CN115196231A

CN115196231A - Ultra-large-capacity multi-robot double-channel intelligent warehouse

Info

Publication number: CN115196231A
Application number: CN202210837362.0A
Authority: CN
Inventors: 李游; 华鑫; 季敏军; 高益波; 陶中燕
Original assignee: Suzhou Paixun Intelligent Technology Co ltd
Current assignee: Suzhou Paixun Intelligent Technology Co ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2022-10-18
Anticipated expiration: 2042-07-15
Also published as: CN115196231B

Abstract

The patent discloses a super-large-capacity multi-robot double-channel intelligent warehouse, which comprises a storage bin and a control system; the storage bin is a double-channel storage bin, each channel is provided with a feeding port and a discharging port, and a feeding device, a storage rack, a transfer device and a conveying device are arranged in each channel; the feeding device is arranged on one side of a feeding opening of the channel, the feeding device can sort materials, the transfer device can clamp the materials, the transfer device can detect the thickness of the materials, and one end of the conveying device in the conveying direction is arranged at a discharging opening; the control system is configured to control the motion of the storage bin. The patent designs double channels and designs storage bins with different sizes so as to obtain the maximum storage capacity; set up the different thickness and the not unidimensional of third sensor and fourth sensor detection material, be convenient for match the best size's storage storehouse check, realize the maximize that utilizes of storage work or material rest, the manipulator sets up the spring, and the material is avoided damaging in the elasticity centre gripping, can also adjust the size of clamping-force.

Description

Ultra-large-capacity multi-robot double-channel intelligent warehouse

Technical Field

The invention relates to the field of material storage, in particular to ultra-large-capacity multi-robot double-channel intelligent storage.

Background

As companies typically increase in production and operation scale, the need for storage becomes urgent, requiring not only larger storage bins, but also the ability to store multiple sizes of products or raw materials if the products or raw materials are of a wide variety. To address the above problem, how to obtain a storage bin with a larger storage capacity without increasing the number of storage bins or multiplying the volume of the storage bins? How to improve the utilization of the storage compartment? How can products or raw materials of various sizes be stored simultaneously?

In addition, the material is got to conventional robot mechanical type clamp, how to design the robot that avoids the material damage. How to simply and quickly detect the size of the material when the material is stored?

Therefore, in combination with the above existing technical problems, there is a need to provide a new technical solution.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention aims to provide an ultra-large-capacity multi-robot double-channel intelligent warehouse, which is not only provided with double channels, but also provided with storage bin lattices with different sizes, detects different thicknesses and different sizes of materials through a third sensor and a fourth sensor, is convenient to match with the storage bin lattice with the optimal size, simultaneously realizes the maximum utilization of a storage rack, and is provided with a spring by a manipulator, so that the clamping force can be generated to clamp the materials, the materials are not damaged through spring buffering, the clamping force can be adjusted by adjusting the installation position of an induction sheet, the clamping is stable, the effect is good, the warehouse is flexible and convenient, and the warehouse can be suitable for materials with various thicknesses. The specific technical scheme is as follows:

a super-large-capacity multi-robot double-channel intelligent warehouse comprises a storage warehouse and a control system;

the storage bin is a double-channel storage bin, each channel is provided with a feeding port and a discharging port, and a feeding device, a storage rack, a transfer device and a conveying device are arranged in each channel;

the feeding device is arranged on one side of a feeding opening of the channel and can sort materials, the transfer device can place the materials of the feeding device on the material storage rack or place the materials of the material storage rack on the transfer device, the transfer device can detect the thickness of the materials, and one end of the transfer device in the transfer direction is arranged at a discharge opening;

the control system is configured to control the action of the storage bin.

Further, loading attachment is provided with material loading portion, removal module, detection part and wrong material portion of placing, material loading portion can place the material of treating the storage, be provided with in the material loading portion and get material level and lift drive structure, the material of material loading portion can be transferred to getting the material level through lift drive structure, it can press from both sides the material of getting the material level to detection part to remove the module, detection part includes blowing platform and detection camera, the detection camera sets up in blowing bench side, the material information on the material can be detected to the detection camera, wrong material portion of placing can place the material of material information mistake or no material information.

Further, the moving module comprises a sliding rod, a first component, a second component and a taking part, the first component is slidably mounted on the sliding rod and can move along the sliding rod, the second component is slidably mounted on the first component and can slide along the first component, the taking part is driven to clamp the material, a plurality of third sensors are arranged on the first component or the second component, and different distances of movement of the second component can be detected by different third sensors.

Further, the transfer device is a robot, and the robot comprises a base, a supporting main body and a mechanical arm; the supporting main body is fixedly arranged on the base, the manipulator is movably connected to the supporting main body, and the manipulator is configured to clamp a material and move up and down along the supporting main body.

