxes so as to be stored by the clamping and holding type manipulator, and the warehousing operation center is also used for conveying goods to be taken out of the warehouse and taken out by the clamping and holding type manipulator; the delivery operation center is arranged on the ground of the intelligent stereoscopic warehouse, is positioned at one side of the warehousing center far away from the goods shelf and is used for delivering goods to be delivered conveyed by the warehousing center to the delivery operation center; and the control center is arranged in the intelligent stereoscopic warehouse, is connected with the goods shelf, the clamping type mechanical arm, the warehousing operation center and the ex-warehouse operation center and is used for realizing intelligent ex-warehouse and intelligent warehousing of the intelligent stereoscopic warehouse by taking boxes as units.

The clamping type manipulator comprises: the supporting seat can slide relative to the ground to adjust the horizontal clamping position; the two parallel guide rails are arranged on the supporting seat and extend to one side far away from the supporting seat so as to be assembled with the goods shelf in a sliding manner; the telescopic fork brackets are respectively arranged on one sides of the two guide rails which are close to each other and can slide relative to the guide rails so as to adjust the clamping height; the clamping type telescopic fork is arranged on the telescopic fork support and can slide relative to the telescopic fork support to be far away from or close to the installation side of the telescopic fork support, and the clamping distance is adjusted according to the size of goods; the first driving device is arranged on the telescopic fork support, is positioned between the telescopic fork support and the guide rail and is used for driving the telescopic fork support to slide along the guide rail; the second driving device is arranged on the telescopic fork support and used for driving the clamping type telescopic fork to move so as to adjust the clamping distance; the third driving device is arranged on the supporting seat and used for driving the supporting seat to slide; and the control box is arranged on the supporting seat, is connected with the control box and is used for controlling the first driving device, the second driving device and the third driving device to work in sequence.

The goods shelf is characterized in that a guide rod is arranged on one side, far away from the ground, of the goods shelf, a guide wheel is arranged on one side, close to the guide rod, of the guide rail, and the guide wheel is matched with the guide rod to guide the guide rail in a sliding mode.

The third driving device includes: the moving slide rail is fixedly arranged on one side, close to the ground, of the goods shelf and plays a role in guiding and supporting the movement of the supporting seat; the roller is arranged on the supporting seat, assembled with the moving slide rail and used for realizing the movement of the supporting seat on the moving slide rail; the driving sliding rail is fixedly arranged on one side, close to the ground, of the goods shelf and is used for being assembled with the supporting seat; the power source is arranged on the supporting seat and used for providing power for the movement of the supporting seat; and the driving piece is arranged on a power output shaft of the power source, can synchronously rotate along with the power output shaft, and is used for being assembled with the driving slide rail to drive the supporting seat to move.

The shelf includes: the three-dimensional storage rack is used for three-dimensionally storing the whole box of goods; the buffer storage bin goods shelf is arranged side by side with the three-dimensional goods shelf and is used for temporarily buffering the mantissa boxes; the entrance of buffer storage storehouse goods shelves is provided with first automatic bar code collector and first appearance detection device, first automatic bar code collector is used for sweeping sign indicating number discernment and sending identification information to control center to the goods that get into or take out, first appearance detection device is used for carrying out appearance weight detection to the goods that get into or take out.

The warehousing operation center comprises: the warehousing roller conveying line is arranged on one side of the goods shelf and used for conveying goods to be warehoused to the corresponding goods shelf and conveying the goods to be warehoused to the warehouse-out operation center during warehouse-out operation; the jacking transfer machine is arranged on the warehousing roller conveying line, corresponds to the end part of the goods shelf and is used for transferring goods conveyed on the warehousing roller conveying line to the end of the goods shelf for clamping by the clamping type manipulator; the unpacking manipulator is arranged at the feeding position of the warehousing roller conveying line and is used for unpacking the goods to be stored and placing the unpacked goods on the warehousing roller conveying line; the second appearance detection device is arranged on the warehousing roller conveying line and close to one side of the feeding port and is used for detecting the size and the weight of the goods placed on the warehousing roller conveying line; the second automatic code scanner is arranged on the conveying line of the warehousing roller and is used for scanning the bar codes of the goods qualified by the detection of the second appearance detection device and sending the scanned information to the control center; the buffer storage conveying line is arranged on one side of the roller conveying line and is used for receiving and buffering the goods which are not identified by the code scanning of the second automatic code scanner; and the warehousing rotary turntable is arranged on the warehousing roller conveying line and used for transferring the goods which are not scanned and identified by the second automatic code scanner to the caching conveying line.

The warehousing operation center further comprises: the belt conveying line is arranged between the ex-warehouse operation center and the warehousing roller conveying line and is used for manually placing the mantissa boxes and conveying the mantissa boxes to the manual workbench; the third appearance detection device is arranged at the feed inlet of the belt conveying line and is used for detecting the size and the weight of the placed mantissa box; the third automatic code scanner is arranged on the belt conveying line and used for scanning and identifying the mantissa boxes detected by the third appearance detection device and sending identification information to the control center; and the material box cache region is arranged at the side discharge port of the belt conveying line and used for caching the material feeding box.

