CN211392612U - Access system - Google Patents

Abstract

The utility model relates to a storage management field discloses an access system. The storage and taking system is used for storing and taking goods in the warehouse, a plurality of rows of goods shelves are arranged in the warehouse along a preset direction, the storage and taking system comprises a material outlet and inlet mechanism, an RGV mechanism and a transfer mechanism, the material outlet and inlet mechanism is arranged at the inlet and outlet of the warehouse, the material outlet and inlet mechanism comprises an inner door and an outer door, the inner door can be opened only when the outer door is closed, and the outer door can be opened only when the inner door is closed; the RGV mechanism is arranged between two adjacent rows of the goods shelves, and the goods on the goods shelves can be taken and placed by the RGV mechanism; the transfer mechanism can grab the goods and move along the preset direction so as to transfer the goods between the RGV mechanism and the feeding and discharging mechanism. The access system can not cause the environment in the warehouse to be polluted by the environment outside the warehouse when goods enter or leave the warehouse.

Description

Access system

Technical Field

The utility model relates to a storage management technical field especially relates to an access system.

Background

Along with the development of science and technology, more and more intelligent access system develops, and the development of automatic access can great reduction manual operation to improve storage efficiency, also reduced the error rate of storage.

In the prior art, a storage system generally includes a warehouse, the warehouse is provided with a feeding port and a discharging port, and an RGV (Rail Guided Vehicle) mechanism for transfer is arranged inside the warehouse. When going into out the goods, carry the goods to warehouse inside from the pan feeding mouth, the RGV mechanism carries the goods to the assigned position of goods shelves from the pan feeding mouth again to and carry the goods of goods shelves different positions to the discharge gate. But be arranged in the access system in fields such as food or medicine, often be in the warehouse and lead to the environment that has air conditioning or protective gas, and in the in-process of going into the warehouse, when the gate of discharge gate and pan feeding mouth department is opened, the inside and outside gas circulation of warehouse then can lead to the environment in the warehouse to receive the influence of warehouse outside air, and then influences the storage of goods in the warehouse.

Therefore, it is desirable to provide an access system to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an access system, the goods can not lead to the warehouse internal environment to receive the influence of the warehouse external environment when going into the warehouse.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides an access system for the access of goods in the warehouse, be provided with multirow goods shelves along preset direction in the warehouse, access system includes:

the discharging and feeding mechanism is arranged at the warehouse outlet and inlet and comprises an inner door and an outer door, the inner door can be opened only when the outer door is closed, and the outer door can be opened only when the inner door is closed;

the RGV mechanism is arranged between two adjacent rows of the goods shelves, and the RGV mechanism can take and place the goods on the goods shelves;

the transfer mechanism can grab the goods and move along a preset direction so as to transfer the goods between the RGV mechanisms and the feeding and discharging mechanisms.

Optionally, the feeding and discharging mechanism further includes:

the material jig is used for temporarily storing the goods;

the transfer bin is arranged outside the inner door, and the outer door is arranged on the transfer bin and is used for opening and closing the transfer bin;

and one end of the bearing table assembly is arranged inside the warehouse, the other end of the bearing table assembly is arranged in the transfer bin, and the material jig is in sliding fit with the bearing table assembly and can move between the transfer bin and the warehouse.

Optionally, the material feeding and discharging mechanism further comprises a material feeding and discharging driving assembly, an output end of the material feeding and discharging driving assembly is connected with the material jig, and the material feeding and discharging driving assembly is used for driving the material jig to move along the bearing table assembly.

Optionally, a plurality of accommodating grooves with different sizes are formed in the material jig, and the accommodating grooves can accommodate different kinds of goods.

Optionally, the feeding and discharging mechanism further includes:

the first code scanning assembly is arranged outside the warehouse and can be used for carrying out code scanning identification on the goods on the material jig; and/or

The second is swept a yard subassembly, and it sets up inside the warehouse, the second is swept a yard subassembly and can be to the goods that transit mechanism snatched are swept a yard and are confirmed.

Optionally, the RGV mechanism comprises:

a gripping assembly configured to grip the goods on the shelf;

the moving assembly can drive the clamping assembly to move along the length direction, the height direction and the depth direction of the goods shelf.

