CN115196231B - Super-large-capacity multi-robot double-channel intelligent storage - Google Patents
Super-large-capacity multi-robot double-channel intelligent storage Download PDFInfo
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- CN115196231B CN115196231B CN202210837362.0A CN202210837362A CN115196231B CN 115196231 B CN115196231 B CN 115196231B CN 202210837362 A CN202210837362 A CN 202210837362A CN 115196231 B CN115196231 B CN 115196231B
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- 238000003860 storage Methods 0.000 title claims abstract description 76
- 239000000463 material Substances 0.000 claims abstract description 165
- 238000007599 discharging Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000002787 reinforcement Effects 0.000 claims description 18
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 9
- 230000006698 induction Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 4
- 238000007664 blowing Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000002994 raw material Substances 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000011232 storage material Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0478—Storage devices mechanical for matrix-arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/14—Stack holders or separators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/78—Troughs having discharge openings and closures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The patent discloses a super-capacity multi-robot double-channel intelligent warehouse, which comprises a storage warehouse and a control system; the storage bin is a double-channel storage bin, each channel is provided with a feed inlet and a discharge outlet, and each channel is internally provided with a feeding device, a storage rack, a transfer device and a conveying device; the feeding device is arranged on one side of a feeding hole of the channel, the feeding device can sort materials, the transferring device can clamp the materials, the transferring device can detect the thickness of the materials, and one end of the conveying device along the conveying direction is arranged at the position of a discharging hole; 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; the storage bin grids with the optimal size are convenient to match by setting the third sensor and the fourth sensor to detect different thicknesses and different sizes of materials, the utilization maximization of the existing storage rack is realized, the mechanical arm is provided with a spring, the materials are prevented from being damaged by elastic clamping, and the clamping force can be adjusted.
Description
Technical Field
The invention relates to the field of material storage, in particular to ultra-large-capacity multi-robot double-channel intelligent storage.
Background
In general, as the production and operation scale becomes larger and larger, the need for storage becomes urgent, and not only is a larger storage space required, but also it is necessary to be able to store products or raw materials of various sizes if the products or raw materials are of various kinds. In view of the above, it is an object of the present invention to provide a storage device capable of storing a plurality of sizes of products or raw materials simultaneously without increasing the number of storage bins or without doubling the storage bin volume, and to provide a storage bin with a larger storage capacity, and to provide a storage bin with improved utilization efficiency.
In addition, the conventional robot mechanically clamps materials, designs a robot for avoiding damage to the materials, and simply and rapidly detects the size of the materials when the materials are stored.
Therefore, in combination with the above-mentioned technical problems, it is necessary 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 the ultra-large-capacity double-channel intelligent storage with multiple robots, which is not only provided with double channels, but also provided with storage bins of different sizes, different thicknesses and different sizes of materials are detected through a third sensor and a fourth sensor, the storage bins of the optimal sizes are conveniently matched, meanwhile, the utilization maximization of a storage rack is realized, a mechanical arm is provided with a spring, the materials can be clamped by generating clamping force, the materials are not damaged by buffering through the spring, the clamping force can be adjusted by adjusting the installation position of an induction piece, so that the intelligent storage device is stable in clamping, good in effect, flexible and convenient, and applicable to materials of various thicknesses. The specific technical scheme is as follows:
a super-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 hole and a discharging hole, and each channel is internally provided with a feeding device, a storage rack, a transfer device and a conveying device;
the feeding device is arranged on one side of a feeding hole of the channel, the feeding device can sort materials, the transferring device can place the materials of the feeding device on the storage rack or the materials of the storage rack on the conveying device, the transferring device can detect the thickness of the materials, and one end of the conveying device along the conveying direction is arranged at the position of the discharging hole;
the control system is configured to control the motion of the storage bin.
Further, loading attachment is provided with material loading portion, removal module, detection portion and wrong material portion of placing, the material that waits to store can be placed to material loading portion, be provided with material taking level and lift drive structure on the material loading portion, the material of material loading portion can be transferred to material taking level through lift drive structure, it can press from both sides the material of material taking level to detection portion to remove the module, detection portion includes blowing platform and detection camera, the detection camera sets up in blowing platform top, the detection camera can detect the material information on the material, wrong material placing portion can place the material of material information mistake or no material information.