The warehousing operation center comprises: the delivery roller conveying line is butted with the warehousing roller conveying line and is used for conveying goods to be delivered out of the warehouse on the warehousing roller conveying line to a delivery port; the fourth appearance detection device is arranged at the feeding port of the delivery roller conveying line and is used for detecting the appearance weight of the goods to be delivered out of the warehouse; the fourth automatic code scanner is arranged on the delivery roller conveying line and used for scanning and identifying the fourth appearance detection device and sending the identified information to the control center; the stacking manipulator is arranged at the delivery port of the delivery roller conveying line and is used for stacking the goods to be delivered out of the warehouse; the manual operation table is arranged on the delivery roller conveying line, is positioned between the stacking manipulator and the fourth automatic code scanner and is used for workers to carry out delivery operation; and the delivery rotary table is arranged on the delivery line of the delivery roller, corresponds to the manual operation table and is used for changing the goods transmission direction.

The belt conveying line is a double-layer conveying line, the upper-layer conveying line of the double-layer conveying line is used for feeding materials into the caching warehouse goods shelf, and when the number of the delivered goods exists in the quantity of the delivered goods, the lower-layer conveying line of the double-layer conveying line is used for delivering the mantissa boxes on the caching warehouse goods shelf to the delivery goods.

After the technical scheme is adopted, the invention has the beneficial effects that: when goods are put in a warehouse, unpacking the whole stack of goods by an unpacking mechanical arm, placing the unpacked goods on a conveying line of a warehouse roller box by box, then changing the conveying direction by a jacking transfer machine after the goods are qualified by a second appearance detection device and code scanning identification by a second automatic code scanner, conveying the warehoused goods to the inlet of a corresponding three-dimensional warehouse goods shelf, and storing the goods on a preset storage position by a clamping and holding mechanical arm according to a control signal of a control center; the mantissa box is manually placed on the mantissa conveying line, the upper layer of the belt conveying line is conveyed to the position of the manual workbench, and after the mantissa box is processed by the manual workbench, the mantissa box is stored on the storage rack of the cache bin after passing through the first appearance detection device and the first automatic code scanner. When goods are delivered from a warehouse, order information of delivery is input into a control center, the control center controls a clamping type mechanical arm to place the whole box of goods on a warehouse entry roller conveying line to a delivery roller conveying line, the goods are scanned by a fourth appearance detection device and a fourth automatic code scanner and then operated by a manual operation table, the goods are conveyed to a stacking mechanical arm to be stacked, a tail part is taken out of a cache bin goods shelf, the goods are then subjected to first appearance detection and first automatic code scanner and then operated by the manual operation table, the goods are conveyed to the stacking mechanical arm to be stacked, after stacking, the stacked boards and the goods are stored on a cardboard cache shelf through a cardboard lifting device to be cached, and a goods taker can take the goods by means of the codes. The intelligent stereoscopic warehouse arranged in this way has the advantages of simple goods storing and taking process, low economic cost and good flexibility.

In view of the defects and shortcomings of the prior art, the second objective of the present invention is to provide a warehousing method, which not only simplifies the storage process, but also reduces the economic cost, and has the advantages of simple and convenient goods storing and taking process, low economic cost and good flexibility.

In order to achieve the purpose, the invention adopts the technical scheme that: a warehousing method is based on the intelligent stereoscopic warehouse and comprises the following steps:

s1, placing the PCB finished products into a warehousing operation center, and conveying the PCB finished products to the corresponding position of the goods shelf by the warehousing operation center so as to facilitate the operation of the clamping type manipulator;

s2, the control center controls the clamping type manipulator to convey the PCB finished goods sorted and conveyed by the warehousing operation center to the corresponding storage position of the corresponding shelf for storing the PCB finished goods;

s3, inputting order information to the control center, and enabling the control center to control the ex-warehouse operation center to sort goods in the order information according to the order information and perform stacking operation;

s4, the pallet and the materials which are stacked are transported to the pallet buffer frame through the pallet lifting device to be buffered, so that goods taking personnel can take the goods by the aid of the codes.

After the method is adopted: when the goods are stored and taken, the finished PCB products can be stored by taking the box as a unit, meanwhile, the warehousing mode is simple and convenient, the ex-warehouse mode is quick and accurate, the storing and taking process is simplified, the economic cost is reduced, and the storage and taking system has the advantages of simplicity and convenience in goods storing and taking process, low economic cost and good flexibility.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present embodiment;

FIG. 2 is a partial schematic view of the structure corresponding to FIG. 1;

fig. 3 is a schematic structural diagram of a shelf and a clasping manipulator in the embodiment;

FIG. 4 is a left side view corresponding to FIG. 3;

FIG. 5 is an enlarged partial view corresponding to detail A in FIG. 4;

FIG. 6 is an enlarged partial view corresponding to detail B in FIG. 4;

fig. 7 is a schematic structural view of a clasping type manipulator in the embodiment;

fig. 8 is a partial structural schematic view of the clasping type manipulator in the embodiment;

FIG. 9 is a block diagram illustrating a process of warehousing a whole container of goods in this embodiment;

FIG. 10 is a block diagram illustrating the process of warehousing the mantissa box cargo in this embodiment;

fig. 11 is a block diagram of the shipment process in this embodiment.