Further, the manipulator comprises a base, a first clamping arm, a second clamping arm and a lifting structure; first arm lock and elevation structure all fix and set up on the base, elevation structure includes the piece that goes up and down, the second arm lock is installed on elevation structure, the second arm lock corresponds from top to bottom with first arm lock, the second arm lock is disposed can follow the piece that goes up and down in step and reciprocate, be provided with first mounting on the second arm lock, the accommodation hole has been seted up on the first mounting, at least one cylinder has been put to the accommodation hole, cylinder top-down overlaps in proper order and is equipped with piece and spring that goes up and down, is provided with first sensor on piece or the first mounting, first sensor is disposed can detect compression spring's piece that goes up and down.

Further, at least two groups of sliding grooves are formed in the bottom of the base;

the supporting body is provided with a reinforcing body, one end of the reinforcing body is fixedly connected to the supporting body, the other end of the reinforcing body is fixedly connected to the base, and the axial direction of the reinforcing body and the axial direction of one group of sliding grooves are located on the same vertical plane.

Furthermore, the conveying device is a transfer conveyor belt, and one end of the transfer conveyor belt along the conveying direction is arranged at the discharge port of the corresponding channel.

Furthermore, a first sensor is arranged on the first fixing piece, and an induction sheet corresponding to the first sensor is arranged on the lifting piece; or

The lifting piece is provided with a first sensor, and the first fixing piece is provided with a sensing piece corresponding to the first sensor.

Further, the manipulator further comprises a telescopic structure, and the telescopic structure is configured to drive the manipulator to extend or retract.

Further, the manipulator further comprises a rotating structure, and the rotating structure is configured to drive the manipulator to rotate along the horizontal direction; the supporting body is an aluminum supporting body.

Compared with the prior art, the technical scheme of this patent has one or more following beneficial effects at least:

this patent a two-channel intelligent storage of super large capacity multirobot, the storage storehouse sets up to the two-channel storage storehouse, make the memory space improve at least twice, loading attachment sets up third sensor and fourth sensor in addition, can detect the different thickness and the not unidimensional of material, be convenient for match the storage storehouse check of the optimum size of storage work or material rest, thereby the storage work or material rest need not to set for unified size, can set up unidimensional storage storehouse check according to different materials, effectively enlarge the quantity of storage storehouse check on the storage work or material rest, the storage capacity in storage storehouse has finally been improved greatly.

The manipulator sets up the spring, not only can produce clamping-force and press from both sides tight material, is unlikely to damage the material through spring buffering moreover, and can adjust the size of clamping-force through the mounted position of adjusting the response piece for the centre gripping is stable, effectual, and is nimble convenient, can be suitable for the material of various thickness.

The feeding device can detect different thicknesses and different sizes of materials, and storage bin grids with the optimal size are distributed when the materials are stored conveniently, so that effective and reasonable utilization of the storage rack is facilitated, and the utilization rate is maximized.

The feeding portion is provided with the limiting columns and the limiting grooves, so that the feeding trolley cannot be moved out during feeding, a limiting and fool-proof effect is achieved, and unnecessary loss caused by damage to materials or equipment due to misoperation of operating personnel is avoided. The electromagnet is arranged, so that the feeding trolley is prevented from shaking or falling out from the feeding part at the feeding part, and the fixing and safety effects are achieved. The anti-collision pad is arranged to protect the feeding trolley from being damaged by collision, so that the durability of the feeding trolley and the feeding part is improved, and the service life of the feeding trolley is prolonged.

Set up the reinforcement on the robot, play the effect of consolidating the supporting subject, the reinforcement is located same vertical face with a set of spout simultaneously for when the tunnel machine slides, the reinforcement still can play the effect of fine firm supporting subject, supports the main part and takes place to rock when avoiding tunnel machine quick travel.

The supporting main body is provided with the open groove, so that the toothed belt is accommodated in the open groove, the toothed belt does not occupy additional space, the structure is compact, the volume of the roadway body is convenient to reduce, and the appearance is more attractive.

The supporting main body selects the aluminum profile, so that the weight of the tunnel machine is greatly reduced, the requirement on the ground bearing capacity of the equipment site is reduced, and meanwhile, the moving speed of the tunnel machine is favorably improved, so that the working efficiency is improved.

The power supply cabinet is arranged on the roadway machine, not on the ground traditionally, so that a large amount of pulling of a plurality of power lines and signal lines is reduced, only one power line is externally connected or one signal line is additionally connected, even no signal line is needed, and wireless connection is adopted; the power cord and the signal line quantity are more, and the frequency that damages on the one hand or the pine takes off can become high, brings a lot of unstable factors for the operation of tunnel machine, has reduced dragging of a large amount of power cords and signal line when tunnel machine removes simultaneously, is favorable to promoting tunnel machine's translation rate and removal efficiency.

