CN210823886U - Flexible warehousing system - Google Patents

Abstract

The utility model relates to a flexible warehousing system, which comprises a box in-out warehouse conveying line, an annular warehouse, a clamp assembly, six robots and a robot mounting base; the box in-out warehouse conveying line is arranged at an inlet and an outlet of the annular warehouse, the material box is conveyed to the inlet and the outlet of the annular warehouse through the box in-out warehouse conveying line, and the robot mounting base is arranged at the center position in the annular warehouse; the six-axis robot is arranged in the center of the annular bin and is mounted on the robot mounting base; the fixture assembly is connected with a six-axis robot, and the six-axis robot moves to drive the fixture to move to finish warehousing and ex-warehousing of the material box.

Description

Flexible warehousing system

Technical Field

The utility model relates to a storage technical field especially relates to a flexible warehouse system.

Background

With the acceleration of modern life rhythm and the rapid development of the modern logistics industry, the demand of society for logistics equipment is increasing, and the types of demands are more and more complex.

In the existing automatic storage, the arrangement of the goods shelves is mainly linear, the goods shelves occupy large space, have high cost and are inconvenient to disassemble and assemble, and the storage positions of various material boxes can be visually seen only by moving the positions during operation.

Therefore, the annular three-dimensional warehouse is used for solving the problems. The annular bin is mainly used for managing and temporarily storing material boxes in the fields of e-commerce, in-plant logistics and the like, but because the annular bin, clamps for holding the material boxes and the like form the limitation of equipment, the annular bin used at home and abroad at present only aims at the material boxes of single specification and variety, and the material boxes of products of different specifications need to be matched with the annular bins, the clamps and peripheral equipment of different specifications to adapt, so that the use efficiency of the annular bin is reduced, the occupied area of a factory building is increased invisibly, the corresponding equipment investment cost is high, and the equipment management is complicated.

SUMMERY OF THE UTILITY MODEL

To the problem that exists among the prior art, the utility model aims to provide a flexible storage system, it can be applied to the temporary storage management of material casees such as turnover case, carton on electricity merchant, the interior commodity circulation of factory, automatic production line widely. The utility model discloses the material case of keeping in and multiple product specification of the material case that can automatic compatible different specification products mixes at same moment and keeps in, has good compatibility, high flexibility and adaptability, and the annular storehouse quantity of optimization that can furthest under the operating mode that needs many varieties material case to keep in to input cost and factory building area have been reduced. And, the utility model discloses a flexible warehouse system is applicable to narrow and small space to easy dismounting is favorable to improving the access speed of material case, has alleviateed workman labour cost simultaneously.

The technical scheme of the utility model as follows:

a flexible warehousing system comprises a box warehouse-in and warehouse-out conveying line, a warehousing frame, a clamp assembly, a six-axis robot and a robot mounting base; the storage rack is an annular bin; the box in-out warehouse conveying line is arranged at an inlet and an outlet of the annular warehouse, the material box is conveyed to the inlet and the outlet of the annular warehouse through the box in-out warehouse conveying line, and the robot mounting base is arranged at the center position in the annular warehouse; the six-axis robot is arranged in the center of the annular bin and is mounted on the robot mounting base; the fixture assembly is connected with a six-axis robot, and the six-axis robot moves to drive the fixture to move to finish warehousing and ex-warehousing of the material box.

Preferably, the first end of the box in-out conveying line is positioned outside the annular bin, and the second end of the box in-out conveying line is positioned in an annular ring formed by the shelves of the annular bin along the radial direction of the annular bin and does not exceed a cylindrical surface formed by the inner surface of the annular bin.

Preferably, the box in-out conveying line comprises an in-out code reader, an in-out conveying line, an out-of-warehouse conveying line and an out-of-warehouse code reader, the in-warehouse code reader is arranged on the in-warehouse conveying line, and the out-of-warehouse code reader is arranged on the out-of-warehouse conveying line; when warehousing operation needs to be completed, the material boxes are arranged on the warehousing conveying line, and when warehouse-out operation needs to be completed, the material boxes are arranged on the warehouse-out conveying line.