Further, remove the module and include slide bar, first part, second part and take the portion, first part slidable mounting is on the slide bar, first part can follow the slide bar and remove, second part slidable mounting is on first part, second part can follow first part slip, it can clamp the material to take the portion driven, along the direction of movement of second part, be provided with a plurality of third sensors on first part or the second part, the different distance that the third sensor of difference can detect the second part and remove.
Further, the transfer device is a robot, and the robot comprises a base, a support main body and a manipulator; the support main body is fixedly arranged on the base, the manipulator is movably connected to the support main body, and the manipulator is configured to clamp materials and move up and down along the support main body.
Further, the manipulator comprises a base, a first clamping arm, a second clamping arm and a lifting structure; the first arm lock and elevation structure are all fixed to be set up on the base, elevation structure includes lifting part, 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 and can follow the synchronous oscilaltion of lifting part, be provided with first mounting on the second arm lock, the holding hole has been seted up on the first mounting, at least one cylinder has been held to the holding hole, cylinder top-down overlaps in proper order and is equipped with lifting part and spring, is provided with first sensor on lifting part or the first mounting, first sensor is disposed can detect compression spring's lifting part.
Further, at least two groups of sliding grooves are formed in the bottom of the base;
the support body is provided with a reinforcement body, one end of the reinforcement body is fixedly connected to the support body, the other end of the reinforcement body is fixedly connected to the base, and the axis direction of the reinforcement body and the axis direction of one group of sliding grooves are located on the same vertical surface.
Further, the conveying device is a transfer conveying belt, and one end of the transfer conveying belt along the conveying direction is arranged at the discharge port of the corresponding channel.
Further, a first sensor is arranged on the first fixing piece, and an induction piece corresponding to the first sensor is arranged on the lifting piece; or (b)
The lifting piece is provided with a first sensor, and the first fixing piece is provided with an induction piece corresponding to the first sensor.
Further, the manipulator further comprises a telescopic structure 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 support body is an aluminum support body.
Compared with the prior art, the technical scheme of the patent has at least one or more of the following beneficial effects:
this patent a super capacity multiple robot binary channels intelligent storage, the storage storehouse sets up to binary channels storage storehouse for the memory space has improved at least twice, loading attachment sets up third sensor and fourth sensor in addition, can detect the different thickness and the different sizes of material, the storage bin check of the best size of storage bin is stored in the matching of being convenient for, thereby the storage bin need not to set for unified size, can set up the storage bin check of different sizes according to different materials, effectively enlarge the quantity of storage bin check on the storage bin, finally improved the storage capacity of storage bin greatly.
The mechanical arm is provided with the spring, so that clamping force can be generated to clamp materials, the materials are not damaged through spring buffering, the clamping force can be adjusted through adjusting the installation position of the sensing piece, the clamping is stable, the effect is good, the mechanical arm is flexible and convenient, and the mechanical arm can be suitable for materials with various thicknesses.
The loading attachment can detect the different thickness and the different size of material, and the storage bin of optimum size is allocated to the storage material of being convenient for, helps effective, the rational utilization of storage work or material rest, realizes the utilization ratio maximize.
The material loading portion sets up spacing post and spacing groove for unable removal when the pay-off dolly material loading plays spacing foolproof effect, avoids the operating personnel maloperation to damage material or equipment, causes unnecessary loss. The electromagnet is arranged, so that the feeding trolley is prevented from shaking at the feeding part or falling out of the feeding part, and the fixing and safety functions are achieved. And the anti-collision pad is arranged to protect the feeding trolley from being bumped, 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 strengthening support main part, the reinforcement is located same vertical face with a set of spout simultaneously for when the roadway machine slides, the reinforcement still can play fine firm support main part's effect, support main part takes place to rock when avoiding roadway machine fast moving.
The support main body is provided with the slot, so that the toothed belt is accommodated in the slot, the toothed belt does not occupy extra space, the structure is compact, the roadway machine is convenient to reduce, and the appearance is more attractive.
The supporting main body is made of aluminum profiles, 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 improved, and the working efficiency is improved.