Optionally, the grasping assembly includes:

a support plate connected with the moving assembly;

the two clamping jaws are arranged on one side of the supporting plate in a sliding mode;

a gripping drive assembly connected to the support plate);

one end of each connecting rod is rotatably connected to one clamping jaw, and the other end of each connecting rod is rotatably connected to the output end of the clamping driving assembly;

the gripping drive assembly is capable of driving the two gripping jaws simultaneously toward each other to grip the cargo and away from each other to release the cargo.

Optionally, the gripping drive assembly comprises:

a gripping drive source provided on the support plate;

and the flange plate is connected to the output end of the clamping driving source, and the two connecting rods are rotatably connected to the eccentric position of the flange plate.

Optionally, a plurality of pallets are arranged on the shelf, the goods are arranged in the pallets, and the RGV mechanism can grab and convey the pallets.

Optionally, the transfer mechanism includes:

a slide rail arranged along a preset direction;

and the mechanical arm can grab the goods and slides along the slide rail so as to take and place the goods on the plurality of RGV mechanisms and the feeding and discharging mechanism.

The utility model discloses beneficial effect does:

the utility model discloses access system, including going out pan feeding mechanism, RGV mechanism and transfer mechanism, advance to go into the outer door during the goods pan feeding, the inner door is opened again after the outer door is closed, and the goods gets into in the warehouse from the inner door again. In the process of feeding and discharging goods, the inner door and the outer door can not be opened simultaneously, so that the warehouse can not be directly communicated with the external environment to generate air circulation, thereby protecting the environment in the warehouse and further protecting goods in the warehouse. After the goods enter the warehouse, the transfer mechanism grabs the goods from the material inlet and outlet mechanism, the transfer mechanism moves to a butt joint position with the designated RGV mechanism along a preset direction according to the type of the grabbed goods and places the goods on the RGV mechanism, the RGV mechanism transports and places the goods at the correct position of the goods shelf, and the goods on the material inlet and outlet mechanism can be conveyed to different RGV mechanisms by arranging the transfer mechanism capable of moving along the preset direction; when the warehouse is large and is provided with a plurality of rows of shelves, the cooperation of the transfer mechanism and the RGV mechanism can meet the requirement that goods are placed on any correct position of any shelf.

Drawings

Fig. 1 is a schematic structural diagram of an accessing system according to an embodiment of the present invention;

FIG. 2 is a top view of an access system according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a viewing angle of the material feeding and discharging mechanism of the access system of the present invention;

FIG. 4 is an enlarged view at A in FIG. 3;

FIG. 5 is a schematic structural view of an outer carrier and its driving assembly and transmission assembly of the storage system of the present invention;

fig. 6 is a partial sectional view of the outer carrier and its drive and transmission assembly structure of the access system of the present invention;

fig. 7 is a schematic structural view of another view angle of the material inlet and outlet mechanism of the access system of the present invention;

FIG. 8 is a schematic diagram of an RGV mechanism of the access system of the present invention;

FIG. 9 is a partial schematic view of an RGV mechanism of the access system of the present invention;

fig. 10 is a schematic mechanism diagram of the gripping assembly and pushing assembly of the access system of the present invention;

fig. 11 is a partial structural schematic view of the gripping assembly of the access system of the present invention;

fig. 12 is a schematic structural view of a shelf of the access system of the present invention;

FIG. 13 is an enlarged view at B of FIG. 12;

fig. 14 is a schematic structural view of the transfer mechanism of the storing and taking system of the present invention.

In the figure:

100-warehouse; 200-a shelf;

1-a feeding and discharging mechanism; 11-a material jig; 111-a receiving groove; 12-an inner door; 121-inner door drive source; 122-inner door drive assembly; 123-a guide wheel; 13-a carrier table assembly; 131-an inner carrier table; 132-an outer carrier; 133-an outer carrier drive; 134-outer carrier table drive assembly; 1341-a bevel gear; 1342-rack; 135-dovetail slide block; 14-a transfer chamber; 141-an outer door; 15-a guide groove;

2-RGV mechanism; 21-a gripping assembly; 211-a support plate; 212-a jaw; 213-gripping drive assembly; 2131-a gripping drive source; 2132-a flange plate; 214-a connecting rod; 215-a guide member;

22-a motion assembly; 221-a first track; 222-a second track; 223-a pushing assembly;

