CN212355280U - Automatic material taking warehouse - Google Patents

Abstract

The utility model provides an automatic get material warehouse, get cargo robot, remove slide rail, material storehouse storage rack, automated control system and automatic carrying trolley including warehouse security fence and the automation that is located warehouse security fence. The automatic goods robot of getting is installed on the movable slide rail, gets goods robot reciprocating motion under the drive of movable slide rail automatically, gets when goods robot moves to the position that is close to the delivery track anterior segment and gets the material mouth automatically, gets goods robot and snatchs the material to automatic carrying trolley on. And the automatic carrying trolley sends the materials to a target position according to a set path. The utility model discloses an automation equipment replaces the manual work and gets the material, has guaranteed its ability of leaving warehouse fast, improves production efficiency, has realized the automation of warehouse operation, has avoided excessive artifical manual labor. The utility model discloses can deposit material classification, avoid the material to stack everywhere, the material stack influences material quality scheduling problem.

Description

Automatic material taking warehouse

Technical Field

The utility model belongs to building automation especially relates to an automatic get material warehouse.

Background

At present, small municipal works are industrialized, but the materials are stored everywhere as the materials are used on site. Therefore, the problems of difficult material finding, inaccurate stock checking, low checking efficiency and the like can be caused. If the stock cannot be fed back in time, the phenomena of material shortage and material shortage are easily caused; the material stacking affects the material quality, and when the material is heavy, a fork parking place needs to be reserved, so that the occupied area is large; is not beneficial to the improvement of the production management level of enterprises.

With the improvement of the development level of socio-economic and the increase of labor cost and land cost, the wide application of the automation technology becomes a necessary trend in the development of the current society.

The automated production line can be said to be the lifeline of modern industry to a great extent, and has wide application space. The development of modern industries such as mechanical manufacturing, electronic information, petrochemical industry, automobile production and the like can not leave the leading and supporting functions of an automatic production line. In recent years, with the development requirement of national industry 4.0, building automation is also an urgent requirement for economic development.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve the building material in the current mill and stack everywhere, the material is difficult to find, and the material stack influences the material quality to and the manual work is got material speed and is slow, and the problem that the cost of labor is high provides an automatic material warehouse of getting.

The utility model is realized in such a way that an automatic material taking warehouse comprises a warehouse safety fence, an automatic material taking robot, a movable slide rail, a material warehouse storage rack, an automatic control system and an automatic carrying trolley, wherein the automatic material taking robot, the movable slide rail, the material warehouse storage rack, the automatic control system and the automatic carrying trolley are positioned in the warehouse safety fence;

a conveying track for automatically conveying materials is arranged on the material storage rack;

the automatic goods taking robot is arranged on a movable sliding rail and driven by the movable sliding rail to reciprocate, and when the automatic goods taking robot moves to a position close to a material taking port at the front section of the conveying rail, the automatic goods taking robot grabs materials onto the automatic carrying trolley;

the automatic carrying trolley is electrically connected with the automatic control system, path information between the automatic carrying trolley and a target position is stored in the automatic control system, and the automatic carrying trolley sends materials to the target position according to a set path after receiving an instruction.

Further, the automatic goods taking robot comprises a manipulator and an automatic grabbing device which is arranged at the tail end of the manipulator and used for grabbing and putting down materials; the automatic gripping device comprises a vertically arranged mounting plate, and a clamping and positioning mechanism, a supporting mechanism and a clamping power assembly which are fixedly mounted on the mounting plate; the clamping and positioning mechanism comprises two vertically arranged clamping plates, and the two clamping plates are both vertical to the mounting plate; the clamping power assembly can drive the two clamping plates to do linear motion in the opposite direction or the back direction within a certain set range when in work; the supporting mechanism is provided with a lower supporting strip, the lower supporting strip is fixed at the bottom of the mounting plate, and the length direction of the lower supporting strip is perpendicular to the mounting plate.