The power cabinet is arranged on the roadway machine instead of the traditional roadway machine, so that a large number 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 arranged, even the signal line is not required, and wireless connection is adopted; the number of the power lines and the number of the signal lines are large, on one hand, the frequency of damage or loosening can be increased, a plurality of unstable factors are brought to the operation of the roadway machine, and meanwhile, the dragging of a large number of power lines and signal lines during the movement of the roadway machine is reduced, so that the movement speed and the movement efficiency of the roadway machine are improved.
The material blocking opening is formed in the transfer conveyor belt, so that materials can be scraped on the transfer conveyor belt conveniently, the structure is simple, the operation is convenient, and the cost is reduced.
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 solutions of the present invention, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a view angle of a dual-channel intelligent warehouse of a super-capacity multi-robot according to the embodiment;
fig. 2 is a schematic perspective view of another view angle of the super-capacity multi-robot dual-channel intelligent warehouse according to the embodiment;
FIG. 3 is a schematic view of a part of the internal structure of the storage bin according to the embodiment;
fig. 4 is a schematic perspective view of a feeding device according to the embodiment;
fig. 5 is an exploded view of the feeding section according to the embodiment;
fig. 6 is a schematic perspective view of a feeding section without a feeding cart according to the embodiment;
fig. 7 is a schematic perspective view of a feeding cart according to the embodiment;
fig. 8 is a schematic perspective view of a mobile module according to the embodiment;
fig. 9 is a schematic perspective view of the detecting portion and the offset placing portion according to the embodiment;
fig. 10 is a schematic perspective view of a perspective view of the robot according to the present embodiment;
fig. 11 is a schematic perspective view of another view of the robot according to the present embodiment;
fig. 12 is a schematic perspective view of the manipulator according to the present embodiment;
FIG. 13 is a schematic perspective view of the base, first arm, second arm and material according to the present embodiment;
fig. 14 is an enlarged schematic view of the M section of fig. 13;
fig. 15 is a schematic perspective view of the transfer conveyor according to the present embodiment.
Wherein, 1-storage bin, 2-feeding trolley, 4-feeding device, 5-storage rack, 7-robot, 8-transfer conveyor belt, 9-material, 11-feed inlet, 12-discharge outlet, 13-slide rail, 14-first channel, 15-second channel, 21-material bar, 22-tray, 221-limit groove, 23-trolley frame, 231-trolley slide rail, 232-electromagnet, 24-gap, 41-feeding part, 42-moving module, 43-detecting part, 44-misplacement part, 411-feeding base, 4111-magnet, 4112-anti-collision pad, 412-screw rod, 413-lifting plate, 414-lifting driving structure, 415-upper plate, 416-supporting rod, 417-trolley groove, 418-limit post, 419-fifth sensor, 421-slide bar, 422-first part, 423-second part, 424-first jaw motor, 425-first grip, 426-second grip, 427-third sensor, 428-third sensor tab, 431-blanking table, 432-inspection camera, 71-base, 72-support body, 73-robot, 711-slide slot, 712-slide motor, 713-power cabinet, 721-reinforcement, 731-base, 7311-second sensor, 732-first grip arm, 7333-second grip arm, 7331-first mount, 7332-receiving hole, 7334-spring, 7335-first sensor, 734-lifting structure, 7341-support frame, 7342-screw rod, 7343-lifter, 7344-first driving motor, 7345-sensing piece, 735-telescopic structure, 7351-mounting piece, 7352-transmission structure, 7353-second driving motor, 736-rotating structure, 7361-fixed table, 7362-third driving motor, 81-baffle, 82-material blocking opening.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. Furthermore, the terms "first," "second," and the like, 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 explicitly stated or limited otherwise, the terms "provided with," "connected," "mounted," "sleeved," "opened," "secured," etc. should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Examples
Referring to fig. 1 to 15, as shown in fig. 1 to 15, the ultra-large-capacity multi-robot dual-channel intelligent warehouse provided by the embodiment of the invention comprises a storage warehouse 1 and a control system;
the storage bin 1 is a double-channel storage bin, each channel is provided with at least one feeding hole 11 and one discharging hole 12, and each channel is internally provided with a feeding device 4, a storage rack 5, a transfer device and a conveying device; each channel is provided with a feeding device 4 at the position of the feeding port 11, the feeding devices 4 can sort materials, the transferring devices can place the materials of the feeding devices 4 on the storage rack 5 or the materials of the storage rack 5 on the conveying devices, the transferring devices can detect the thickness of the materials, and one end of each conveying device in the conveying direction is arranged at the position of the discharging port 12;
the control system is configured to control the operation of the storage bin 1.