3-a transfer mechanism; 31-a slide rail; 32-a manipulator;

4-a tray;

5-computer components.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The embodiment provides a storage and taking system, which can be used in the technical field of warehouse management, and is particularly suitable for the warehouse which needs to be provided with protective gas or cold air and bottle-shaped goods in a warehouse. As shown in fig. 1 to 7, the X direction is a predetermined direction parallel to one side wall of the warehouse 100, the Y direction is a length direction of the shelf 200, and the X direction and the Y direction only represent a space direction and have no practical meaning. The access system is used for the access of goods in warehouse 100, be provided with multirow goods shelves 200 along preset direction in the warehouse 100, warehouse 100 is the confined cavity, the access system is including going out pan feeding mechanism 1, RGV mechanism 2 and transfer mechanism 3, it sets up in the entrance of a play of warehouse 100 to go out pan feeding mechanism 1, it includes interior door 12 and outer door 141 to go out pan feeding mechanism 1, interior door 12 can only open when outer door 141 closes, outer door 141 can only open when interior door 12 closes, RGV mechanism 2 sets up between two adjacent rows of goods shelves 200, RGV mechanism 2 can get the goods on the goods shelves 200, transfer mechanism 3 can snatch the goods and move along preset direction, in order to transport the goods between a plurality of RGV mechanism 2 and the entrance and exit mechanism 1.

When goods are put in storage, the goods enter the outer door 141, the inner door 12 is opened after the outer door 141 is closed, and the goods enter the warehouse 100 from the inner door 12. In the process of warehousing and ex-warehouse goods, the inner door 12 and the outer door 141 cannot be opened simultaneously, so that the interior of the warehouse 100 cannot be directly communicated with the external environment to generate air circulation, the environment in the warehouse 100 can be protected, and the protection effect on the goods in the warehouse 100 is further achieved. After the goods enter the warehouse, the transfer mechanism 3 grabs the goods from the material inlet and outlet mechanism 1, the transfer mechanism 3 moves to the butt joint position with the designated RGV mechanism 2 along the preset direction according to the type of the grabbed goods, the goods are placed on the RGV mechanism 2, and the RGV mechanism 2 transports and places the goods at the correct position of the shelf 200. Goods can be taken and placed at each storage position of a shelf by arranging the RGV mechanism 2; the goods on the feeding and discharging mechanism 1 can be conveyed to different RGV mechanisms 2 by arranging the transfer mechanism 3 which can move along the preset direction; when the warehouse 100 is large and is provided with a plurality of rows of racks 200, the cooperation of the relay mechanism 3 and the RGV mechanism 2 can satisfy the condition that the goods are placed on any one proper position of any one of the racks 200.

Specifically, in this example, the two feeding and discharging mechanisms 1 are located on one side wall of the warehouse 100 parallel to the X direction, and each feeding and discharging mechanism 1 can achieve feeding and discharging, so that the warehousing and ex-warehousing efficiency can be improved. The transfer mechanism 3 is disposed in the warehouse 100 and located at a side close to the side where the feeding and discharging mechanism 1 is disposed. Preferably, as shown in fig. 2, two sets of RGV mechanisms 2 are disposed between two rows of shelves 200, and each set of RGV mechanism 2 correspondingly takes and places the goods on one shelf 200, so that the RGV mechanisms 2 do not need to rotate 180 ° to respectively take and place the goods on the shelves 200 on both sides, thereby simplifying the structure of the RGV mechanisms 2, and in addition, the two RGV mechanisms 2 disposed between the two shelves 200 can improve the working efficiency of the whole access system.

Specifically, as shown in fig. 3-5, the feeding and discharging mechanism 1 further includes a material fixture 11, a transfer bin 14 and a bearing platform assembly 13, the material fixture 11 is used for temporarily storing goods, the transfer bin 14 is disposed outside the inner door 12, the outer door 141 is disposed on the transfer bin 14 and is used for opening and closing the transfer bin 14, one end of the bearing platform assembly 13 is disposed inside the warehouse 100, the other end of the bearing platform assembly 13 is disposed in the transfer bin 14, and the material fixture 11 and the bearing platform assembly 13 are slidably engaged and can move between the transfer bin 14 and the warehouse 100. When goods are put in a warehouse, an operator firstly places the goods on the material jig 11 in the transfer bin 14 from the outer door 141, after the outer door 141 is closed, the inner door 12 is opened, and the material jig 11 and the goods thereon move into the warehouse 100 along the bearing platform assembly 13. When the goods are taken out of the warehouse, the inner door 12 is opened, the material jig 11 and the goods thereon move to the transfer bin 14 along the bearing platform assembly 13, the inner door 12 is closed, the outer door 141 is opened again, and the operator takes the goods out of the transfer bin 14.