Description of reference numerals: 1. a shelf; 11. a stereoscopic warehouse shelf; 12. a buffer storage bin shelf; 13. a first automatic code scanner; 14. a first shape detection device; 15. a manual work bench; 16. a guide bar; 2. a card board cache frame; 3. a pallet lifting device; 4. a gripping manipulator; 41. a supporting seat; 42. a guide rail; 43. a telescopic fork support; 44. a clamping type telescopic fork; 45. a first driving device; 46. a second driving device; 47. a third driving device; 471. a moving slide rail; 472. a roller; 473. driving the slide rail; 474. a power source; 475. a drive member; 476. a fixed part; 477. a support portion; 478. an assembling portion; 479. a guide wheel; 48. a control box; 5. a warehousing operation center; 51. a warehousing roller conveying line; 52. jacking and transferring machine; 53. a unpacking manipulator; 54. a second profile detection device; 55. a second automatic code scanner; 56. caching the conveying line; 57. warehousing and rotating the rotary table; 58. a belt conveyor line; 59. a third shape detection device; 50. a third scanner; 501. a bin buffer area; 6. a warehouse-out operation center; 61. a delivery roller conveying line; 62. a fourth profile detection device; 63. a fourth automatic code scanner; 64. a stacking manipulator; 65. a manual operation table; 66. rotating the rotary table for delivery; 67. an automatic labeling machine; 7. and a control center.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment as necessary without making a contribution thereto after reading the present specification, but all are protected by patent laws within the scope of the claims of the present invention.

The embodiment relates to an intelligent stereoscopic warehouse for holding and storing PCB finished products, as shown in fig. 1-8, comprising: the automatic card delivery system comprises a shelf 1, a card caching frame 2, a card lifting device 3, a clamping type manipulator 4, a warehousing operation center 5, a warehousing operation center 6 and a control center 7.

As shown in fig. 1 to 8, a plurality of shelves 1 are provided. Goods shelves 1 set up in intelligent stereoscopic warehouse subaerial, and goods shelves 1 are used for supplying the goods to deposit or the buffer memory. Cardboard buffer memory frame 2 sets up in intelligent stereoscopic warehouse subaerial, and lie in goods shelves 1 one side. Cardboard buffer memory frame 2 is used for depositing and waits to go out warehouse goods and cardboard. Cardboard elevating gear 3 sets up between cardboard buffer memory frame 2. Cardboard elevating gear 3 is used for depositing the cardboard and place the goods on the cardboard to cardboard buffer memory frame 2 on, for the personnel of getting goods get goods. The clamping type mechanical arm 4 is arranged between the adjacent goods shelves 1, and the clamping type mechanical arm 4 can move in the horizontal or vertical direction relative to the goods shelves 1. The clamping type mechanical arm 4 is used for conveying the warehoused goods to a preset storage position for storage. When the goods are delivered from the warehouse, the clamping type mechanical arm 4 is used for taking out the goods.

The warehousing operation center 5 is arranged on the ground of the intelligent stereoscopic warehouse and is positioned on one side of the goods shelf 1. The warehousing operation center 5 is used for conveying goods to be stored by taking boxes as units so as to store the clamping type mechanical arm 4. When the goods are delivered out of the warehouse, the warehouse entry center is also used for conveying the goods to be delivered out of the warehouse, which are taken out by the clamping type mechanical arm 4. The warehouse-out operation center 6 is arranged on the ground of the intelligent stereoscopic warehouse, and the warehouse-out operation center 6 is positioned at one side of the warehouse-in center, which is far away from the goods shelf 1. The ex-warehouse operation center 6 is used for carrying out ex-warehouse operation on goods to be delivered from the warehouse, which are conveyed by the warehouse entry center. The control center 7 is arranged in the intelligent three-dimensional warehouse. The control center 7 is connected with the goods shelf 1, the clamping and holding type mechanical arm 4, the warehousing operation center 5 and the ex-warehousing operation center 6, and the control center 7 is used for realizing intelligent ex-warehousing of the intelligent stereoscopic warehouse by taking boxes as units.

Further, as shown in fig. 1 and 2, the shelf 1 includes: a three-dimensional storage rack 11 and a buffer storage rack 12. The stereoscopic warehouse shelf 11 is used for performing stereoscopic storage on the whole box of goods. The buffer storage shelf 12 and the three-dimensional storage shelf 11 are arranged side by side, and the buffer storage shelf 12 is used for temporarily buffering the mantissa boxes, so that the mantissa boxes can be conveniently stored and taken out. In this embodiment, the cardboard buffer memory is additionally provided with a set, and three-dimensional storehouse goods shelves 11 are provided with 11 groups, and buffer memory storehouse goods shelves 12 are provided with 1 group. The three-dimensional storage rack 11 is provided with four storage compartments with different sizes, 24156 workbins can be stored in total, and the size of the three-dimensional storage compartments is 24800 multiplied by 2500 multiplied by 2680 mm. The card cache shelf 2 is designed to be 24.8 meters in length, supplying 13 columns, 2 rows, 2 layers, 52 bins, and the bin size is 1500 × 800 × 890 millimeters.

Further, as shown in fig. 1 and 2, a first automatic code scanner 13 and a first shape detection device 14 are provided at the entrance of the buffer storage shelf 12. The first automatic code scanner 13 is used for scanning and identifying the entering or taking-out goods and sending the identification information to the control center 7. The first shape detection device 14 is used for shape weight detection of the entered or taken out cargo.

Further, as shown in fig. 1 to 8, the clasping manipulator 4 includes: the supporting seat 41, the guide rail 42, the telescopic fork bracket 43, the clamping type telescopic fork 44, the first driving device 45, the second driving device 46, the third driving device 47 and the control box 48.