Each channel is internally provided with a sliding rail 13, in the example, the transfer device is a robot 7, the transfer device is a transfer conveyor belt 8, the robot 7 is slidably mounted on the sliding rail 13, the axial direction of the sliding rail 13 is consistent with the axial direction of the transfer conveyor belt 8, two sides of the sliding rail 13 are respectively provided with a storage rack 5, the axial direction of the storage racks 5 is consistent with the axial direction of the sliding rail 13, a plurality of storage bins are arranged on the storage racks 5, and the openings of the storage bins face the sliding rail 13. Preferably, the transfer conveyor 8 is arranged below the storage rack 5. In the example, the transfer conveyor 8 is disposed below the storage rack near the other channel, so that the discharge ports of the two channels are combined into one large discharge port, and in the example, one ends of the transfer conveyor 8 in the two channels along 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 feed inlet of each channel, that is, the position of the first channel 14 corresponding to the feed inlet 11 is provided with the feeding device 4, and the position of the second channel 15 corresponding to the feed inlet 11 is also provided with the feeding device 4. The feeding device 4 comprises a feeding part 41, a moving module 42, a detecting part 43 and a misplacement placing part 44. The material loading portion 41 can place the material that waits to store, be provided with material taking level and lift drive structure 414 on the material loading portion 41, the material on the material loading portion 41 can be moved to material taking level through lift drive structure 414, remove the module 42 and can press from both sides the material of material taking level to detection portion 43, 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, misplacement portion 44 can place the material of material information mistake or no material information. If the material information or the material information error is not detected, the defective product is judged, and then the material judged to be defective is placed in the misplacement portion 44. The misplacement portion 44 is disposed below the discharge table. In an example, the detecting camera 432 is a CCD camera, and the material-misplacing portion 44 is an anti-static material-misplacing turnover box. In the example, there are one detecting portion 43, two feeding portions 41, two symmetrically disposed on two sides of the detecting portion 43, one moving module 42, and two moving modules 42 disposed above the feeding portion 41 and the detecting portion 43, of course, two moving modules 42 may be disposed, and each feeding portion corresponds to one moving module 42.
As shown in fig. 8, the moving module 42 includes a slide bar 421, a first member 422, a second member 423, and a picking portion, where the slide bar 421 is fixed to a sidewall of the storage bin. The first part 422 is slidably mounted on the slide bar 421, the first part 422 can move along the slide bar 421, the second part 423 is slidably mounted on the first part 422, the second part 423 can slide along the first part 422, the moving direction of the first part 422 is perpendicular to the moving direction of the second part 423, and the picking part can pick materials. Along the moving direction of the second member 423, the first member 422 or the second member 423 is provided with a plurality of third sensors 427, and different third sensors 427 can detect different moving distances of the second member 423. In the example, the slide bar 421 is a horizontal cross bar, the first member 422 can move along the slide bar in the horizontal direction, the second member 423 is provided with a slide rail with an axis direction being a vertical direction, and the second member 423 can move along the first member 422 in the vertical direction. The pick-up portion includes a first jaw motor 424, a first grip 425, and a second grip 426; the first jaw motor 424 is fixedly mounted on the second member 423, and the first grip 425 and the second grip 426 are mounted on the first jaw motor 424, and the first jaw motor 424 can move the first grip 425 and/or the second grip 426 in a direction away from or close to each other. In an example, one end of the first grip 425 and the second grip 426 that grip the material is a first grip end and a second grip end, respectively, the first grip end and the second grip end are all semi-cylindrical, the first grip end and the second grip end are folded to form a cylinder, and the arc surfaces of the first grip end and the second grip end are concave-convex surfaces, so as to increase friction force. Preferably, the surfaces of the arc surfaces of the first clamping end and the second clamping end are in a thread shape.