Preferably, as shown in fig. 3 to 7, the inner door 12 has a drop-down door structure, and the inner door driving source 121 drives the inner door 12 to perform a lifting motion through the inner door transmission assembly 122 to open or close the warehouse 100. In this embodiment, interior door driving source 121 is the motor, and interior door drive assembly 122 includes the belt, action wheel and follows the driving wheel, and the belt is around locating the action wheel and following the driving wheel, and the output of interior door driving source 121 is connected with the action wheel, and interior door 12 is connected in one side of belt, and interior door driving source 121 drive action wheel rotates to make the belt drive interior door 12 and realize elevating movement.

In order to further improve the sealing performance of the warehouse 100, the frame body of the material inlet and outlet mechanism 1 is provided with a guide groove 15, the lower end of the guide groove 15 is provided with an arc-shaped section which is close to the material inlet and outlet mechanism 1, the inner door 12 is connected with a guide wheel 123, and the guide wheel 123 is in sliding fit with the guide groove 15. Interior door driving source 121 drive interior door 12 and slide along guide slot 15, when interior door 12 descends to being about to seal out pan feeding mechanism 1, interior door 12 slides to the segmental arc of guide slot 15 to along the segmental arc motion, can compress tightly the wall body of warehouse 100, realize sealed effect, improve warehouse 100's leakproofness. Preferably, guide grooves 15 are provided at both sides of the inner door 12, and both of the inner door 12 are provided with guide wheels 123 slidably engaged with the guide grooves 15.

Preferably, the material feeding and discharging mechanism 1 further comprises a material feeding and discharging driving assembly, an output end of the material feeding and discharging driving assembly is connected with the material jig 11, and the material feeding and discharging driving assembly is used for driving the material jig 11 to move along the bearing platform assembly 13. Specifically, in this embodiment, the material feeding and discharging driving assembly may be a gear rack engaged with a motor in a matching manner, the material jig 11 is connected with the rack, and the motor drives the gear rack to rotate, so that the rack drives the material jig 11 to move along the extending direction of the bearing platform assembly 13. In other embodiments, the material feeding and discharging driving assembly may also be a motor and a screw nut to drive the material jig 11, or may be another mechanism capable of driving the material jig 11 to move linearly along the bearing platform assembly 13.

Preferably, the bearing platform assembly 13 includes an inner bearing platform 131 and an outer bearing platform 132, the inner bearing platform 131 is disposed inside the warehouse 100, the outer bearing platform 132 is disposed in the transfer bin 14, and the outer bearing platform 132 can drive the material fixture 11 to be lifted to a material taking position and to be lowered to a conveying position consistent with the height of the inner bearing platform. When goods need to be taken and placed from the material jig 11, the outer bearing platform drives the material jig 11 to be lifted to a material taking position, and the height position of the material jig 11 is moderate at the moment, so that the goods are convenient to take and place; after the goods are placed and the outer door 141 is closed, the outer bearing table drives the material jig 11 to move to the conveying position, so that the inner bearing table and the outer bearing table are highly flush, and the material outlet driving assembly can convey the material jig 11 to the inner bearing table located inside the warehouse 100.