Set up the material blocking mouth on the transfer conveyer belt, be convenient for scrape get the material on the transfer conveyer belt, simple structure, convenient operation helps reduce cost.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed for 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic perspective view of a view angle of a super-large-capacity multi-robot dual-channel smart warehouse according to the present embodiment;

fig. 2 is a schematic perspective view of another view angle of the ultra-large-capacity multi-robot dual-channel smart warehouse according to the present embodiment;

FIG. 3 is a schematic view of a part of the internal structure of the storage bin according to the present embodiment;

fig. 4 is a schematic perspective view of the feeding device in this embodiment;

fig. 5 is an exploded view of the charging part according to the present embodiment;

fig. 6 is a schematic perspective view of the loading part of the present embodiment without a feeding cart;

fig. 7 is a schematic perspective view of the feeding cart according to the embodiment;

fig. 8 is a schematic perspective view of the mobile module according to the present embodiment;

fig. 9 is a schematic perspective view of the detecting part and the material-staggering placing part according to the embodiment;

fig. 10 is a perspective view of the robot according to the present embodiment;

fig. 11 is a schematic perspective view of another perspective view of the robot according to the present embodiment;

fig. 12 is a schematic perspective view of the robot according to the present embodiment;

fig. 13 is a schematic perspective view of the base, the first clamping arm, the second clamping arm and the material according to the embodiment;

FIG. 14 is an enlarged view of the M-section of FIG. 13;

fig. 15 is a schematic perspective view of the transfer conveyor according to the embodiment.

Wherein, 1-a storage bin, 2-a feeding trolley, 4-a feeding device, 5-a storage rack, 7-a robot, 8-a transfer conveyor belt, 9-a material, 11-a feeding port, 12-a discharging port, 13-a slide rail, 14-a first channel, 15-a second channel, 21-a material rod, 22-a tray, 221-a limiting groove, 23-a trolley frame, 231-a trolley slide rail, 232-an electromagnet, 24-a gap, 41-a feeding part, 42-a moving module, 43-a detection part, 44-a wrong material placing part, 411-a feeding base, 4111-a magnet absorption body, 4112-a crash pad, 412-a screw rod, 413-a lifting plate, 414-a lifting driving structure, 415-a lifting plate, 416-a supporting rod, 417-a trolley groove, 418-a limit column, 419-a fifth sensor, 421-a sliding rod, 422-a first part, 423-a second part, 424-a first clamping jaw motor, 425-a first clamping jaw, 426-a second clamping jaw, 427-a third sensor, 428-a third sensing piece, 431-a discharge table, 432-a detection camera, 71-a base, 72-a support body, 73-a manipulator, 711-a chute, 712-a sliding motor, 713-a power cabinet, 721-a reinforcement body, 731-a base, 7311-a second sensor, 732-a first clamping arm, 733-a second clamping arm, 7331-a first fixing piece, 7332-an accommodating hole, 7334-a spring, 7335-a first sensor, 734-a lifting structure, 7341-a support frame, 7342-lead screw, 7343-lifting piece, 7344-first driving motor, 7345-induction piece, 735-telescopic structure, 7351-mounting piece, 7352-transmission structure, 7353-second driving motor, 736-rotary structure, 7361-fixed table, 7362-third driving motor, 81-baffle, 82-baffle port.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "provided," "connected," "mounted," "sleeved," "opened," "fixed," and the like are to be construed broadly, e.g., as fixed or detachable connections or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Examples

Referring to fig. 1 to 15, as shown in fig. 1 to 15, an embodiment of the invention provides a super-large-capacity multi-robot dual-channel smart warehouse, which includes a storage bin 1 and a control system;

the storage bin 1 is a double-channel storage bin, each channel is provided with at least one feeding port 11 and at least one discharging port 12, and a feeding device 4, a storage rack 5, a transfer device and a conveying device are arranged in each channel; a feeding device 1 is arranged at the position of each channel, which is located at the feeding port 11, the feeding device 4 can sort materials, the transferring device can place the materials of the feeding device 4 on the storage rack 5 or place the materials of the storage rack 5 on the transferring device, the transferring device can detect the thickness of the materials, and one end of the transferring device along the transferring direction is arranged at the position of the discharging port 12;

the control system is configured to control the action of the storage silo 1.

All be provided with slide rail 13 in each passageway, in the example, transfer device is robot 7, transfer device is transfer conveyer 8, and robot 7 slidable mounting is on slide rail 13, and the axis direction of slide rail 13 is unanimous with the axis direction of transfer conveyer 8, and the both sides of slide rail 13 all are provided with storage rack 5, and the axis direction of storage rack 5 is unanimous with the axis direction of slide rail 13, is provided with a plurality of storage bin check on the storage rack 5, and the opening of storage bin check all faces slide rail 13. Preferably, the transfer conveyor belt 8 is disposed below the stocker 5. In the example, the transfer conveyor belt 8 is disposed below the storage rack close to another channel, so the discharge ports of the two channels are combined into a large discharge port, and in the example, one ends of the transfer conveyor belts 8 in the two channels in the conveying direction are disposed at the same discharge port 12. In the example, the two channels are a first channel 14 and a second channel 15, respectively.