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 consistent with 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 pieces 428; or the second member 423 is provided with a plurality of third sensors 427, the arrangement direction of the plurality of third sensors 427 is consistent with the moving direction of the second member 423, the first member 422 is provided with a third sensing piece 428, and the third sensors 427 correspond to the third sensing pieces 428. In an example, four third sensors 427 are disposed on the first member 422, the arrangement direction of the four third sensors 427 is consistent with the moving direction of the second member 423, the second member 423 is provided with third sensing pieces 428, the third sensors 427 correspond to the third sensing pieces 428, the four third sensors 427 are disposed on two sides of the first member 422, the two sides of the second member 423 are provided with third sensing pieces 428, each third sensor 427 can detect a material with a certain thickness, and of course, more or fewer third sensors 427 can be disposed according to actual needs, and further, the third sensors 427 at other positions can be disposed according to needs. The thickness of judging the material is detected through the distance that the second part moves downwards to set up the third sensor, sets 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 disposed on the discharging table 431, the fourth sensors are configured to detect sizes of materials, and different fourth sensors detect sizes of different materials. The fourth sensor is arranged on the discharging table, so that the size of the material can be detected. The fourth sensors are arranged to detect materials of various sizes. The third sensor and the fourth sensor are arranged, so that different thicknesses and different sizes of materials can be detected, storage bins with optimal sizes can be conveniently allocated to store the materials, effective and reasonable utilization of the storage rack is facilitated, and the utilization rate is maximized.
As shown in fig. 5 to 7, the feeding portion 41 includes a feeding base 411, a screw rod 412, a lifting plate 413, a lifting driving structure 414, an upper plate 415, a feeding cart 2, and at least one supporting rod 416, and the lifting plate 413 can move up or down along the screw rod 412 under the driving of the lifting driving structure 414. One end of the supporting rod 416 is fixedly arranged on the base 411, an upper plate 415 is fixedly arranged on the other end of the supporting rod 416, one end of the screw rod 412 is rotatably connected to the base 411, the other end of the screw rod 412 is rotatably connected to 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, and in the example, the lifting driving structure 414 is a driving motor which is fixedly arranged on the upper plate 415. Preferably, at least one limit post 418 is disposed on the lifting plate 413, and a fifth sensor 419 is disposed on the upper plate 415. In the example, the feeding base 411 is provided with a trolley groove 417, the feeding trolley 2 is accommodated in the trolley groove 417, a magnet 4111 is fixedly arranged on one side, away from the inlet of the feeding trolley, of the trolley groove 417, an anti-collision pad 4112 is fixedly arranged on the feeding base 411, the anti-collision pad 4112 and the magnet 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 bumped, so that the durability and the service life of the feeding trolley 2 are improved. Of course, the crash pad 4112 may also be disposed on the feeding cart 2 to function as a crash stop.
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 disposed on the trolley frame 23, the tray 22 and the material are both movably sleeved on the material rod 21, the tray 22 is disposed below the material, a gap 24 is disposed between the tray 22 and the trolley frame 23, at least one limit groove 221 is formed in the bottom of the tray 22, the limit groove 221 corresponds to the limit post 418, and a trolley sliding rail 231 is disposed at the bottom of the trolley frame 23; when the feeding trolley 2 is sent to the feeding part, the trolley slide rail 231 is accommodated in the trolley groove 417, and the lifting plate 413 and the limit post 418 on the lifting plate 413 are both accommodated in the gap 24. When lifting plate 413 pushes up the material on tray 22, spacing post 418 holding is in spacing groove 221, and the feeding trolley can't remove from the material loading portion this moment, and spacing post and spacing groove play spacing foolproof effect. Preferably, the bottom of the trolley frame 23 is also provided with an electromagnet 232 matched with a magnet 4111, and the feeding trolley 2 is fixed on the feeding base 411 through the electromagnet. Of course, a magnet may be disposed on the trolley frame 23, and an electromagnet may be disposed on the feeding base 411 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 is oriented towards the material rod 21, and the position of the fifth sensor 419, which can detect the material on the material rod 21, is defined as the material taking position of the material loading 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 acting, the uppermost material on the material rod 21 stays at the material taking position, at this time, the moving module 42 moves to the position above the material, the first clamping hand 425 and the second clamping hand 426 extend into the central hole of the material, the first clamping hand 425 and the second clamping hand 426 prop open to prop up the material, and then the material is clamped and sent to the material discharging table 431.