Preferably, as shown in fig. 5 and 6, the carrier assembly 13 further includes an outer carrier drive member 133 and an outer carrier drive assembly 134. Alternatively, the outer carriage drive 133 is a motor and the outer carriage drive assembly 134 is a geared bevel gear 1341 and a rack gear 1342. One end of the rack 1342 is connected to the outer carrier 132 through a supporting plate or directly, and the outer carrier driving member 133 drives the bevel gear 1341 to rotate, so that the rack 1342 moves up and down, thereby driving the outer carrier 132 to move up and down. The rack lifting structure can bear larger moment by adopting the engagement of the bevel gear 1341 and the rack 1342, and has the advantages of low noise, high precision and high stability. Further preferably, the rack 1342 is connected with a dovetail slider 135 along the extending direction thereof, a sliding groove is arranged on the rack body of the material inlet and outlet mechanism 1 along the vertical direction, and the dovetail slider 135 is in sliding fit with the sliding groove to guide the lifting of the rack 1342 and resist the bending moment generated in the lifting process of the heavy object. The lifting process of the outer bearing platform 132 can bear larger bending moment through the matching of the dovetail sliding blocks 135 and the sliding grooves, the lifting structure is more compact, and the occupied space is reduced.

In order to realize that the material jig 11 can convey various goods at a time, as shown in fig. 7, the material jig 11 is provided with a plurality of accommodating grooves 111 of different sizes, and the accommodating grooves 111 can accommodate different kinds of goods. When the pan feeding, the operator places it in the storage tank 111 of equidimension not according to the size of goods to can realize the purpose that material tool 11 once carried multiple goods, and the goods is also difficult for empting in the storage tank 111 of corresponding size.

In order to facilitate the management of goods in warehouse 100, need the kind to the goods when putting in storage, the quantity is counted, and the goods that guarantee transfer mechanism 3 snatchs matches rather than the route of motion, go out material mechanism 1 and still include that first sweep yard subassembly and second sweep yard subassembly, first sweep yard subassembly setting in the warehouse 100 outside, first sweep yard subassembly can sweep yard discernment to the goods on the material tool 11, the second sweeps yard subassembly setting inside warehouse 100, the second sweeps yard subassembly and can sweep yard affirmation to the goods that transfer mechanism 3 snatched. When the goods are put in the warehouse, after the goods are placed on the material jig 11, the first code scanning component scans and identifies each goods, and transmits a code scanning result to the database, so that the types and the quantity of the goods in the warehouse 100 can be managed conveniently. After the transfer mechanism 3 clamps the goods from the material jig 11, the second code scanning assembly scans and confirms the goods, and judges whether the goods captured by the transfer mechanism 3 at this time are matched with the next RGV mechanism 2 to be butted or not, so that the goods are conveyed to the correct position.

Preferably, as shown in fig. 7, the access system further includes a computer component 5, and the computer component 5 is configured to store the cargo information in the warehouse 100 and plan the moving path of the RGV mechanism 2 and the transit mechanism 3. The computer component 5 stores the type, quantity and position information of all the goods currently in the warehouse 100 on the shelf 200. The computer component 5 obtains the information of the type and the quantity of the goods on the material jig 11 through the code scanning of the first code scanning component, and plans the movement path and the movement sequence of the RGV mechanism 2 and the transfer mechanism 3 in the warehouse 100 according to the code scanning information and the position information of the goods in the warehouse 100.

In order to realize that the RGV mechanism 2 can convey goods to each position of the corresponding shelf 200, as shown in fig. 8 to 11, the RGV mechanism 2 includes a gripping assembly 21 and a moving assembly 22, the gripping assembly 21 is used for gripping goods on the shelf 200, and the moving assembly 22 can drive the gripping assembly 21 to move along the length, height and depth directions of the shelf 200. When goods are taken out from the shelf 200, the moving assembly 22 drives the gripping assembly 21 to move to a specific position of the shelf 200, the gripping assembly 21 grips the goods, and the moving assembly 22 conveys the goods to a position where the goods are butted with the transfer mechanism 3.

Preferably, as shown in fig. 8 and 9, the moving assembly 22 includes a first rail 221, a second rail 222 and a pushing assembly 223, the first rail 221 is disposed between the two rows of shelves 200 along the length direction of the shelves 200, i.e., the Y direction, the second rail 222 is disposed along the height direction of the shelves 200, the second rail 222 is slidably disposed on the first rail 221, the pushing assembly 223 is slidably connected to the second rail 222, the output end of the pushing assembly 223 is connected to the gripping assembly 21, and the pushing assembly 223 can drive the gripping assembly 21 to move along the depth direction of the shelves 200, so as to ensure that the gripping assembly 21 can grip the goods on the shelves 200. When the transfer mechanism 3 is in butt joint, the pushing assembly 223 drives the clamping assembly 21 to move to a proper height along the second rail 222, and the second rail 222 slides to an end close to the transfer mechanism 3 along the first rail 221, so as to reach a butt joint position with the transfer mechanism 3, which is convenient for the transfer mechanism 3 to place goods on the clamping assembly 21.