As shown in fig. 3, the feeding device 4 is disposed at the feeding port of each channel, that is, the feeding device 4 is disposed at a position of the first channel 14 corresponding to the feeding port 11, and the feeding device 4 is also disposed at a position of the second channel 15 corresponding to the feeding port 11. The feeding device 4 includes a feeding portion 41, a moving module 42, a detecting portion 43, and a material-staggering placing portion 44. The material of treating the storage can be placed to material loading portion 41, be provided with on the material loading portion 41 and get material level and lift drive structure 414, material on the material loading portion 41 can transfer to getting the material level through lift drive structure 414, it can press from both sides the material of getting the material level to detection portion 43 to remove the module 42, detection portion 43 includes blowing platform 431 and detection camera 432, as shown in fig. 9, detection camera 432 sets up in blowing platform 431 top, detection camera 432 can detect the material information on the material, wrong material placing portion 44 can place the material that material information is wrong or no material information. If the material information is not detected or the material information is wrong, the material is judged to be a defective product, and then the material judged to be the defective product is placed in the wrong material placing part 44. The material staggering placement part 44 is arranged below the material placing table. In an example, the detection camera 432 is a CCD camera, and the material error placing part 44 is an antistatic material error transfer box. In the example, there are one detecting portion 43, two feeding portions 41, the feeding portions are symmetrically disposed on two sides of the detecting portion 43, there is one moving module 42, and the moving module 42 is disposed above the feeding portions 41 and the detecting portion 43, however, there may be two moving modules 42, and each feeding portion corresponds to one moving module 42.

As shown in fig. 8, the moving module 42 includes a sliding bar 421, a first member 422, a second member 423, and a fetching portion, in which the sliding bar 421 is fixed to a side wall of the storage bin. The first member 422 is slidably mounted on the sliding rod 421, the first member 422 can move along the sliding rod 421, the second member 423 is slidably mounted on the first member 422, the second member 423 can slide along the first member 422, the moving direction of the first member 422 is perpendicular to the moving direction of the second member 423, and the fetching part can clamp the material. A plurality of third sensors 427 are provided on the first member 422 or the second member 423 along the moving direction of the second member 423, and different third sensors 427 can detect different moving distances of the second member 423. In an example, the sliding rod 421 is a horizontal cross rod, the first member 422 can move in the horizontal direction along the sliding rod, the second member 423 is provided with a sliding block, the first member 422 is provided with a sliding rail whose axis direction is a vertical direction, and the second member 423 can move in the vertical direction along the first member 422. The taking part comprises a first clamping jaw motor 424, a first clamping jaw 425 and a second clamping jaw 426; the first jaw motor 424 is fixedly mounted on the second member 423, the first gripper 425 and the second gripper 426 are mounted on the first jaw motor 424, and the first gripper motor 424 can move the first gripper 425 and/or the second gripper 426 in a direction away from or toward each other. In an example, the first gripper 425 and the second gripper 426 grip the material at one end and are a first gripper end and a second gripper end respectively, the first gripper end and the second gripper end are semi-cylindrical, the first gripper end and the second gripper end are folded to form a cylinder, and the arc-shaped surfaces of the first gripper end and the second gripper end are both concave-convex surfaces to increase friction. Preferably, the arcuate surfaces of the first grip end and the second grip end are threaded.

Preferably, the first member 422 is provided with a plurality of third sensors 427, the arrangement direction of the plurality of third sensors 427 is the same as the moving direction of the second member 423, the second member 423 is provided with a third sensing piece 428, and the third sensors 427 correspond to the third sensing piece 428; or a plurality of third sensors 427 are arranged on the second member 423, the arrangement direction of the plurality of third sensors 427 is consistent with the moving direction of the second member 423, a third sensing piece 428 is arranged on the first member 422, and the third sensors 427 correspond to the third sensing piece 428. In an example, four third sensors 427 are arranged on the first component 422, the arrangement direction of the four third sensors 427 is consistent with the moving direction of the second component 423, a third sensing piece 428 is arranged on the second component 423, the third sensors 427 correspond to the third sensing piece 428, the four third sensors 427 are respectively arranged on two sides of the first component 422, the third sensing pieces 428 are respectively arranged on two sides of the second component 423, and each third sensor 427 can detect a material with one thickness. Set up the third sensor, detect the thickness of judging the material through the distance that responds to the second part downstream, set up the third sensor of a plurality of different positions, can detect the material of multiple different thickness. Preferably, a plurality of fourth sensors are arranged on the discharging platform 431, the fourth sensors are configured to detect the sizes of the materials, and different fourth sensors detect the sizes of different materials. The blowing platform sets up the fourth sensor, can detect the size of material. The arrangement of the plurality of fourth sensors can detect materials of various sizes. Set up third sensor and fourth sensor, can detect the different thickness and the unidimensional of material, distribution best size's storage storehouse check when being convenient for store the material helps effective, the rational utilization of storage work or material rest, realizes the utilization ratio maximize.