The transfer device is a robot 7, as shown in fig. 3 and 10-14, the robot 7 is slidably mounted on the sliding rail 13, and the robot 7 includes a base 71, a supporting body 72 and a manipulator 73; the support body 72 is fixedly arranged on the base 71, the manipulator 73 is movably connected to the support body 72, and the manipulator 73 can move up and down along the support body 72. In an example, the manipulator 73 is a manipulator with adjustable clamping force.
As shown in fig. 12-14, the robot 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 comprises a lifting member 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 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 containing hole 7332, at least one cylinder is arranged in the containing hole 7332, the cylinder is sequentially sleeved with the lifting member 7343 and the 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 detect the lifting member 7343 capable of 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 the example, the columns are vertically disposed in the slots, and there are two columns, and of course, the number of columns is not limited, so that the second clamping arm 733 does not shake and can stably follow the up-and-down movement of the lifting member 7343. In an example, a first sensor 7335 is disposed on the first fixing member 7331, and an induction piece 7345 is disposed on the lifting member 7343, where the first sensor is a U-shaped sensor, and the induction piece can be accommodated in a 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 the example, the first fixing member 7331 is provided with a mounting hole near one side of the second clamping arm 733, the accommodating hole 7332 is provided with an accommodating groove far away from the side wall of one side of the second clamping arm 733, the mounting hole is communicated with the accommodating hole 7332, one end of the column body extends into the accommodating groove from the mounting hole to sequentially penetrate through the mounting hole and the accommodating hole 7332, the other end of the column body is accommodated in the mounting hole, and when the column body penetrates through the accommodating hole 7332, the spring and the lifter accommodated in the accommodating hole 7332 are penetrated.
The lifting structure 734 comprises a supporting frame 7341, a screw rod 7342, a lifting member 7343 and a first driving motor 7344, the supporting frame 7341 is fixedly arranged on the base 731, the screw rod 7342 is rotatably installed on the supporting frame 7341, the lifting member 7343 is provided with a threaded hole matched with the screw rod 7342, 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 that the lifting member 7343 moves upwards or downwards along the screw rod 7342.
In a preferred embodiment, a telescoping structure 735 is also included, including a mount 7351, a transmission structure 7352, and a second drive motor 7353; the transmission structure and the second driving motor are fixedly installed on the mounting piece 7351, and the base 731 is movably connected to the mounting piece 7351 through the transmission structure 7352.
In a preferred embodiment, further comprising a rotating structure 736, the rotating structure 736 comprising a stationary table 7361, a rotating shaft and a third drive motor 7362; the rotating shaft and the third driving motor 7362 are both installed on the fixed table 7361, the installation member is installed on the fixed table 7361 through the rotating shaft, and the installation member can be rotated 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 rail; the supporting body is provided with a reinforcement 721, one end of the reinforcement 721 is fixedly connected to the supporting body, the other end of the reinforcement is fixedly connected to the base, and the reinforcement and a group of sliding grooves are located on the same vertical surface. The reinforcement body plays a role in reinforcing the supporting main body, and meanwhile, the reinforcement body and a 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 reinforcement body still can play fine firm support main part's effect, support main part takes place to rock when avoiding the robot to remove fast.
In a preferred embodiment, the supporting body 72 is provided with a slot along the axial direction, a toothed belt is arranged in the slot, the manipulator is fixedly connected to the toothed belt of the supporting body, and the manipulator ascends or descends under the transmission of the toothed belt. The tooth-shaped belt is arranged in the groove, so that the tooth-shaped belt is not additionally occupied, the structure is compact, the robot volume is convenient to reduce, and the appearance is more attractive.
In the example, the supporting body 72 is an aluminum supporting body, and the supporting 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 improved, so that the working efficiency is improved.
The base 71 is provided with a power cabinet 713, the power cabinet can provide electric energy and/or transmit signals for the operation of the robot, the power cabinet is arranged on the robot instead of being arranged on the ground in a traditional way, a large number of power lines and signal lines are reduced to be pulled, only one power line is required to be externally connected or one signal line is required to be added, even no signal line is required, and wireless connection is adopted; the number of the power lines and the number of the signal lines are large, on one hand, the damage or loosening frequency can be increased, a plurality of unstable factors are brought to the operation of the robot, and meanwhile, the dragging of a large number of power lines and signal lines when the robot moves is reduced, so that the moving speed and the moving efficiency of the robot are improved.