Preferably, in order to realize the gripping action of the gripping assembly 21, as shown in fig. 10 and 11, the gripping assembly 21 includes a support plate 211, two jaws 212, a gripping driving assembly 213 and two connecting rods 214, the support plate 211 is connected to the moving assembly 22, the two jaws 212 are slidably disposed at one side of the support plate 211, the gripping driving assembly 213 is connected to the support plate 211, one end of each connecting rod 214 is rotatably connected to one of the jaws 212, the other end is rotatably connected to an output end of the gripping driving assembly 213, and the gripping driving assembly 213 can drive the two jaws 212 to simultaneously move toward and away from each other to grip and release the goods. The clamping assembly 21 drives the two clamping jaws 212 to move through one clamping driving assembly 213, the structure is simple, the cost is low, the clamping driving assembly 213 drives the two clamping jaws 212 through the two connecting rods 214, the design is ingenious, expensive parts such as lead screw nuts or gear racks are not needed for transmission, and the cost of the clamping structure is further reduced. Specifically, in the present embodiment, the clamping jaw 212 is disposed on one side of the supporting plate 211, the guiding assembly 215 is disposed between the clamping jaw 212 and the supporting plate 211, and the guiding assembly 215 may be a guide rail slider, wherein the guide rail is disposed on the supporting plate 211, the slider is connected to the clamping jaw 212, and the slider is slidably engaged with the guide rail. The gripping driving assembly 213 is disposed at the other side of the supporting plate 211 so that the gripping driving assembly 213 can be prevented from being positionally interfered with the gripped goods.

Further, the gripping driving assembly 213 includes a gripping driving source 2131 and a flange 2132, the gripping driving source 2131 is disposed on the supporting plate 211, the flange 2132 is connected to an output end of the gripping driving source 2131, and the two links 214 are rotatably connected to eccentric positions of the flange 2132. The gripping drive source 2131 drives the flange 2132 to move, thereby imparting a component of motion to the two links 214 in the horizontal direction, thereby driving the two jaws 212 toward and away from each other. Specifically, in this embodiment, the clamping driving source 2131 is a motor, the flange 2132 is connected to an output end of the motor, and the motor drives the flange 2132 to rotate, so as to drive the two connecting rods 214 eccentrically and rotatably connected to the flange 2132 to generate a horizontal movement component. The clamping jaw 212 is provided with a first pin shaft, one end of the connecting rod 214 is rotatably connected to the first pin shaft, the flange 2132 is provided with a second pin shaft, and the other end of the connecting rod 214 is rotatably connected to the second pin shaft. The two second pin shafts on the flange 2132 are centrosymmetric with the rotation axis of the flange 2132, so that the two clamping jaws 212 have the same movement speed.

In order to facilitate the RGV mechanism 2 to take and place goods of different shapes and sizes, as shown in fig. 13 and 13, a plurality of pallets 4 are provided on the shelf 200, and the RGV mechanism 2 can grab and convey the pallets 4. Each pallet 4 represents a storage location for facilitating the management of the goods in the warehouse 100 and the subsequent handling by the RGV mechanism 2. The shape of tray 4 is comparatively regular, places the cylindrical goods that irregular shape or difficult snatching in tray 4, and the RGV mechanism 2 of being convenient for snatchs. Specifically, in this embodiment, the RGV mechanism 2 positions and captures the tray 4 in a robot vision or mechanical positioning manner, so as to ensure the accuracy of each pick-and-place operation. The shelves 200 are arranged in four rows, each row of shelves 200 is provided with a plurality of layers of interlayers in the vertical direction, in other embodiments, the number of rows of shelves 200 is not limited, the trays 4 are placed on the interlayers of the shelves 200, and a plurality of trays 4 are placed at intervals on each interlayer. Tray 4 is upside open-ended cuboid box structure, and tray 4 is inside to be provided with a plurality of recesses, the size of recess is unanimous with the size of the goods of waiting to place, the recess can play limiting displacement to the goods, the goods takes place to empty when avoiding RGV mechanism 2 to carry tray 4, preferably, the recess size in every tray 4 is unanimous, every tray 4 is used for loading a kind of goods, through setting up different tray 4 or set up the recess of different shapes in tray 4, can realize the access to multiple goods. A plurality of recesses in tray 4 set up along the depth direction of goods shelves 200, can make full use of the interlayer of goods shelves 200 along the space of depth direction, take out whole tray 4 and can conveniently get and put the goods that are located the interlayer deeper position. When the goods are put in storage, the tray 4 corresponding to the goods is taken down from the goods shelf 200 by the RGV mechanism 2, the tray 4 is conveyed to the position in butt joint with the transfer mechanism 3, and after the goods are placed on the tray 4 by the transfer mechanism 3, the tray 4 is conveyed back to the original position by the RGV mechanism 2.