Preferably, the warehouse inlet conveying line and the warehouse outlet conveying line are arranged in parallel.

Preferably, the ex-warehouse code reader is arranged on the outer side of the ex-warehouse conveying line, and the in-warehouse code reader is arranged on the outer side of the in-warehouse conveying line; and the material box is provided with a label for the warehouse entry code reader and the warehouse exit code reader to read.

Preferably, the annular bin comprises a plurality of single-row shelves, the single-row shelves are arranged in an annular shape and are provided with an inlet and an outlet, and the inlet and the outlet are the inlet and the outlet of the annular bin; a plurality of goods positions are arranged on the single-row goods shelf and are arranged along the height direction of the single-row goods shelf.

Preferably, be provided with a plurality of cushions of a plurality of material case business turn over goods position direction on the goods position, a plurality of cushions are parallel to each other to adapt to the placing of different specification kind material casees in the goods position, adapt to the business turn over of fixture device centre gripping thing workbin the goods position from the space dimension simultaneously and get and put.

Preferably, the six-axis robot further comprises an upper control system and a management system, wherein the upper control system and the management system are connected with the six-axis robot.

Preferably, the robot mounting base is movable within or fixed within an interior space enclosed by the annular bin.

Preferably, when the material box is put in storage, the material box is conveyed from the inlet end of the storage conveying line to the inlet and outlet of the annular bin; the inlet end of the warehouse-in conveying line is a first end of the warehouse-in conveying line; in the warehousing conveying process, a warehousing code reader scans and reads the label of the material box and informs the read information to an upper control system and a management system, the control system controls a six-axis robot to drive a clamp assembly to move to an inlet and an outlet of an annular bin, a motor of the clamp assembly starts forward rotation or reverse rotation in the moving process of the six-axis robot to drive a screw spindle to rotate forward or reverse so as to drive a right protective plate on a right screw sleeve seat and a left protective plate on a left screw sleeve seat to move inwards or outwards, the clamp assembly can be automatically adjusted according to the product information size and specification of the material box to adapt to the material holding box, and at the moment, a bottom support plate of the clamp assembly supports the bottom of the material box and firmly adsorbs the material box on a bottom support plate under the vacuum adsorption effect of a vacuum chuck; the right guard plate and the left guard plate are adjusted to be close to two sides of the material box, so that the material box is prevented from shifting, shaking or falling off in the process of carrying the material box by the six-axis robot to move quickly; under the distribution of a management system, the six-axis robot drives the material box to move into a designated goods position, the motor starts the reverse rotation of the right protective plate and the left protective plate to move outwards, the vacuum suction disc releases vacuum at the same time, the material box is placed on the cushion block, then the six-axis robot drives the clamp assembly to move out of the goods position, and the warehousing temporary storage of the material box is completed;

when the material box is delivered out of the warehouse, an upper management system issues a warehouse product information instruction according to production requirements, a control system controls a six-axis robot to drive a clamp assembly to move into a specified goods position according to the instruction, a motor of the clamp assembly starts forward rotation or reverse rotation in the moving process of the six-axis robot, namely, a screw spindle rotates forward or reversely to drive a right protective plate on a right screw sleeve seat and a left protective plate on a left screw sleeve seat to move inwards or outwards, so that the clamp assembly can automatically adjust and adapt to holding the material box according to the size and the specification of the product information, a bottom supporting plate of the clamp assembly supports the bottom of the material box by avoiding a cushion block, the material box is firmly adsorbed on the bottom supporting plate under the vacuum adsorption action of a vacuum chuck, meanwhile, the right protective plate and the left protective plate abut against two sides of the material box, the six-axis robot takes out the material box from the goods position and then moves to an inlet and outlet of an annular bin, and simultaneously, the vacuum sucker releases vacuum, the material box is placed on the delivery conveyor line, the delivery conveyor line is started to convey the material box to the outlet end of the delivery conveyor line, the delivery code reader scans and reads the label of the material box in the conveying process, the read information is informed to an upper management system, and the delivery information recheck of the material box is completed.