The working principle of the robot is as follows:
when the material is clamped, the first clamping arm 732 is 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 to the lower part of the material, the first clamping arm 732 moves upwards until the first clamping arm stops moving after the second sensor 7311 detects the material, the material is placed on the first clamping arm 732 at the moment, then the control system sends a descending instruction to the first driving motor 7344, the first driving motor 7344 operates, meanwhile, the screw rod is driven to rotate, the lifting member 7343 synchronously moves downwards along with the rotation of the screw rod, the second clamping arm 733 sleeved on the first fixing member 7331 synchronously moves downwards, the second clamping arm 733 fixedly provided with the first fixing member 7331 also synchronously moves downwards, when the second clamping arm 733 descends to the top of the material, the first fixing member 7331 fixedly connected with the second clamping arm also synchronously stops moving, the lifting member 7343 continuously moves downwards along with the screw rod, the sensing piece on the lifting member 7343 synchronously moves downwards, and the first sensor 731 synchronously moves downwards when the sensing piece receives the sensing signal, and the first clamping system receives the first sensing signal, and the first clamping force is sent to the first driving system, so that the first clamping system generates a signal to stop the first clamping force, and the first clamping system synchronously moves downwards, and the first clamping force is detected. 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 elasticity of the spring. In an example, the position of the sensing piece on the lifter 7343 can be adjusted up and down, so that the magnitude of the clamping force of the manipulator on the material can be adjusted.
When the material is placed, the mechanical arm places the material on the storage rack, the control system sends an ascending instruction to the first driving motor 7344, the first driving motor 7344 rotates and 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 after 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, the first arm lock descends certain distance under the effect of profile of tooth belt, removes from the material bottom can, then the manipulator removes from the storage rack 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 belt 8, and one end of the transfer conveyor belt 8 along the conveying direction is disposed at the discharge port 12.
The one side that the transfer conveyer belt 8 is close to the robot 7 of same passageway is provided with baffle 81, at least one keeps off the material mouth 82 has been seted up on the baffle 81, keep off the material mouth 82 opening up, keep off the material mouth 82 internal diameter is less than material 9 external diameter, keep off the material mouth 82 internal diameter is not less than first arm 732's width, the robot 7 takes out the material from storage rack 5 and places on transfer conveyer belt 8, and when the material placed on transfer conveyer belt 8, first arm 732 and the second arm 733 that clamp the material stretch into on the ejection of compact conveyer belt 8 from keeping off the material mouth top and move down to keep off the material mouth in, second arm 733 lifts up to leave the material surface, manipulator 73 unclamp the material and first arm shifts out from keeping off the material mouth, and the material falls into transfer conveyer belt 8 under the stopper of keeping off the material mouth, and the material is transferred to the discharge gate 12 along with transfer conveyer belt 8. In an example, a plurality of material blocking openings can be provided with different widths, and materials with different sizes are matched with the material blocking openings with different widths.
All the features of the above components can be freely combined without conflict, and in addition, the structural changes, the variants and the modifications of the components are also within the protection scope of the patent.
In the description of the present specification, a description of the terms "one embodiment," "some embodiments," "yet another embodiment," "other embodiments," "examples," "specific examples," or "some examples," etc., 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, schematic representations of the above terms are not necessarily directed 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. Further, one skilled in the art may combine and combine the different embodiments or examples described in this specification.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications and alternatives to the above embodiments may be made by those skilled in the art within the scope of the invention.
Claims (4)
1. The ultra-large capacity multi-robot double-channel intelligent warehouse is characterized by comprising a storage warehouse (1) and a control system;
the storage bin (1) is a double-channel storage bin, each channel is provided with a feeding hole (11) and a discharging hole (12), and each channel is internally provided with a feeding device (4), a storage rack (5), a transfer device and a conveying device;
the feeding device (4) is arranged on one side of a feeding hole (11) of the channel, 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 the materials of the storage rack (5) on the conveying device, the transferring device can detect the thickness of the materials, and one end of the conveying device along the conveying direction is arranged at the position of the discharging hole (12);
the control system is configured to control the actions of the storage bin (1);
the feeding device is characterized in that the feeding device (4) is provided with a feeding part (41), a moving module (42), a detecting part (43) and a misplacement placing part (44), the feeding part (41) can be used for placing materials to be stored, the feeding part (41) is provided with a material taking position and a lifting driving structure (414), the materials of the feeding 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 detecting part (43), the detecting part (43) comprises a material placing table (431) and a detecting camera (432), the detecting camera (432) is arranged above the material placing table (431), the detecting camera (432) can be used for detecting the material information on the materials, and the misplacement placing part (44) can be used for placing materials with wrong material information or materials without material information.