As shown in fig. 5 to 7, the feeding portion 41 includes a feeding base 411, a screw 412, a lifting plate 413, a lifting driving structure 414, an upper plate 415, the feeding cart 2, and at least one supporting rod 416, and the lifting plate 413 can move up or down along the screw 412 under the driving of the lifting driving structure 414. One end of the supporting rod 416 is fixedly arranged on the base 411, the other end of the supporting rod 416 is fixedly provided with an upper plate 415, one end of the screw rod 412 is rotatably connected onto the base 411, the other end of the screw rod 412 is rotatably connected onto the upper plate 415, the lifting plate 413 is provided with a through hole matched with the supporting rod 416 and an internal threaded hole matched with the screw rod 412, the lifting plate 413 is sleeved on the supporting rod 416 through the through hole and freely slides along the supporting rod 416, the lifting plate 413 is sleeved on the screw rod 412 through the internal threaded hole, the lifting driving structure 414 is in driving connection with the screw rod 412 and can drive the screw rod 412 to rotate, so that the lifting plate 413 sleeved on the screw rod 412 ascends or descends along the screw rod, in an example, the lifting driving structure 414 is a driving motor, and the driving motor is fixedly arranged on the upper plate 415. Preferably, the lifting plate 413 is provided with at least one limiting column 418, and the upper plate 415 is provided with a fifth sensor 419. In an example, the feeding base 411 is provided with a trolley groove 417, the feeding trolley 2 is accommodated in the trolley groove 417, one side of the trolley groove 417, which is far away from an inlet of the feeding trolley, is fixedly provided with a magnet attracting body 4111, the feeding base 411 is further fixedly provided with an anti-collision pad 4112, the anti-collision pad 4112 and the magnet attracting body 4111 are located on the same side of the trolley groove 417, and the anti-collision pad 4112 can protect the feeding trolley 2 from being collided, so that the durability of the feeding trolley is improved, and the service life of the feeding trolley is prolonged. Of course, the crash pad 4112 may also be disposed on the feeding cart 2 to achieve the crash-proof effect.

As shown in fig. 5 and 7, the feeding trolley 2 includes a material rod 21, a tray 22 and a trolley frame 23, the material rod 21 is fixedly arranged on the trolley frame 23, both the tray 22 and the material can be movably sleeved on the material rod 21, the tray 22 is arranged below the material, a gap 24 is arranged between the tray 22 and the trolley frame 23, the bottom of the tray 22 is provided with at least one limiting groove 221, the limiting groove 221 corresponds to the limiting column 418, and the bottom of the trolley frame 23 is provided with a trolley slide rail 231; when the feeding trolley 2 is fed into the feeding part, the trolley slide rail 231 is accommodated in the trolley groove 417, and the lifting plate 413 and the limiting column 418 on the lifting plate 413 are accommodated in the gap 24. When the lifting plate 413 pushes the material on the tray 22 upwards, the limiting column 418 is accommodated in the limiting groove 221, the feeding trolley cannot be moved out of the feeding part at the moment, and the limiting column and the limiting groove play a role in limiting and preventing fool. Preferably, the bottom of the trolley frame 23 is further provided with an electromagnet 232 matched with the magnet 4111, and the feeding trolley 2 is fixed on the feeding base 411 through the electromagnet. Of course, the trolley frame 23 may be provided with a magnet, and the feeding base 411 may be provided with an electromagnet, so as to fix the feeding trolley 2 on the feeding base 411.

The upper plate 415 is provided with a fifth sensor 419, the fifth sensor 419 faces the material rod 21, and the position where the fifth sensor 419 can detect the material on the material rod 21 is defined as a material taking position of the feeding part. During feeding, the lifting plate 413 pushes the material on the tray 22 upwards until the fifth sensor 419 detects the material on the material rod 21, the fifth sensor 419 sends a signal to the control system, then the control system instructs the lifting driving structure to stop moving, the uppermost material on the material rod 21 stays at the material taking position, at this time, the moving module 42 moves to the upper side of the material, the first clamping hand 425 and the second clamping hand 426 stretch into the central hole of the material, the first clamping hand 425 and the second clamping hand 426 are opened to support the material, and then the material is clamped on the discharging platform 431.

The transfer device is a robot 7, as shown in fig. 3 and fig. 10-14, the robot 7 is slidably mounted on the slide rail 13, and the robot 7 comprises a base 71, a support body 72 and a manipulator 73; the supporting body 72 is fixedly arranged on the base 71, the manipulator 73 is movably connected to the supporting body 72, and the manipulator 73 can move up and down along the supporting body 72. In an example, the robot 73 is a robot with an adjustable clamping force.