Preferably, the warehousing system can be a linear bin or other polygonal bins

Compared with the prior art, the utility model discloses a with flexible warehouse system, it can be applied to the temporary storage management of material casees such as turnover case, carton on electricity merchant, the interior commodity circulation of factory, the automatic production line widely. The utility model discloses the material case of keeping in and multiple product specification of the material case that can automatic compatible different specification products mixes at same moment and keeps in, has good compatibility, high flexibility and adaptability, and the annular storehouse quantity of optimization that can furthest under the operating mode that needs many varieties material case to keep in to input cost and factory building area have been reduced. And, the utility model discloses a flexible warehouse system is applicable to narrow and small space to easy dismounting is favorable to improving the access speed of material case, has alleviateed workman labour cost simultaneously.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a top view of a schematic diagram of a flexible warehousing system according to the present invention.

Fig. 2 is a perspective view of a schematic structural diagram of a flexible warehousing system according to the present invention.

Fig. 3 is a schematic structural diagram of a box in-out conveying line of the flexible warehousing system according to the utility model.

Fig. 4 is a schematic structural view of the annular bin of the flexible storage system according to the present invention.

Fig. 5 is a schematic structural diagram of a clamp assembly of the flexible warehousing system according to the present invention.

Fig. 6 is a first working schematic diagram of a six-axis robot and a box in-out conveying line of the flexible warehousing system according to the utility model.

Fig. 7 is a first schematic diagram of a flexible storage system according to the present invention, wherein a six-axis robot drives a clamp assembly to place a material box.

Fig. 8 is a second schematic view of the six-axis robot driving the clamp assembly to place the material box according to the present invention.

Fig. 9 is a second schematic diagram of the six-axis robot and the box in-out conveying line of the flexible warehousing system according to the present invention.

Fig. 10 is a schematic structural view of another embodiment of a gripper assembly of the flexible storage system according to the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

The flexible warehousing system according to the embodiment of the utility model is shown in fig. 1-9, and it includes case business turn over storehouse transfer chain 1, material case 2, annular storehouse 3, anchor clamps assembly 4, six robots 5, and robot installation base 6.

Case business turn over storehouse transfer chain 1 arranges in the entry and exit department of annular storehouse 3, and material case 2 carries to the entry and exit department of annular storehouse 3 through case business turn over storehouse transfer chain 1, and robot installation base 6 arranges in the central point department in annular storehouse 3 and puts.

Preferably, the first end of the box in-out magazine conveyor line 1 is located outside the annular magazine 3 and the second end of the box in-out magazine conveyor line 1 is located within the circle formed by the shelves of the annular magazine in the radial direction of the annular magazine 3 and does not exceed the cylindrical surface formed by the inner surface of the annular magazine 3.

The six-axis robot 5 is arranged in the center of the annular bin 3, and the six-axis robot 5 is mounted on a robot mounting base 6; the robot mounting base 6 can be moved within the inner space enclosed by the annular bin 3 or the robot mounting base is fixed in the inner space enclosed by the annular bin 3. The clamp assembly 4 is connected with the six-axis robot 5, and the six-axis robot 5 moves to drive the clamp to move so as to finish warehousing and ex-warehouse of the material box 2.