The support 41 is slidable relative to the ground to adjust the horizontal clamping position. The guide rail 42 is provided on the support base 41, and the guide rail 42 extends to a side away from the support base 41 so as to be slidably fitted to the shelf 1. The guide rail 42 is provided with two and the two guide rails 42 are parallel to each other. The telescopic fork brackets 43 are respectively arranged on the two guide rails 42 at the side close to each other, and the telescopic fork brackets 43 can slide relative to the guide rails 42, so that the clamping height can be adjusted. The pinch type telescopic fork 44 is provided on the telescopic fork support 43, and the pinch type telescopic fork 44 can slide relative to the telescopic fork support 43 so as to be away from or close to the mounting side of the telescopic fork support 43. The clamping type telescopic fork 44 is used for adjusting the clamping distance according to the size of goods, so that the material box can adapt to material boxes with different sizes. The first driving device 45 is disposed on the telescopic fork bracket 43, and the first driving device 45 is located between the telescopic fork bracket 43 and the guide rail 42. The first driving device 45 is used for driving the telescopic fork bracket 43 to slide along the guide rail 42. The second driving device 46 is disposed on the telescopic fork support 43, and the second driving device 46 is used for driving the clamping type telescopic fork 44 to move, so as to adjust the clamping distance. The third driving device 47 is disposed on the supporting base 41 and is used for driving the supporting base 41 to slide. The control box 48 is disposed on the supporting base 41 and connected to the control box, and the control box 48 is used for controlling the first driving device 45, the second driving device 46 and the third driving device 47 to work sequentially.

Further, as shown in fig. 1 to 8, the third driving device 47 includes: a motion slide 471, a roller 472, a drive slide 473, a power source 474, and a drive member 475. The moving slide rail 471 is fixedly installed on the shelf 1 near the ground, and the moving slide rail 471 guides and supports the movement of the supporting seat 41. The roller 472 is disposed on the supporting base 41 and assembled with the moving slide 471. The roller 472 is used to realize the movement of the supporting seat 41 on the moving slide 471. The driving slide 473 is fixedly installed on the shelf 1 near the ground, and the driving slide 473 is used for being assembled with the supporting seat 41. The power source 474 is disposed on the support base 41, and the power source 474 is used for providing power for the movement of the support base 41. Drive member 475 is mounted on the power output shaft of power source 474 such that drive member 475 rotates synchronously with the power output shaft. The driving member 475 is adapted to be assembled with the driving slide 473, thereby driving the supporting seat 41 to move.

Preferably, the driving slide 473 is a rack protruding from the shelf 1, and the driving element 475 is a driving gear protruding from the supporting base 41, and the driving gear is engaged with the rack. After the clamping and embracing type mechanical arm 4 is opened, the driving gear is driven to rotate by the power source 474, so that the driving gear moves on the rack, and power is provided for the movement of the clamping and embracing type mechanical arm 4.

Specifically, as shown in fig. 1 to 8, the moving slide 471 includes: a fixing portion 476, a support portion 477, and a fitting portion 478. The fixing portion 476 is fixedly attached to the shelf 1. The support 477 is disposed on the fixing portion 476 near the support base 41. The fitting portion 478 is provided on the support portion 477, and the fitting portion 478 has a lateral dimension larger than that of the support portion 477. The fitting portion 478 is adapted to be fitted with the roller 472. In the present embodiment, the fixing portion 476 and the support base are fixedly assembled by fastening screws. The support portion 477 and the fitting portion 478 are each integrally formed with the fixing portion 476.

Preferably, two moving slide rails 471 are arranged in parallel, so as to ensure the stability of the clip-type manipulator 4 during movement, and the driving slide rail 473 is arranged between the two moving slide rails 471.

Preferably, as shown in fig. 1-8, the shelf 1 is provided with a guide bar 16 on the side away from the ground, and the guide rail 42 is provided with a guide wheel 479 on the side close to the guide bar 16, the guide wheel 479 being adapted to the guide bar 16 to guide the sliding movement of the guide rail 42. The guide wheels 479 are provided in two sets and are respectively located on both sides of the guide bar 16. When the clamping type mechanical arm 4 moves, the guide wheel 479 rolls along the side wall of the guide rod 16, so that the upper end of the clamping type mechanical arm 4 is stabilized, and the running stability of the clamping type mechanical arm 4 is further ensured.

As shown in fig. 1-2, the warehousing work center 5 includes: a warehousing roller conveying line 51, a jacking transfer machine 52, an unpacking manipulator 53, a second appearance detection device 54, a second automatic code scanner 55, a cache conveying line 56 and a warehousing rotary turntable 57.

The storage roller conveyor line 51 is provided on the shelf 1 side. The warehousing roller conveyor line 51 is used for conveying goods to be warehoused to the corresponding goods shelf 1; the warehousing-in drum conveyor line 51 is also used for conveying goods to be warehoused to the warehouse-out operation center 6 during warehouse-out operation. The jacking transfer machine 52 is provided on the warehousing roller conveyor line 51 and is correspondingly provided at the end of the shelf 1. The jacking transfer machine 52 is used for transferring the goods conveyed by the warehousing roller conveying line 51 to the inlet of the shelf 1 for being clamped by the clamping type manipulator 4. The unpacking robot 53 is disposed at a feed port of the warehousing roller conveyor line 51. The unpacking manipulator 53 is used for unpacking the goods to be stored and placing the unpacked goods on the warehousing roller conveyor line 51.