Furthermore, the clamping power assembly comprises a controller, a servo motor, a belt transmission assembly, a ball screw assembly, a guide rail and two groups of transmission assemblies, when the servo motor works, a screw rod in the ball screw assembly is driven to rotate through the belt transmission assembly, and two transmission blocks which are arranged at intervals are fixed on a screw rod of the ball screw assembly; each group of transmission assemblies comprises a connecting plate, a sliding block and a connecting rod mechanism; the sliding block can be slidably nested on the guide rail, the length direction of the guide rail is perpendicular to the clamping plate, one end of the connecting plate is connected with the transmission block, the other end of the connecting plate is fixedly connected with the sliding block, meanwhile, the other end of the connecting plate is hinged with one end of the connecting rod mechanism, and the other end of the connecting rod mechanism is fixedly connected with the clamping plate; the controller is electrically connected with the servo motor and can control the servo motor to rotate forwards or backwards for a certain set angle.

Further, the conveying track is integrally inclined, wherein a front-section material taking opening of the conveying track is the lowest position, and two sides of the front-section material taking opening are provided with fluency strip baffles for stopping materials; automatic get goods robot's automatic grabbing device can insert the material below and promote the material, the lower support strip of automatic grabbing device's bottom staggers fluent strip plate washer, in order to guarantee do not receive when lower support strip inserts the material below the fluent strip plate washer blocks.

Furthermore, at least two layers of storage spaces which are vertically distributed at intervals are arranged on the material storage shelf, and at least two conveying tracks which are transversely arranged are arranged in each storage space; the conveying track is provided with a plurality of rollers arranged along the length direction of the conveying track, and materials can slide down to the front section material taking port along the rollers under the action of self gravity.

Furthermore, guide assemblies are arranged on two sides of the conveying track, each guide assembly comprises a support rod, a connecting rod, a guide rod and a guide fixing plate, the support rods are vertically arranged, and the bottom ends of the support rods are fixed on the shelf body of the material storage shelf through the guide fixing plates; the length direction of the guide rod is parallel to the length direction of the conveying track, the connecting rod is arranged along the width direction of the conveying track, one end of the connecting rod is fixedly connected with the top end of the supporting rod, and the other end of the connecting rod is connected with the inner side face of the guide rod.

Further, warehouse security fence all is provided with safe grating in personnel access & exit department, and in equipment at the working process, there is the personnel to get into during the personnel access & exit, the infrared ray light beam of safe grating is sheltered from to through photoelectric protection device to automated control system sends alarm signal, automated control system with it connects to get goods robot electricity automatically, automated control system receives behind the alarm signal, control get goods robot stop work automatically.

Furthermore, the automatic carrying trolley is an AGV trolley, and the top surface of the AGV trolley is provided with a plurality of rollers which are arranged along a straight line direction.

Further, the automatic material taking warehouse also comprises a standard side charging station and an operation panel; the standard side charging station is used for charging the automatic carrying trolley; the operation panel is used for inputting corresponding material demand information and is electrically connected with the automatic goods taking robot.

Furthermore, the automatic material taking warehouse further comprises an electrical cabinet and a bridge-type wire slot, all lines and pipelines of the whole warehouse are all contained in the bridge-type wire slot and are connected into the electrical cabinet in a unified mode, and therefore unified control over all electrical equipment in the warehouse is achieved.

Compared with the prior art, the utility model, beneficial effect lies in:

the utility model discloses an automatic material warehouse is got in automation adopts automation equipment to replace the manual work to get the material, has guaranteed its ability of leaving warehouse fast, improves production efficiency, has realized the mechanization of warehouse operation, and is automatic, and automatic goods robot of getting can snatch heavier goods, has avoided excessive artifical manual labor, has reduced the cost of labor.

The utility model discloses be provided with material storehouse storage rack, can classify the material and deposit, avoided the material to stack everywhere, solved the material difficult to find, stock check inaccurate, check inefficiency, material stack influence material quality scheduling problem, be favorable to the improvement of enterprise's production management level. Meanwhile, the fork parking spaces do not need to be reserved, the floor area of the warehouse is saved, and the capital construction investment cost of the warehouse is effectively reduced.