The mobile module (42) comprises a sliding rod (421), a first component (422), a second component (423) and a taking part, wherein the first component (422) is slidably installed on the sliding rod, the first component (422) can move along the sliding rod, the second component (423) is slidably installed on the first component (422), the second component (423) can slide along the first component (422), the taking part is driven to clamp materials, a plurality of third sensors (427) are arranged on the first component (422) or the second component (423) along the moving direction of the second component (423), and different third sensors (427) can detect different distances of the movement of the second component (423);
the feeding device (4) is provided with a discharging table, a plurality of fourth sensors are arranged on the discharging table (431), the fourth sensors are configured to be capable of detecting the sizes of materials, and different fourth sensors detect the sizes of different materials;
the transfer device is a robot (7), and the robot (7) comprises a base (71), a supporting main body (72) and a manipulator (73); the supporting main body (72) is fixedly arranged on the base (71), the manipulator (73) is movably connected to the supporting main body (72), and the manipulator (73) is configured to clamp materials and move up and down along the supporting main body;
at least two groups of sliding grooves are formed in the bottom of the base (71); the support main body (72) is provided with a reinforcement body, one end of the reinforcement body is fixedly connected to the support main body (72), the other end of the reinforcement body is fixedly connected to the base, and the axial direction of the reinforcement body and the axial direction of one group of sliding grooves are positioned on the same vertical surface;
the manipulator comprises a base (731), a first clamp arm (732), a second clamp arm (733) and a lifting structure (734); the first clamp arm (732) and the lifting structure (734) are fixedly arranged on the base (731), the lifting structure (734) comprises a lifting member (7343), the second clamp arm (733) is arranged on the lifting structure (734), the second clamp arm (733) corresponds to the first clamp arm (732) up and down, the second clamp arm (733) can move up and down synchronously along with the lifting member (7343), the second clamp arm (733) is provided with a first fixing member (7331), the first fixing member (7331) is provided with a containing hole (7332), at least one cylinder is arranged in the containing hole (7332), the lifting member (7343) and the spring (7334) are sequentially sleeved on the cylinder 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) can detect the compression of the lifting member (7343) configured by the spring (7334);
the first fixing piece (7331) is provided with a first sensor (7335), and the lifting piece (7343) is provided with a sensing piece (7345) corresponding to the first sensor (7335); or (b)
The lifter (7343) is provided with a first sensor (7335), and the first fixture (7331) is provided with a sensing piece (7345) corresponding to the first sensor (7335).
2. The ultra-large capacity multi-robot dual-channel intelligent warehouse according to claim 1, wherein the conveying device is a transfer conveying belt (8), and one end of the transfer conveying belt (8) along the conveying direction is arranged at a discharge port (12) of the corresponding channel.
3. The ultra-high capacity multi-robot dual channel smart warehouse of claim 1, wherein the robotic arm (73) further comprises a telescoping structure (735) configured to enable extension or retraction of the robotic arm (73).
4. The ultra-high capacity multi-robot dual-channel smart warehouse of claim 3, wherein the manipulator (73) further comprises a rotating structure (736), the rotating structure (736) being configured to drive the manipulator (73) to rotate in a horizontal direction;
the support body (72) is an aluminum support body.
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| CN117049193B (en) * | 2023-09-11 | 2024-02-27 | 无锡市泰瑞电子设备制造有限公司 | Automatic feeding and discharging system of photovoltaic cell panel transportation line |
| CN116946605B (en) * | 2023-09-21 | 2023-12-12 | 苏州派迅智能科技有限公司 | Intelligent storage equipment based on multi-size packaging humidity-sensitive materials |
| CN117401430A (en) * | 2023-11-10 | 2024-01-16 | 湖南工程学院 | Energy storage battery assembly feeding part, assembly robot and assembly system |
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