The second profile inspection device 54 is disposed on the side of the warehousing roller conveyor line 51 near the material inlet. The second profile inspection device 54 is used for performing size and weight inspection of the goods put on the warehousing-in-drum conveyor line 51. The second automatic scanner 55 is provided on the garage roller conveyor line 51. The second automatic bar code scanner 55 is used for scanning bar codes of the goods qualified by the second profile inspection device 54, and then sending scanned information to the control center 7. The buffer conveying line 56 is arranged on one side of the roller conveying line. The buffer transfer line 56 is used for receiving and buffering the goods which are not identified by the scanning of the second automatic scanner 55. The warehousing rotary turntable 57 is provided on the warehousing roller conveyor line 51. The warehousing rotary turntable 57 is used for transferring the goods which are not scanned by the second automatic code scanner 55 to the buffer conveying line 56.

Further, as shown in fig. 1-2, the warehousing work center 5 further includes: a belt conveyor line 58, a third profile inspection device 59, a third scanner 50, and a bin buffer 501. The belt conveyor line 58 is provided between the delivery work center 6 and the warehousing-in roller conveyor line 51. The belt conveyor 58 is used for manually placing the fraction boxes and conveying the fraction boxes to the manual working table 15. The third appearance detection device 59 is arranged at the feeding port of the belt conveyor line 58, and the third appearance detection device 59 is used for detecting the size and the weight of the placed fraction box. The third automatic code scanner is disposed on the belt conveying line 58, and is configured to perform code scanning recognition on the mantissa boxes detected by the third appearance detecting device 59, and send the recognition information to the control center 7. The bin buffer area 501 is arranged at the discharge port on the belt conveying line 58 side, and the bin buffer area 501 is used for bin buffer storage.

Further, as shown in fig. 1-2, the warehousing work center 5 includes: the delivery roller conveying line 61, a fourth outline detection device 62, a fourth automatic code scanner 63, a stacking manipulator 64, a manual operation table 65 and a delivery rotary turntable 66.

Specifically, the delivery roller conveyor line 61 is butted with the warehousing roller conveyor line 51, and the delivery roller conveyor line 61 is used for conveying goods to be delivered from the warehouse on the warehousing roller conveyor line 51 to a delivery port. The fourth outline detecting device 62 is disposed at the feeding port of the delivery roller conveyor line 61. The fourth shape detection device 62 is used for detecting the shape and weight of the goods to be delivered from the warehouse. The fourth automatic scanner 63 is provided on the delivery roller conveyor line 61. The fourth automatic code scanner 63 is configured to perform code scanning recognition on the information passing through the fourth shape detection device 62, and send the recognized information to the control center 7. The palletizing manipulator 64 is arranged at the delivery port of the delivery roller conveying line 61. The palletizing manipulator 64 is used for palletizing goods to be delivered out of the warehouse. The manual operation table 65 is provided on the delivery drum line 61, and the manual operation table 65 is located between the stacking robot 64 and the fourth automatic scanner 63. The manual operation table 65 is used for a worker to perform an ex-warehouse operation. The delivery rotary table 66 is provided on the delivery drum line 61, and the delivery rotary table 66 corresponds to the manual operation table 65. The delivery rotary table 66 is used to change the direction of the goods transfer.

Preferably, the manual console 65 as shown in fig. 1-2 comprises: a packing and marking operation table, a sealing and packaging operation table, a vacuum packaging operation table, a boxing operation table, a quality detection operation table and the like. The four packaging and marking operation tables are provided with four delivery rotary tables 66 corresponding to the delivery roller conveying lines 61. The delivery roller conveyor line 61 is provided with an automatic labeling machine 67, and the automatic labeling machine 67 is arranged at the rear part of the quality detection operation table.

Further, as shown in fig. 1-2, the belt conveying line 58 is a double-layer conveying line, an upper layer conveying line of the double-layer conveying line is used for feeding materials into the buffer storage bin racks 12, and when there are mantissas in the warehouse-out quantity, a lower layer conveying line of the double-layer conveying line is used for discharging the mantissa boxes on the buffer storage bin racks 12. When the fraction box is delivered out of the warehouse, the fraction box on the lower layer conveying line can be conveyed to the manual workbench 15 for manual operation.

The working principle of the present embodiment is roughly as follows: when goods are put in storage, unpacking the whole box or the whole stack of goods by an unpacking mechanical arm 53, placing the unpacked goods on a storage roller conveying line 51 box by box, then changing the conveying direction by a jacking transfer machine 52 after the goods are qualified by a second appearance detection device 54 and code scanning identification by a second automatic code scanner 55, conveying the goods to be put in storage to the inlet of a corresponding three-dimensional storage rack 11, and storing the goods on a preset storage position by a clamping and holding type mechanical arm 4 according to a control signal of a control center 7; the mantissa box is manually placed on the mantissa conveying line, the upper layer of the mantissa box with the belt conveying line 58 is conveyed to the position of the manual workbench 15, and after the mantissa box is processed by the manual workbench 15 and passes through the first appearance detection device 14 and the first automatic code scanner 13, the mantissa box is stored on the cache storage shelf 12. When goods are delivered from the warehouse, order information of delivery is input into the control center 7, the control center 7 controls the clamping type mechanical arm 4 to place the whole box of goods on the warehouse entry roller conveying line 51 and convey the whole box of goods to the delivery roller conveying line 61, then the goods are scanned by the fourth appearance detection device 62 and the fourth automatic code scanner 63, then the goods are operated by the manual operation table 65 and conveyed to the stacking mechanical arm 64 for stacking operation, the tail part is taken out of the cache warehouse shelf 12, then the goods are conveyed to the stacking mechanical arm 64 for stacking operation after the first appearance detection and the first automatic code scanner 13 are operated by the manual operation table 65, and after the stacking operation is finished, the stacked cards and the goods are stored on the card cache shelf 2 for caching by the card lifting device 3 so as to be delivered by a person. The intelligent stereoscopic warehouse arranged in this way has the advantages of simple goods storing and taking process, low economic cost and good flexibility.