Drawings

Fig. 1 is a schematic perspective view of an automatic material taking warehouse according to an embodiment of the present invention;

FIG. 2 is a schematic top view of the automated material take out warehouse of FIG. 1;

fig. 3 is a schematic perspective view of an automatic gripping device of an automatic picking robot according to an embodiment of the present invention;

FIG. 4 is a schematic front view of the automated gripping apparatus of FIG. 3;

FIG. 5 is a schematic perspective view of another angle of the robotic gripper of FIG. 3;

FIG. 6 is a schematic view of an exploded view of the automated grasping apparatus shown in FIG. 3;

FIG. 7 is a schematic perspective view of a linkage mechanism in the automatic grasping apparatus shown in FIG. 3;

FIG. 8 is an enlarged view of area A of FIG. 1;

fig. 9 is a schematic perspective view of a conveying track provided in an embodiment of the present invention;

FIG. 10 is an enlarged view of area B of FIG. 9;

fig. 11 is a schematic perspective view of an automatic carrying cart according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and 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 and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Please refer to fig. 1 and fig. 2, which are schematic diagrams of the overall layout of an automatic material taking warehouse according to an embodiment of the present invention, the automatic material taking warehouse of the present embodiment is suitable for automatic material taking (if the material is smaller, the material can be put into a turnover box according to a set quantity) of a box-type material 200 (without unpacking). The automatic material taking warehouse of the embodiment comprises a warehouse safety fence 100, wherein the warehouse safety fence 100 is of a fence structure with the periphery closed, personnel entrances and exits 101 are arranged on the warehouse safety fence 100, and an automatic material taking robot a, a movable sliding rail b, a material warehouse storage rack c, an automatic control system and an automatic carrying trolley d are arranged in the warehouse safety fence 100.

The automatic goods taking robot a comprises a manipulator and an automatic grabbing device which is arranged at the tail end of the manipulator and used for grabbing and putting down materials.

Referring to fig. 3 to 7, the automatic gripping device includes a vertically disposed mounting plate 1, and a fixing base 2, a clamping and positioning mechanism 3, a supporting mechanism 4 and a clamping power assembly 5 fixedly mounted on the mounting plate 1.

The clamping and positioning mechanism 3 is used for clamping and positioning the material 200 and comprises two vertically arranged clamping plates 31, and the two clamping plates 31 are perpendicular to the mounting plate 1. The clamping power assembly 5 provides power for the clamping and positioning mechanism 3, and can drive the two clamping plates 31 to move linearly in a direction opposite to or away from each other within a certain set range during operation.

The support mechanism 4 is used for inserting the bottom of the material 200 and supporting the material. It has a lower support bar 41, the lower support bar 41 is fixed on the bottom of the mounting plate 1, and the length direction of the lower support bar 41 is perpendicular to the mounting plate 1.

The fixing seat 2 is used for being connected with a manipulator. On which a fixing hole 21 is arranged, and one side of the fixing base 2 is fixed on the side of the mounting plate 1 facing away from the clamping plate 31. The mechanical arm drives the grabbing device to act, moves forwards to bring the supporting mechanism 4 to move forwards, and lifts up the material through upward movement.

Specifically, press from both sides tight power component 5 and include controller, servo motor 51, belt transmission assembly 52, ball screw subassembly 53, guide rail 54 and two sets of transmission assembly, servo motor 51 during operation, through belt transmission assembly 52 drives lead screw 531 in the ball screw subassembly 53 rotates, be fixed with two transmission blocks 532 that the interval set up on the lead screw 531. The ball screw assembly 53 transmission enables the clamping and positioning mechanism 3 to move more stably relative to the gear transmission and the cylinder transmission.