As shown in fig. 3, the box in-and-out conveying line 1 includes an in-magazine reader 101, an in-magazine conveying line 102, an out-magazine conveying line 103, and an out-magazine reader 104, the in-magazine reader 101 being provided on the in-magazine conveying line 102, and the out-magazine reader 104 being provided on the out-magazine conveying line 103. The warehouse-in conveying line 102 and the warehouse-out conveying line 103 are arranged in parallel. Preferably, the outbound code reader 104 is disposed outside the outbound transport line 103, and the inbound code reader 101 is disposed outside the inbound transport line 102. When the warehousing operation needs to be completed, the material box 2 is placed on the warehousing conveying line 102, and when the ex-warehouse operation needs to be completed, the material box 2 is placed on the ex-warehouse conveying line 103. The material box 2 is provided with tags for the input reader 101 and the output reader 104 to read.

Preferably, the flexible warehousing system according to the utility model discloses still include upper control system and management system. The upper control system and the management system are connected with the six-axis robot 5.

The annular bin comprises a plurality of single-row shelves 301, the single-row shelves 301 are arranged in an annular shape, and the ring formed by the single-row shelves is provided with an inlet and an outlet which are the inlet and the outlet of the annular bin. A plurality of cargo spaces 302 are provided on the single-row shelf 301, and the cargo spaces 302 are arranged in the height direction of the single-row shelf 301.

Preferably, be provided with a plurality of cushion blocks 303 along the goods position direction of material case 2 business turn over on the goods position, a plurality of cushion blocks 303 are parallel to each other to when realizing that different specification kind material case 2 gets in the goods position 302 and put, have suitable space to let clamping device 4 business turn over.

In parallel, the cushion block structure here may be other structures adapted to the clamping device to clamp the material box in and out of the cargo space, for example, a clearance design of the cargo space, for example, a clearance groove; including but not limited to spacer structures and clearance grooves.

Further, the single-row shelf 301 includes columns, preferably four columns. A cross arrangement of fixed beams is provided at the top of the single column of shelves 301 in order to maintain the stability of the single column of shelves 301. A plurality of oblique beams are respectively arranged at the two sides and the rear part of each single-row shelf 301. Preferably, the cargo spaces 303 are fixedly connected to the single-row racks, a supporting beam is disposed at the rear side of each single-row rack 301, and the rear end of the cargo space 302 is placed on the supporting beam to further support each cargo space 303.

The fixture assembly 4 comprises a right guard plate 401, a bottom support plate 402, a vacuum chuck 403, a right swivel base 404, a right slider 405, a right guide rail 406, a fixture frame 407, a screw spindle 408, a left guard plate 409, a fixture flange 410, a left guide rail 411, a left swivel base 412, a left slider 413, a bearing 414 and a motor 415.

The jig flange 410 is disposed at an outer side, i.e., a first side, of the jig frame 407, and the jig flange 410 is connected to the six-axis robot.

The inside of the clamp frame 407, i.e. the second side, is provided with a guide rail, which comprises a first guide rail and a second guide rail, wherein the first guide rail is a right guide rail and the second guide rail is a left guide rail. And a right sliding block which moves along the right guide rail is arranged on the right guide rail, and the right sliding block is a first sliding block. And the left sliding block moves along the left guide rail on the left guide rail, and the left sliding block is a second sliding block.

The bottom bracket plate 402 is coupled to the lower end of the second side of the clamp frame 407.

Be provided with vacuum chuck on the bottom plate 402, the bottom plate is located between right backplate 401 and the left backplate 409, and the material case is placed on bottom plate 402 to adsorb through this vacuum chuck, right backplate 401 and left backplate 409 prevent that material case 2 from droing from both sides. The motor 415 is connected to the screw spindle 408, specifically, an output shaft of the motor 415 is connected to a first end of the screw spindle 408, the motor moves to drive the screw spindle to rotate, the screw spindle 408 is provided with a right screw socket 404 and a left screw socket 412, the right screw socket 404 and the left screw socket 412 are located on two sides of the bottom plate, and a distance from the left side of the bottom plate 402 to the left screw socket 412 is equal to a distance from the right side of the bottom plate 402 to the right screw socket 412. The right guard plate 401 is connected to the right swivel nut mount 404 and the left guard plate 409 is connected to the left swivel nut mount 412.