In order to realize that the transfer mechanism 3 can operate the goods between the feeding and discharging mechanism 1 and the RGV mechanism 2, as shown in fig. 14, the transfer mechanism 3 includes a slide rail 31 and a manipulator 32, the slide rail 31 is arranged along a preset direction, the manipulator 32 can grab the goods, and the manipulator 32 slides along the slide rail 31 to pick and place the goods on the feeding and discharging mechanism 1 and the RGV mechanism 2. When transferring goods, the manipulator 32 moves to the material inlet and outlet mechanism 1 along the slide rail 31, the manipulator 32 acts to clamp the goods on the material jig 11 located in the inner door 12, the manipulator 32 slides to the butt joint position with the designated RGV mechanism 2 along the slide rail 31, and the goods are placed on the RGV mechanism 2. Specifically, the slide rail 31 may have a length that allows the robot 32 to move to the docking position of each RGV mechanism. The manipulator 32 positions the goods through vision and accurately captures the goods, and in other embodiments, the manipulator 32 may also position the goods through mechanical positioning, which is not described herein.

The utility model discloses access system working process as follows:

(1) warehousing goods:

the outer door 141 is opened, the outer bearing platform is lifted to a material taking position, an operator places goods in a proper containing groove 111 on the material jig 11, the first scanning assembly scans and identifies the types and the quantity of the goods on the material jig 11 and transmits the goods to the computer assembly 5, and the computer assembly 5 stores scanned information and generates the motion sequence and the motion path of the RGV mechanism 2 and the transfer mechanism 3;

closing the outer door 141, lowering the outer bearing table to the position of the inner bearing table with the same height, opening the inner door 12, conveying the material jig 11 to the interior of the warehouse 100 by the material inlet and outlet driving assembly, and closing the inner door 12;

the manipulator 32 moves to the material inlet and outlet mechanism 1 and grabs the goods on the material jig 11, and the second code scanning assembly scans, confirms and moves to the butt joint position with the specified RGV mechanism 2 along the slide rail 31;

the moving assembly 22 conveys the clamping assembly 21 to the position where the pallet 4 matched with the goods is placed and takes out the pallet 4, and the moving assembly 22 conveys the clamping assembly 21 to the butt joint position with the transfer mechanism 3;

the manipulator 32 places the grabbed goods on the pallet 4, and the moving assembly 22 conveys the clamping assembly 21 and the pallet 4 thereon to the original position to finish warehousing of the goods.

(2) And (4) cargo delivery:

the operator inputs the goods list to be delivered into the computer component 5, and the computer component 5 plans the movement path of the RGV mechanism 2 and the transit mechanism 3;

the moving assembly 22 of the designated RGV mechanism 2 conveys the gripping assembly 21 to the position where the tray 4 matched with the goods to be taken is placed and takes out the cover tray 4, and the moving assembly 22 conveys the gripping assembly 21 to the position where the gripping assembly is butted with the transfer mechanism 3;

the manipulator 32 moves to the position in butt joint with the specified RGV mechanism 2 and grabs the goods on the tray 4, the manipulator 32 moves to the material inlet and outlet mechanism 1 along the slide rail 31, the second code scanning assembly scans and confirms the goods, and the manipulator 32 places the goods on the material jig 11 in the inner door 12;

all goods that remain to get all place back on material tool 11, interior door 12 is opened, goes out material drive assembly and carries material tool 11 to interior door 12 transfer bin 14 in, interior door 12 closes, and the outer plummer promotes material tool 11 to the material level of getting of being convenient for get and put the goods, and outer door 141 opens, and the operator takes out the goods.

Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and for those skilled in the art, there are variations on the specific embodiments and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. An access system for access to goods in a warehouse (100), the warehouse (100) having a plurality of rows of shelves (200) disposed therein along a predetermined direction, the access system comprising:

the discharging and feeding mechanism (1) is arranged at an inlet and an outlet of the warehouse (100), the discharging and feeding mechanism (1) comprises an inner door (12) and an outer door (141), the inner door (12) can be opened only when the outer door (141) is closed, and the outer door (141) can be opened only when the inner door (12) is closed;

the RGV mechanism (2) is arranged between two adjacent rows of the goods shelves (200), and the RGV mechanism (2) can take and place the goods on the goods shelves (200);

the transfer mechanism (3) can grab the goods and move along a preset direction so as to transfer the goods between the plurality of RGV mechanisms (2) and the feeding and discharging mechanism (1).

2. The depositing and withdrawing system as claimed in claim 1, wherein said depositing and withdrawing mechanism (1) further comprises:

the material jig (11) is used for temporarily storing the goods;

the transfer bin (14) is arranged outside the inner door (12), and the outer door (141) is arranged on the transfer bin (14) and is used for opening and closing the transfer bin (14);

and one end of the bearing platform assembly (13) is arranged inside the warehouse (100), the other end of the bearing platform assembly is arranged in the transfer bin (14), and the material jig (11) is in sliding fit with the bearing platform assembly (13) and can move between the transfer bin (14) and the warehouse (100).

3. The storing and taking system according to claim 2, wherein the material feeding and taking mechanism (1) further comprises a material feeding and taking driving assembly, an output end of the material feeding and taking driving assembly is connected with the material fixture (11), and the material feeding and taking driving assembly is used for driving the material fixture (11) to move along the bearing platform assembly (13).

4. The storing and taking system as claimed in claim 2, wherein the material fixture (11) is provided with a plurality of accommodating grooves (111) with different sizes, and the accommodating grooves (111) can accommodate different kinds of goods.

5. Access system according to any of claims 2-4, characterized in that the feed mechanism (1) further comprises:

the first code scanning assembly is arranged outside the warehouse (100), and can perform code scanning identification on the goods on the material jig (11); and/or

The second is swept a yard subassembly, and it sets up inside warehouse (100), the yard subassembly is swept to the second can be to the goods that transit mechanism (3) snatched sweep a yard and confirm.

6. The accessibility system of claim 1, wherein the RGV mechanism (2) comprises:

a gripping assembly (21) configured to grip the goods on the rack (200);

the moving assembly (22) can drive the clamping assembly (21) to move along the length direction, the height direction and the depth direction of the shelf (200).

7. Access system according to claim 6, characterised in that said gripping assembly (21) comprises:

a support plate (211) connected to the kinematic assembly (22);

two clamping jaws (212) which are arranged on one side of the supporting plate (211) in a sliding manner;

a gripping driving assembly (213) connected to the support plate (211);

two connecting rods (214), wherein one end of each connecting rod (214) is rotatably connected to one clamping jaw (212), and the other end of each connecting rod (214) is rotatably connected to the output end of the clamping driving assembly (213);

the gripping drive assembly (213) is capable of driving the two gripping jaws (212) simultaneously towards each other to grip the goods and away from each other to release the goods.

8. The accessing system according to claim 7, wherein the gripping driving assembly (213) comprises:

a gripping drive source (2131) provided on the support plate (211);

and a flange (2132) connected to an output end of the gripping drive source (2131), and the two connecting rods (214) are rotatably connected to eccentric positions of the flange (2132).

9. An access system according to claim 1, wherein a plurality of pallets (4) are provided on the shelf (200), the goods being provided in the pallets (4), the RGV mechanism (2) being capable of gripping and transporting the pallets (4).

10. An accessing system according to claim 1, characterised in that the relay mechanism (3) comprises:

a slide rail (31) disposed in a preset direction;

a manipulator (32) capable of grasping the goods, the manipulator (32) sliding along the slide rail (31) to pick and place the goods on the plurality of RGV mechanisms (2) and the feeding and discharging mechanism (1).

Images