Each set of drive assemblies includes a link plate 55, a slide 56 and a linkage 57. The sliding block 56 is slidably nested on the guide rail 54, the length direction of the guide rail 54 is perpendicular to the clamping plate 31, one end of the connecting plate 55 is connected with the transmission block 532, the other end of the connecting plate 55 is fixedly connected with the sliding block 56, meanwhile, the other end of the connecting plate 55 is hinged with one end of the link mechanism 57, and the other end of the link mechanism 57 is fixedly connected with the clamping plate 31. The controller is electrically connected to the servo motor 51, and can control the servo motor 51 to rotate forward or backward by a predetermined angle (i.e., a number of turns), wherein the predetermined angle is pre-stored in the controller. In the present embodiment, referring to fig. 5, the connecting mechanism 57 is a multi-link structure. The design of the link mechanism 57 increases the stroke of the clamping and positioning mechanism 3 in a limited space, and the structure is simpler and the processing is easy on the premise of meeting the action.

The working process of the clamping power assembly is as follows:

the servo motor 51 is started, the belt transmission component 52 drives the screw 531 of the ball screw component 53 to rotate, the screw 531 is in threaded connection with the transmission block 532 sleeved on the periphery of the screw 531, and therefore the transmission block 532 is driven to do linear motion. The transmission block 532 is connected with one end of connecting plate 55, the other end of connecting plate 55 and slider 56 fixed connection and with link mechanism 57 one end articulated, therefore, transmission block 532 can drive slider 56 and connecting plate 55 and be linear motion along the guide rail, guide rail 54 has played the guide effect, link mechanism 57's terminal member is connected with splint 31, and two connecting plates 55 are doing reciprocal rectilinear sliding's in-process, the link mechanism 57 of pulling both sides constantly swings, and link mechanism 57 end-to-end connection has vertically set up splint 31, finally, splint 31 of both sides are under servo motor 51 corotation or the drive of reversal, do opposite direction or dorsad motion (i.e. press from both sides tight or loosen material 200).

The support mechanism 4 includes a lower support assembly and an upper support assembly. The lower support assembly comprises a lower adjusting seat 40 and two lower support bars 41, the lower adjusting seat 40 is fixed at the bottom of the mounting plate 1, a strip-shaped clamping groove 401 is formed in the lower adjusting seat 40, the length direction of the strip-shaped clamping groove 401 of the lower adjusting seat 401 is perpendicular to the clamping plate 31, one end of each lower support bar 41 is fastened on the lower adjusting seat 40 through a first bolt, and the head of the first bolt is clamped in the strip-shaped clamping groove 401 of the lower adjusting seat 40. In this embodiment, the upper supporting assembly includes an upper adjusting seat 42 and two upper supporting bars 43, the upper adjusting seat 42 is fixed on the top of the mounting plate 1, an elongated slot 421 is provided on the upper adjusting seat 42, the length direction of the elongated slot 421 of the upper adjusting seat 42 is perpendicular to the clamping plate 31, one end of the upper supporting bar 43 is fastened on the upper adjusting seat 42 by a second bolt, and the head of the second bolt is clamped in the elongated slot 421 of the upper adjusting seat 42. Before the first bolt and the second bolt are fastened, the first bolt and the second bolt can respectively slide along the elongated slots 401 of the lower adjusting seat 40 and the elongated slots 401 of the upper adjusting seat 40, so that the interval between the two lower supporting bars 41 and the interval between the two upper supporting bars 43 can be adjusted. So that the support mechanism 4 can carry materials 200 of different widths.

The automatic grabbing device of this embodiment, its be provided with about press from both sides the tight positioning mechanism 3 of clamp material and support mechanism 4 of upper and lower supporting material, when box material is pressed from both sides tightly, the position of putting of box material receives the restriction of both sides splint, has realized the preliminary location of material, can effectively prevent simultaneously that the material from dropping at the removal in-process.

The supporting mechanism 4 can support the materials strongly and can grab the box-type materials 200 with heavy weight. When the material is grabbed, the lower supporting bars 41 of the supporting mechanism 4 are inserted into the bottoms of the grabbed materials 200 in parallel, so that the upper space position is saved, the space requirement is low, and the material grabbing device is applicable to a warehouse in a small space.