Preferably, the number of the left guide rails is two, the two left guide rails are parallel to each other, and the left slider is connected to the two left guide rails.

Preferably, the number of the right guide rails is two, the two right guide rails are parallel to each other, and the left sliding block is connected to the two guide rails.

Specifically, when the material box 2 is put in storage, the material box 2 is conveyed from the inlet end of the inlet conveying line 102 to the inlet and outlet of the annular bin 3. Preferably, the inlet end of the warehouse entry conveying line 102 is a first end thereof. In the warehousing conveying process, the warehousing code reader 101 scans and reads the labels of the material boxes 2, and informs the read information to an upper control system and a management system, the control system controls the six-axis robot 5 to drive the clamp assembly 4 to move to the inlet and outlet of the annular bin 3, the motor 415 of the clamp assembly 4 starts to rotate forwards or backwards in the moving process of the six-axis robot 5 to drive the screw spindle 408 to rotate forwards or backwards so as to drive the right protective plate 401 on the right screw sleeve seat 404 and the left protective plate 409 on the left screw sleeve seat 412 to move inwards or outwards, the clamp assembly 4 can be automatically adjusted according to the product information size specification of the material boxes 2 to adapt to holding the material boxes 2, at the moment, the bottom supporting plate 402 of the clamp assembly 4 supports the bottom of the material boxes 2, and the material boxes 2 are firmly adsorbed on the bottom supporting plate 402 under the vacuum adsorption effect of the vacuum chuck 403. Meanwhile, the right protection plate 401 and the left protection plate 409 are tightly close to two sides of the material tank 2, so that the situation that the material tank 2 is not displaced, shaken or dropped in the process of carrying the material tank 2 by the six-axis robot 5 is guaranteed. Under the distribution of the management system, the six-axis robot 5 with the material box 2 moves to the designated goods space 302, at the moment, the motor 415 starts to rotate reversely, the right protection plate 401 and the left protection plate 409 move outwards, meanwhile, the vacuum suction cups 403 release vacuum, the material box 2 is placed on the cushion blocks 303, then the six-axis robot 5 with the clamp assembly 4 moves out of the goods space 302, and the warehousing and temporary storage of the material box 2 are completed.

When the material box 2 is delivered from the warehouse, the upper management system issues a warehouse product information issuing instruction according to the production requirement, the control system controls the six-axis robot 5 to drive the clamp assembly 4 to move to the appointed goods position 302 according to the instruction, the motor 415 of the clamp assembly 4 starts to rotate forwards or reversely in the moving process of the six-axis robot 5, namely the screw spindle 408 rotates forwards or reversely to drive the right protective plate 401 on the right screw sleeve seat 404 and the left protective plate 409 on the left screw sleeve seat 412 to move inwards or outwards, so that the clamp assembly 4 can automatically adjust and adapt to holding the material box 2 according to the size and specification of the product information, at the moment, the bottom supporting plate 402 of the clamp assembly 4 supports the bottom of the material box 2 by avoiding the cushion block 303, the material box 2 is firmly adsorbed on the bottom supporting plate 402 under the vacuum adsorption action of the vacuum chuck 403, meanwhile, the right protective plate 401 and the left protective plate 409 abut against two sides of the material box 2, the six-axis robot 5 takes the material box 2 from the goods position 302 and, at this moment, the motor 415 starts to rotate the right protection plate 401 and the left protection plate 409 reversely to move outwards, meanwhile, the vacuum suction cups 403 release vacuum, the material box 2 is placed on the delivery conveying line 103, the delivery conveying line 103 is started to convey the material box 2 to the outlet end of the delivery conveying line 103, the delivery code reader 104 scans and reads the label of the material box 2 in the conveying process, the read information is informed to an upper management system, and delivery information rechecking of the material box 2 is completed.

Preferably, bearings 414 are fixed at 407 to the opposite ends of the jig frame, respectively, for supporting the screw main shaft 408.