Based on the above scheme, this embodiment further provides a warehousing method, as shown in fig. 9 to 11, the method includes the following steps:

s1, putting the PCB finished products into the warehousing operation center 5, and conveying the PCB finished products to the corresponding goods shelf 1 by the warehousing operation center 5 so as to facilitate the operation of the clamping type manipulator 4;

s2, the control center 7 controls the clamping type mechanical arm 4 to convey the PCB finished goods sorted and conveyed by the warehousing operation center 5 to the corresponding storage position of the corresponding shelf 1 for storing the PCB finished goods;

s3, inputting order information to the control center 7, so that the control center 7 controls the ex-warehouse operation center 6 to sort and stack goods in the order information according to the order information;

s4, the pallet and the materials which are stacked are transported to the pallet buffer frame 2 through the pallet lifting device 3 to be buffered, so that the goods taking personnel can take the goods by the aid of the codes.

Specifically, when the goods are put in storage, as shown in fig. 9, step S1 includes the steps of:

s11, manually placing the whole stack or the whole box of PCB finished products to be warehoused at the unpacking manipulator 53, and unstacking and grabbing the finished products through the unpacking manipulator 53, so that the finished products of the PCB are placed on the warehousing roller conveying line 51 to be conveyed in a box unit;

s12, detecting the shape and the weight of the warehoused goods through the second shape detection device 54, sending the data of the detected shape and the detected weight to the control center 7, and further facilitating the control center 7 to control the warehousing roller conveyor line 51 to convey the warehoused goods to the corresponding storage rack 1 inlet;

s13, carrying out bar code scanning and identification through a second bar code scanner so as to obtain basic information of the entering goods, and sending the identification information to the control center 7 after identification so as to facilitate the recording of the control center 7; if the goods which are not scanned are conveyed to the cache conveying line 56 through the warehousing rotary turntable 57, the goods enter the warehousing conveying line again for warehousing operation after being manually processed;

s14, the control center 7 controls the warehousing conveying line to convey goods to be warehoused to the corresponding three-dimensional warehouse shelf 11 according to the detection data of the second appearance detection device 54 and the information identified by the second code scanner, and then the corresponding jacking transfer machine 52 transfers the goods to the feeding port of the corresponding three-dimensional warehouse shelf 11;

s15, the control center 7 controls the clamping type manipulator 4 to send goods at the feeding port of the three-dimensional storage rack 11 to the corresponding storage bin grid for storage.

When there is a mantissa in the goods of the warehousing lot, as shown in fig. 10, step S1 further includes:

s16, manually placing the mantissa boxes on the mantissa conveying line, sequentially performing appearance size detection and weight detection through the third appearance detection device 59, performing code scanning identification through the third code scanner, and sending information of the code scanning identification to the control center 7 for recording;

s17, sending the mantissa boxes to the bin buffer area 501 for buffering through the mantissa conveying line so as to be operated by the manual workbench 15;

s18, after passing through the manual operation table 65, the mantissa boxes are sent to a feeding port of the cache storage shelf 12, the shape detection is carried out through the first shape detection device 14, and after the first code scanner carries out code scanning identification, the mantissa boxes are stored in corresponding storage grids on the cache storage shelf 12 through the clamping and holding type mechanical arm 4.

Specifically, when the goods are delivered from the warehouse, as shown in fig. 11, step S3 includes:

s31, inputting the ex-warehouse order information into the control center 7, and judging whether the order quantity has a mantissa part by the control center 7;

s32, controlling the clamping and holding type mechanical arm 4 to take corresponding order goods by the control center 7 according to the ex-warehouse order information, placing the order goods on the warehousing roller conveying line 51, and conveying the order goods to the ex-warehouse roller conveying line 61 by the warehousing roller conveying line 51;

s33, the delivery roller conveyor line 61 conveys the order goods to the fourth outline detection device 62 for outline dimension detection and weight detection so as to obtain the dimension and weight information of the order goods;

s34, the delivery roller conveying line 61 conveys the order goods to a fourth code scanner for code scanning identification so as to identify the information of the order goods and record the quantity, and then the order goods are sent to the control center 7;

s35, the delivery roller conveying line 61 conveys the order goods to the manual operation table 65 through the delivery rotary turntable 66 for manual operation, then the delivery roller conveying line 61 conveys the order goods to the stacking manipulator 64, and the stacking manipulator 64 loads the order goods on the pallet;

s36, the loaded pallet and the loaded goods are conveyed to the pallet cache frame 2 through the pallet lifting device 3 to be subjected to warehouse-out cache, so that the goods taking personnel can take the order goods according to the goods taking codes.