As shown in fig. 12-14, the manipulator 73 includes a base 731, a first clamping arm 732, a second clamping arm 733, and a lifting structure 734; the first clamping arm 732 and the lifting structure 734 are both fixedly arranged on the base 731, the lifting structure 734 includes a lifting member 7343, the second clamping arm 733 is mounted on the lifting structure 734, the second clamping arm 733 vertically corresponds to the first clamping arm 732, the second clamping arm 733 is configured to move up and down along with the lifting member 7343, the second clamping arm 733 is provided with a first fixing member 7331, the first fixing member 7331 is provided with a receiving hole 7332, the receiving hole 7332 is provided with at least one column, the column is sequentially sleeved with the lifting member 7343 and a spring 7334 from top to bottom, the lifting member 7343 or the first fixing member 7331 is provided with a first sensor 7335, and the first sensor 7335 is configured to be capable of detecting the lifting member 7343 compressing the spring 7334. Preferably, a second sensor 7311 is disposed on the base 731, and the second sensor 7311 is capable of detecting the material on the first clamping arm 732. In an example, the two columns are vertically arranged in the slot, and the number of the columns is not limited, so that the second clamping arm 733 does not shake and can stably move up and down along with the lifting piece 7343. In an example, the first fixing member 7331 is provided with a first sensor 7335, the lifting member 7343 is provided with a sensing piece 7345, the first sensor is a U-shaped sensor, and the sensing piece can be accommodated in the U-shaped groove of the first sensor. The spring is arranged, so that clamping force can be generated to press the material, and the material is not damaged due to hard pressing. In an example, a mounting hole is formed in a side of the first fixing member 7331 close to the second clamping arm 733, a receiving groove is formed in a side wall of the receiving hole 7332 far from the second clamping arm 733, the mounting hole is communicated with the receiving hole 7332, one end of the column extends from the mounting hole, sequentially passes through the mounting hole and the receiving hole 7332, and is received in the receiving groove, and the other end of the column is received in the mounting hole, wherein when the column passes through the receiving hole 7332, the column passes through the spring and the lifting member received in the receiving hole 7332.

The lifting structure 734 includes a supporting frame 7341, a screw rod 7342, a lifting member 7343, and a first driving motor 7344, where the supporting frame 7341 is fixedly disposed on the base 731, the screw rod 7342 is rotatably mounted on the supporting frame 7341, a threaded hole matching with the screw rod 7342 is disposed on the lifting member 7343, the threaded hole is sleeved on the screw rod 7342, and the first driving motor 7344 is configured to drive the screw rod 7342 to rotate so as to move the lifting member 7343 upward or downward along the screw rod 7342.

In a preferred embodiment, a telescoping structure 735, including a mounting member 7351, a drive structure 7352, and a second drive motor 7353; the transmission structure and the second driving motor are both fixedly mounted on the mounting part 7351, and the base 731 is movably connected to the mounting part 7351 through the transmission structure 7352.

In a preferred embodiment, a rotating structure 736 is further included, the rotating structure 736 includes a fixed table 7361, a rotation shaft, and a third driving motor 7362; the rotating shaft and the third driving motor 7362 are both mounted on the fixed table 7361, the mounting member is mounted on the fixed table 7361 through the rotating shaft, and the mounting member can rotate in the horizontal direction through the rotating shaft.

In a preferred embodiment, at least two sets of sliding grooves 711 are arranged at the bottom of the base 71, each set of sliding grooves is slidably mounted on one sliding rail, and a sliding motor 712 is arranged on the base and can drive the robot to slide along the sliding rails; the supporting body is provided with a reinforcing body 721, one end of the reinforcing body 721 is fixedly connected to the supporting body, the other end of the reinforcing body is fixedly connected to the base, and the reinforcing body and the group of sliding grooves are located on the same vertical surface. The reinforcing body plays a role in reinforcing the supporting main body, and meanwhile, the reinforcing body and the group of sliding grooves are positioned on the same vertical surface, so that the supporting main body is more stable; when the robot slides, the reinforcing body still can play the effect of fine firm support main part, supports the main part and takes place to rock when avoiding the robot quick travel.

In a preferred embodiment, the supporting body 72 is provided with a slot along the axial direction, a toothed belt is disposed in the slot, and the manipulator is fixedly connected to the toothed belt of the supporting body, and moves up or down under the transmission of the toothed belt. The tooth-shaped belt is accommodated in the groove by arranging the groove, the tooth-shaped belt does not occupy additional space, the structure is compact, the size of the machine body is convenient to reduce, and the appearance is more attractive.