Preferably, a second embodiment of the structure of the gripper assembly 4 is shown in figure 10 when the range of dimensional differences between the product tanks 2 produced is not large. According to the utility model discloses an in the second embodiment the anchor clamps assembly 4 only need be provided with bottom plate 402, vacuum chuck 403, anchor clamps frame 407 and anchor clamps flange 410 can satisfy the function. A bottom support plate 402 is arranged on one side of the clamp frame 407 close to the material tank 2, and a vacuum suction cup 403 is arranged on the bottom support plate 402, preferably, the vacuum suction cup is arranged on the upper surface of the bottom support plate 402. Preferably, the vacuum cups are arranged in series at equal intervals along the upper surface of the bottom plate 402. The clamp flange 410 is connected to the side of the clamp frame 407 remote from the material tank 2, and the clamp flange 410 is used for connection to a clamp driving device, for example, a robot arm.

Preferably, the clamp flange has a first surface and a second surface. The first surface of the clamp flange 410 is a circular ring-shaped structure, and first connection holes are formed in the circular ring-shaped structure and evenly distributed along the circumference on the first surface.

The second surface of the clamp flange 410 is square, the second surface of the clamp flange 410 is connected with the clamp frame, a through hole is formed in the center of the second surface, and second connecting holes are formed in the periphery of the through hole. Preferably, the second connection holes are uniformly arranged along a circumferential direction of the through hole.

Preferably, the structure of the present invention includes, but is not limited to, a circular bin 3, and other types of warehousing systems, such as linear bins and polygonal bins, are also suitable.

Correspondingly, the box in-out warehouse conveying lines are arranged at preset positions of the various types of warehouses, and the positions of the box in-out warehouse conveying lines are matched with the positions of the clamp assemblies, so that the six-axis robot can drive the clamp assemblies to move between the box in-out warehouse conveying lines and the various types of warehouses.

Preferably, the robot mounting base 6 is a movable mechanism that is capable of controlled movement according to the floor markings. The shelf structure includes but is not limited to the structure in the utility model, and other any shelf structures that can realize the utility model discloses a shelf structure of warehouse system all can be regarded as to the demand.

Preferably, the material box 2 of the utility model comprises a smooth bottom; and/or the bottom of the box is uneven; and/or the sides of the box are free of projections but can support the edges; and/or the sides of the box are provided with bulges and can support edges.

Preferably, the clamp assembly 4 can adopt a bottom support plate and vacuum chuck structure for the case with smooth bottom and/or no convex but supportable edge on the side of the case, and the left and right guard plates and the respective corresponding motion adjusting mechanisms are eliminated.

Preferably, the clamp assembly 4 can adopt the structure of the bottom supporting plate plus the left protective plate and the right protective plate and the movement adjusting mechanism of the left protective plate and the right protective plate to eliminate the structure of the vacuum chuck for the case that the bottom of the case is smooth and/or the side surface of the case has no bulge but can support the edge.

Preferably, the clamp assembly can adopt the structure of a bottom support plate and a vacuum chuck for the case that the bottom of the case is smooth and/or the side surface of the case is provided with a convex but supportable edge, and the left protective plate and the right protective plate and the corresponding motion adjusting mechanism are eliminated. In this case, the fixture assembly 4 may also adopt a left guard plate and a right guard plate and their respective motion adjusting mechanisms, and eliminate the bottom support plate and the vacuum chuck.

Preferably, aiming at the conditions that the bottom of the box is uneven and/or the side surface of the box has no protrusion and can support the edge, the clamp assembly 4 can adopt a structure of a bottom supporting plate and a left protective plate and a right protective plate and a movement adjusting mechanism of the left protective plate and the right protective plate, and the structure of a vacuum chuck is eliminated.

Preferably, the clamp assembly 4 can also adopt a left guard plate and a right guard plate and respective corresponding motion adjusting mechanisms to eliminate the structures of a bottom support plate and a vacuum chuck for the case that the bottom of the case is uneven and/or the side surface of the case has a protrusion and can support the edge.