S37, controlling the clamping type manipulator 4 to take the corresponding mantissa box from the storage bin goods shelf 12 by the control center 7 according to the mantissas existing in the order goods, and sending the taken mantissa box to the manual workbench 15 for mantissa processing after code scanning identification of the selected mantissa box by the first automatic code scanner 13 and detection of the size and the weight of the selected mantissa box by the first appearance detection device 14;

and S39, placing the mantissa boxes after the mantissa processing on a lower layer conveying line of a double-layer conveying line, conveying the mantissa boxes to a manual operation table 65 by a lower layer conveying line for manual ex-warehouse sorting, and conveying the mantissa boxes to a stacking manipulator 64 for ex-warehouse after the ex-warehouse sorting is completed.

The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered by the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. The utility model provides a press from both sides formula of embracing access PCB off-the-shelf intelligence stereoscopic warehouse which characterized in that includes:

a plurality of shelves (1) which are arranged on the ground of the intelligent stereoscopic warehouse and used for storing or caching goods; the card board cache frame (2) is arranged on the ground of the intelligent stereoscopic warehouse, is positioned on one side of the goods shelf (1) and is used for storing goods to be delivered out of the warehouse and card boards;

the pallet lifting device (3) is arranged between the pallet cache frames (2) and is used for storing pallets and goods placed on the pallets onto the pallet cache frames (2) so as to be taken by goods taking personnel;

the clamping and clasping type mechanical arm (4) is arranged between the adjacent goods shelves (1), can move in the horizontal or vertical direction relative to the goods shelves (1), is used for conveying goods stored in a warehouse to a preset storage position for storage, and takes out the goods when the goods are taken out of the warehouse;

the warehousing operation center (5) is arranged on the ground of the intelligent stereoscopic warehouse and positioned on one side of the goods shelf (1) and used for conveying goods to be stored in units of boxes for storage of the clamping and holding type mechanical arm (4), and the warehousing operation center is also used for conveying goods to be taken out of the warehouse and taken out by the clamping and holding type mechanical arm (4);

the delivery operation center (6) is arranged on the ground of the intelligent stereoscopic warehouse, is positioned at one side of the warehousing center, which is far away from the goods shelf (1), and is used for delivering goods to be delivered from the warehousing center; and the control center (7) is arranged in the intelligent stereoscopic warehouse, is connected with the goods shelf (1), the clamping type manipulator (4), the warehousing operation center (5) and the ex-warehouse operation center (6) and is used for realizing the intelligent stereoscopic warehouse taking boxes as units to intelligently go out and put in a warehouse.

2. The clip-and-clip type intelligent stereoscopic warehouse for storing and taking PCB finished products as claimed in claim 1, wherein the clip-and-clip type manipulator (4) comprises:

a support base (41) which can slide relative to the ground to adjust the horizontal clamping position;

two parallel guide rails (42) which are arranged on the supporting seat (41) and extend to one side far away from the supporting seat (41) so as to be assembled with the goods shelf (1) in a sliding way;

telescopic fork brackets (43) which are respectively arranged on the two guide rails (42) at the side close to each other and can slide relative to the guide rails (42) to adjust the clamping height;

a clasping type telescopic fork (44) which is arranged on the telescopic fork support (43) and can slide relative to the telescopic fork support (43) to be far away from or close to the installation side of the telescopic fork support (43) and is used for adjusting the clamping distance according to the size of goods;

a first driving device (45) which is arranged on the telescopic fork bracket (43), is positioned between the telescopic fork bracket (43) and the guide rail (42) and is used for driving the telescopic fork bracket (43) to slide along the guide rail (42);

the second driving device (46) is arranged on the telescopic fork bracket (43) and is used for driving the clamping type telescopic fork (44) to move so as to adjust the clamping distance;

a third driving device (47) which is arranged on the supporting seat (41) and is used for driving the supporting seat (41) to slide; and the number of the first and second groups,

and the control box (48) is arranged on the supporting seat (41), is connected with the control box and is used for controlling the first driving device (45), the second driving device (46) and the third driving device (47) to work in sequence.

3. The clip holding type intelligent stereoscopic warehouse for storing and taking PCB finished products as claimed in claim 2, wherein a guide bar (16) is arranged on one side of the shelf (1) far away from the ground, a guide wheel (479) is arranged on one side of the guide rail (42) close to the guide bar (16), and the guide wheel (479) is adapted to the guide bar (16) for guiding the guide rail (42) in a sliding manner.

4. The intelligent stereoscopic warehouse for clip and hold type access of PCB finished products as claimed in claim 3, wherein the third driving device (47) comprises:

the moving slide rail (471) is fixedly arranged on one side, close to the ground, of the goods shelf (1) and plays a role in guiding and supporting the movement of the supporting seat (41);

the roller (472) is arranged on the supporting seat (41), is assembled with the moving slide rail (471) and is used for realizing the movement of the supporting seat (41) on the moving slide rail (471);

a driving slide rail (473) which is fixedly arranged on one side, close to the ground, of the goods shelf (1) and is used for being assembled with the supporting seat (41);

the power source (474) is arranged on the supporting seat (41) and used for providing power for the movement of the supporting seat (41); and the number of the first and second groups,

and the driving piece (475) is arranged on a power output shaft of the power source (474), can synchronously rotate along with the power output shaft, and is used for being assembled with the driving slide rail (473) to drive the supporting seat (41) to move.