In the example, the supporting main body 72 is made of aluminum, and the supporting main body is made of aluminum profiles, so that the weight of the robot is greatly reduced, the requirement on the ground bearing capacity of the equipment site is reduced, and meanwhile, the moving speed of the robot is favorably improved, and the working efficiency is improved.

The power supply cabinet 713 is arranged on the base 71, the power supply cabinet can provide electric energy and/or transmit signals for the operation of the robot, the power supply cabinet is arranged on the robot instead of the traditional arrangement on the ground, so that a large amount of pulling of a plurality of power lines and signal lines is reduced, only one power line is externally connected or one signal line is additionally connected, and even no signal line is needed, and wireless connection is adopted; the power cord and the signal line quantity are more, and the frequency that damages on the one hand or the pine takes off can become high, brings many unstable factors for the operation of robot, has reduced dragging of a large amount of power cords and signal line when the robot removes simultaneously, is favorable to promoting the translation rate and the removal efficiency of robot.

The working principle of the robot is as follows:

when clamping a material, the first clamping arm 732 moves to a position below the material under the control of the control system and under the cooperation of the rotating structure 736, the telescopic structure 735 and the robot, the first clamping arm 732 moves upwards until the first clamping arm stops moving after the second sensor 7311 detects the material, at this time, the material is placed on the first clamping arm 732, then the control system sends a descending instruction to the first driving motor 7344, the first driving motor 7344 operates and simultaneously drives the screw rod to rotate, the lifting member 7343 synchronously moves downwards along with the rotation of the screw rod, the first fixing member 7331 penetrating through the lifting member 7343 synchronously moves downwards, the second clamping arm 733 fixed with the first fixing member 7331 also synchronously moves downwards, when the second clamping arm 733 descends to the top of the material, the second clamping arm 733 stops descending movement, the first fixing member 7331 fixedly connected with the second clamping arm 733 also synchronously stops moving, at this time, the lifting member 7343 continues to move downwards along with the screw rod, the sensing sheet on the lifting member 7343 also synchronously moves downwards, when the sensing sheet moves into the first sensor 73733, the first clamping arm detects that the first sensor drives the lifting member 7344 to generate a signal, and then the first sensor stops driving motor controls the lifting member to press the first clamping arm 44 to generate a lifting force, and then the material. Therefore, the clamping force of the arm manipulator for clamping the materials can be controlled according to the installation position of the sensing piece and the elastic force of the spring. In an example, the position of the sensing piece on the lifting member 7343 can be adjusted up and down, so that the clamping force of the manipulator to the material can be adjusted.

When materials are placed, the manipulator places the materials on the material storage rack, the control system sends a lifting instruction to the first driving motor 7344, the first driving motor 7344 rotates and simultaneously drives the screw rod to rotate, the lifting piece 7343 synchronously moves upwards along with the rotation of the screw rod, the second clamping arm 733 connected with the lifting piece synchronously moves upwards, and when the first fixing piece 7331 fixed on the second clamping arm 733 moves upwards for a certain distance, the first driving motor 7344 stops rotating; simultaneously, first arm lock descends certain distance under toothed belt's effect, from the material bottom remove can, then the manipulator shifts out from storing the work or material rest under extending structure's effect, accomplishes the action of placing the material promptly.

As shown in fig. 15, the conveying device is a transfer conveyor 8, and one end of the transfer conveyor 8 in the conveying direction is disposed at the discharge port 12.

One side that transfer conveyer 8 is close to robot 7 of same passageway is provided with baffle 81, at least one feed stop mouth 82 has been seted up on the baffle 81, feed stop mouth 82 opening up, feed stop mouth 82 internal diameter is less than the external diameter of material 9, feed stop mouth 82 internal diameter is not less than the width of first arm lock 732, robot 7 takes out the material from storage work or material rest 5 and places on transfer conveyer 8, and when the material was placed on transfer conveyer 8, the first arm lock 732 and the second arm lock 733 of pressing from both sides and getting the material stretched into to ejection of compact conveyer 8 on feed stop mouth top and move down in the feed stop, and second arm lock 733 upwards lifts up to leaving the material surface, manipulator 73 loosens the material and first arm lock 732 shifts out from the feed stop mouth, and the material is on getting into transfer conveyer 8 under the backstop of feed stop mouth, and the material conveys to discharge gate 12 along with transfer conveyer 8. In the example, a plurality of keep off the material mouth and can set up different width, the material of different sizes matches the fender material mouth of different width.

All the features of the above components can be freely combined without conflict, and moreover, the structural changes, variations and modifications of the components are also within the scope of protection of the present patent.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "yet another embodiment," "other embodiments," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

While embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications and variations may be made therein by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A super-large-capacity multi-robot double-channel intelligent warehouse is characterized by comprising a storage bin (1) and a control system;

the storage bin (1) is a double-channel storage bin, each channel is provided with a feeding port (11) and a discharging port (12), and a feeding device (4), a storage rack (5), a transfer device and a conveying device are arranged in each channel;

the feeding device (1) is arranged on one side of a feeding opening (11) of the channel, the feeding device (4) can sort materials, the transfer device can place the materials of the feeding device (4) on the material storage rack (5) or place the materials of the material storage rack (5) on the conveying device, the transfer device can detect the thickness of the materials, and one end of the conveying device in the conveying direction is arranged at the position of the discharging opening (12);

the control system is configured to control the action of the storage bin (1).