The utility model discloses can be compatible different types and the box of specification, specifically, different specification material case 2 is the material case 2 of size difference, and the workbin of different types indicates, for example, carton, turnover case etc.. The utility model is not only suitable for the ring layout, but also suitable for the linear or other polygonal layouts; the clamp assembly 4 can adaptively adjust the mode of grabbing the workbin according to the type and the specification of the workbin.

It is to be understood that the above embodiments are merely exemplary embodiments that have been employed to illustrate the principles of the present invention, and that the present invention is not limited thereto. Those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. 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, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the communication may be direct, indirect via an intermediate medium, or internal to both elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "at least three" means two or more unless otherwise specified.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims (10)

1. A flexible warehousing system is characterized by comprising a box in-out warehouse conveying line, a warehousing frame, a clamp assembly, a six-axis robot and a robot mounting base; the storage rack is an annular bin; the box in-out warehouse conveying line is arranged at an inlet and an outlet of the annular warehouse, the material box is conveyed to the inlet and the outlet of the annular warehouse through the box in-out warehouse conveying line, and the robot mounting base is arranged at the center position in the annular warehouse; the six-axis robot is arranged in the center of the annular bin and is mounted on the robot mounting base; the fixture assembly is connected with a six-axis robot, and the six-axis robot moves to drive the fixture to move to finish warehousing and ex-warehousing of the material box.

2. The flexible warehousing system of claim 1, wherein the first end of the box in and out conveyor line is located outside the ring magazine and the second end of the box in and out conveyor line is located within the circle defined by the shelves of the ring magazine in a radial direction of the ring magazine and does not exceed the cylindrical surface defined by the inner surface of the ring magazine.

3. The flexible warehousing system of claim 2, wherein the bin in-out conveyor lines include an in-bin code reader, an in-bin conveyor line, an out-bin conveyor line, and an out-bin code reader, the in-bin code reader being disposed on the in-bin conveyor line, the out-bin code reader being disposed on the out-bin conveyor line; when warehousing operation needs to be completed, the material boxes are arranged on the warehousing conveying line, and when warehouse-out operation needs to be completed, the material boxes are arranged on the warehouse-out conveying line.

4. The flexible warehousing system of claim 3, wherein the inbound conveyor line is disposed parallel to the outbound conveyor line.

5. The flexible warehousing system of claim 4, wherein the ex-warehouse code reader is disposed outside the ex-warehouse conveyor line, and the in-warehouse code reader is disposed outside the in-warehouse conveyor line; and the material box is provided with a label for the warehouse entry code reader and the warehouse exit code reader to read.

6. The flexible warehousing system of claim 5, wherein the racks of the ring bin comprise a plurality of single-row racks arranged in a ring, the single-row racks arranged in the ring having an entrance and an exit, the entrance and the exit being the entrance and the exit of the ring bin; a plurality of goods positions are arranged on the single-row goods shelf and are arranged along the height direction of the single-row goods shelf.

7. The flexible storage system according to claim 6, wherein the cargo space is provided with a plurality of spacer blocks along the direction of the material container to be loaded into and unloaded from the cargo space, the plurality of spacer blocks being parallel to each other to accommodate placement of different types of material containers in the cargo space and to accommodate spatial dimensions of the gripper assembly for gripping loading and unloading of the material containers in the cargo space.

8. The flexible storage system as claimed in claim 6, wherein the cargo space is provided with clearance slots to accommodate the placement of different types of material bins within the cargo space and to accommodate the size of the gripper assembly for gripping material bins for access into and out of the cargo space.

9. The flexible warehousing system of claim 7 or 8, wherein the robot mounting base is movable within or fixed within an interior space enclosed by a ring bin.

10. The flexible warehousing system of claim 1, wherein the warehousing system can be a linear bin or a polygonal bin.

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