5. The clip and hold intelligent stereoscopic warehouse for accessing PCB finished products as claimed in any one of claims 1 to 4, wherein the shelf (1) comprises:

a three-dimensional storage rack (11) for three-dimensionally storing the whole box of goods; and the number of the first and second groups,

a buffer storage bin shelf (12) which is arranged side by side with the three-dimensional storage bin shelf (11) and is used for temporarily buffering the mantissa boxes; a first automatic code scanner (13) and a first appearance detection device (14) are arranged at the entrance of the cache bin shelf (12),

the first automatic code scanner (13) is used for scanning code identification of the entered or taken goods and sending identification information to the control center (7), and the first appearance detection device (14) is used for detecting the appearance weight of the entered or taken goods.

6. The intelligent stereoscopic warehouse for clamping and storing PCB finished products according to claim 5, characterized in that the warehousing operation center (5) comprises:

the warehousing roller conveying line (51) is arranged on one side of the goods shelf (1) and used for conveying goods to be warehoused to the corresponding goods shelf (1) and conveying the goods to be warehoused to the warehouse-out operation center (6) during warehouse-out operation; the jacking transfer machine (52) is arranged on the warehousing roller conveying line (51), corresponds to the end part of the goods shelf (1), and is used for transferring goods conveyed on the warehousing roller conveying line (51) to the end of the goods shelf (1) for clamping by the clamping and holding type mechanical arm (4);

the unpacking mechanical arm (53) is arranged at the feeding position of the warehousing roller conveying line (51) and is used for unpacking the goods to be stored and placing the unpacked goods on the warehousing roller conveying line (51); the second appearance detection device (54) is arranged on the warehousing roller conveying line (51), is close to one side of the feeding port and is used for detecting the size and the weight of the goods placed on the warehousing roller conveying line (51);

the second automatic bar code scanner (55) is arranged on the warehousing roller conveying line (51) and is used for scanning bar codes of the goods qualified by the detection of the second appearance detection device (54) and sending scanned information to the control center (7);

a buffer conveying line (56) which is arranged at one side of the roller conveying line and is used for receiving and buffering the goods which are not identified by the scanning of the second automatic code scanner (55); and the number of the first and second groups,

and the warehousing rotary turntable (57) is arranged on the warehousing roller conveying line (51) and is used for transferring the goods which are not scanned by the second automatic code scanner (55) to the caching conveying line (56).

7. The intelligent stereoscopic warehouse for clamping and storing PCB finished products according to claim 6, wherein the warehousing operation center (5) further comprises:

the belt conveying line (58) is arranged between the warehouse-out operation center (6) and the warehouse-in roller conveying line (51) and is used for manually placing the mantissa boxes and conveying the mantissa boxes to the manual workbench (15);

the third appearance detection device (59) is arranged at the feed inlet of the belt conveying line (58) and is used for detecting the size and the weight of the placed mantissa box;

the third automatic code scanner is arranged on the belt conveying line (58) and used for scanning and identifying the mantissa boxes detected by the third appearance detection device (59) and sending identification information to the control center (7); and the number of the first and second groups,

and the bin buffer area (501) is arranged at the discharge port on the side of the belt conveying line (58) and used for buffering the feeding box.

8. The intelligent stereoscopic warehouse for clamping and storing PCB finished products according to claim 7, characterized in that the warehousing operation center (5) comprises:

the delivery roller conveying line (61) is butted with the warehousing roller conveying line (51) and is used for conveying goods to be delivered out of the warehouse on the warehousing roller conveying line (51) to a delivery port;

the fourth appearance detection device (62) is arranged at the feeding port of the delivery roller conveying line (61) and is used for detecting the appearance weight of goods to be delivered out of the warehouse;

the fourth automatic code scanner (63) is arranged on the delivery roller conveying line (61) and is used for scanning and identifying the fourth appearance detection device (62) and sending the identified information to the control center (7); the stacking manipulator (64) is arranged at the delivery port of the delivery roller conveying line (61) and is used for stacking the goods to be delivered;

a manual operation table (65) which is arranged on the delivery roller conveying line (61) and is positioned between the stacking manipulator (64) and the fourth automatic code scanner (63) and is used for workers to carry out delivery operation; and a delivery rotary table (66) which is arranged on the delivery roller conveying line (61), corresponds to the manual operation table (65) and is used for changing the goods conveying direction.

9. The intelligent stereoscopic warehouse for clamping and storing PCB finished products according to claim 8, characterized in that the belt conveyor line (58) is a double-layer conveyor line, an upper layer of the double-layer conveyor line is used for feeding materials into the cache storage shelves (12), and a lower layer of the double-layer conveyor line is used for discharging the mantissa boxes on the cache storage shelves (12) when the mantissas exist in the quantity of discharged stores.

10. A warehousing method, characterized in that it is based on an intelligent stereoscopic warehouse according to claim 9, comprising the following steps:

s1, putting the PCB finished product into a warehousing operation center (5), and conveying the PCB finished product to a position corresponding to the goods shelf (1) by the warehousing operation center (5) so as to facilitate the operation of the clamping type manipulator (4);

s2, the control center (7) controls the clamping type manipulator (4) to convey the PCB finished goods sorted and conveyed by the warehousing operation center (5) to the corresponding storage position of the corresponding shelf (1) for storing the PCB finished goods;

s3, inputting order information to the control center (7), so that the control center (7) controls the ex-warehouse operation center (6) to sort and stack goods in the order information according to the order information;

s4, the pallet and the materials which are stacked are transported to the pallet caching frame (2) through the pallet lifting device (3) to be cached, so that goods taking personnel can take goods according to the codes.