2. The double-channel intelligent warehousing with multiple robots and with ultra-large capacity as claimed in claim 1, wherein the loading device (4) is provided with a loading part (41), a moving module (42), a detection part (43) and a wrong material placement part (44), the loading part (41) can place materials to be stored, a material taking position and lifting driving structure (414) is arranged on the loading part (41), the materials of the loading part (41) can be transferred to the material taking position through the lifting driving structure (414), the moving module (42) can clamp the materials of the material taking position to the detection part (43), the detection part (43) comprises a material placing table (431) and a detection camera (432), the detection camera (432) is arranged above the material placing table (431), the detection camera (432) can detect the material information on the materials, and the wrong material placement part (44) can place the materials with wrong material information or without material information.

3. The double-channel smart warehouse with multiple robots with ultra large capacity as claimed in claim 2, wherein the moving module (42) comprises a sliding rod (421), a first component (422), a second component (423) and a fetching part, the first component (422) is slidably mounted on the sliding rod, the first component (422) can move along the sliding rod, the second component (423) is slidably mounted on the first component (422), the second component (423) can slide along the first component (422), the fetching part is driven to clamp the materials, the first component (422) or the second component (423) is provided with a plurality of third sensors (427) along the moving direction of the second component (423), and different third sensors (427) can detect different distances of movement of the second component (423).

4. The double aisle ultra-high capacity multi-machine smart warehouse according to claim 1, characterized in that the transfer device is a robot (7), the robot (7) comprising a base (71), a support body (72) and a manipulator (73); the supporting body (72) is fixedly arranged on the base (71), the manipulator (73) is movably connected to the supporting body (72), and the manipulator (73) is configured to be capable of clamping materials and moving up and down along the supporting body.

5. The ultra-large capacity multi-robot two-way smart warehouse as claimed in claim 4, wherein the robot comprises a base (731), a first clamping arm (732), a second clamping arm (733) and a lifting structure (734); the first clamping arm (732) and the lifting structure (734) are both fixedly arranged on a base (731), the lifting structure (734) comprises a lifting piece (7343), the second clamping arm (733) is mounted on the lifting structure (734), the second clamping arm (733) corresponds to the first clamping arm (732) up and down, the second clamping arm (733) is configured to move up and down synchronously along with the lifting piece (7343), the second clamping arm (733) is provided with a first fixing piece (7331), the first fixing piece (7331) is provided with an accommodating hole (7332), at least one cylinder is arranged in the accommodating hole (7332), the cylinder is sequentially sleeved with the lifting piece (7343) and a spring (7334) from top to bottom, the lifting piece (7343) or the first fixing piece (7331) is provided with a first sensor (7335), and the first sensor (7335) is configured with the lifting piece (7343) capable of detecting the compression spring (7334).

6. The ultra-large-capacity multi-robot two-channel smart warehouse as claimed in claim 4, wherein at least two sets of sliding grooves are arranged at the bottom of the base (71);

the supporting main body (72) is provided with a reinforcing body, one end of the reinforcing body is fixedly connected to the supporting main body (72), the other end of the reinforcing body is fixedly connected to the base, and the axial direction of the reinforcing body and the axial direction of one group of sliding grooves are located on the same vertical plane.

7. The double-channel intelligent warehouse with multiple robots and with ultra-large capacity as claimed in claim 1, wherein the conveying device is a transfer conveyor belt (8), and one end of the transfer conveyor belt (8) in the conveying direction is arranged at a discharge port (12) of the corresponding channel.

8. The ultra-large-capacity multi-robot dual-channel smart warehouse as claimed in claim 5, wherein a first sensor (7335) is disposed on the first fixed member (7331), and a sensing plate (7345) corresponding to the first sensor (7335) is disposed on the lifting member (7343); or

The lifting piece (7343) is provided with a first sensor (7335), and the first fixing piece (7331) is provided with a sensing piece (7345) corresponding to the first sensor (7335).

9. The ultra-large capacity multi-robot dual-channel smart warehouse as claimed in claim 5, wherein the manipulator (73) further comprises a telescopic structure (735) configured to drive the manipulator (73) to extend or retract.

10. The ultra-large capacity multi-robot two-channel smart warehouse as recited in claim 9, wherein the robot (73) further comprises a rotating structure (736), and the rotating structure (736) is configured to drive the robot (73) to rotate along a horizontal direction;

the support body (72) is an aluminum support body.