Further, the automatic gripping device of the present embodiment further includes a limit switch for limiting the maximum distance between the two clamping plates 31 (i.e., the maximum opening distance of the two clamping plates), a travel switch 6 for limiting the minimum distance between the two clamping plates 31 (i.e., the minimum distance when the two clamping plates are tightened), and a torque sensor for controlling the clamping force. The limit switch, the travel switch 6 and the torque sensor are all electrically connected with the controller.

The limit switch comprises a blocking piece 71 and two photoelectric sensors 72 which are separated by a certain distance, the blocking piece 71 is fixed on the connecting plate 55, the photoelectric sensors 72 are fixed on the mounting plate 1, the blocking piece 71 can penetrate through the two photoelectric sensors 72 in the moving process, when the blocking piece 71 blocks a light beam emitted by one of the photoelectric sensors 72, the photoelectric sensor 72 sends a signal to the controller, and the controller controls the servo motor 51 to stop working.

The travel switch 6 is a touch sensor, the travel switch 6 is located in the middle position above the supporting mechanism 4, one clamping plate 31 of the two clamping plates 31 can touch the travel switch 6 in the movement process, when the clamping plate 31 touches the travel switch 6, the travel switch 6 sends a signal to the controller, and the controller controls the servo motor 51 to stop working.

By setting the limit switch, the maximum stroke of the clamping and positioning mechanism 3 which can be opened can be controlled. By setting the travel switch 6, the minimum travel of the clamping and positioning mechanism 3 can be controlled.

Moment sensor installs on the medial surface of splint 31, and moment sensor sends the dynamics information that detects to the controller. When the force detected by the torque sensor reaches a set value, the clamping plates 31 on the two sides clamp the material right, if the detected force value does not accord with the set value, the clamping is over-tight or not tight enough, and the controller adjusts the rotating angle or rotating direction of the servo motor 51 according to the set force, so that the clamping plates 31 move oppositely or reversely for a small distance to further finely adjust (clamp or reduce) the force for clamping the material. This embodiment can prevent through setting up torque sensor that the material from dropping at the in-process of snatching, also can prevent to damage the material because of the clamp force is too big.

Referring to fig. 8 and 9, a material storage rack c is provided with a conveying track c-1 for automatically conveying materials; in this embodiment, the conveying track c-1 is inclined as a whole, wherein the front-section material taking opening of the conveying track c-1 is at the lowest position, and two sides of the front-section material taking opening are provided with fluency strip baffles c-11 for stopping the material, i.e. the material stops moving when contacting the fluency strip baffles c-11. The lower support bar 41 of the automatic gripping device can be inserted under the material 200 and lift up the material 200, and the position of the lower support bar 41 is staggered with the position of the fluency strip baffle c-11, so as to ensure that the lower support bar 41 is not blocked by the fluency strip baffle c-11 when inserted under the material 200.

This embodiment is provided with material storehouse storage rack c, can classify to deposit material 200, has avoided the material to stack everywhere, has solved the material and has looked for, the inventory is checked inaccurately, is checked inefficiency, material stack influences material quality scheduling problem. The automatic control system can automatically calculate the stock, is favorable for inventory checking of the materials 200, accelerates material turnover, reduces storage cost and improves the production management level of enterprises. Meanwhile, the fork parking spaces do not need to be reserved, the floor area of the warehouse is saved, and the capital construction investment cost of the warehouse is effectively reduced.

At least two layers of storage spaces are vertically arranged on the material storage shelf c at intervals, and at least two conveying tracks c-1 which are transversely arranged are arranged in each storage space. The material storage shelf c is designed to be stored in multiple layers, and the land utilization rate is improved compared with that of a common warehouse, so that the storage floor area is reduced, and the capital investment cost is effectively reduced.

In order to reduce the friction force between the material 200 and the conveying track c-1 and enable the material 200 to slide more smoothly, a plurality of rollers c-12 arranged along the length direction of the conveying track c-1 are arranged on the conveying track c-1, and the material can slide down to a front-section material taking port along the rollers c-12 under the action of the gravity of the material. The main body of the material storage rack c and the fluency strip baffle c-11 are made of aluminum profiles.

Referring to fig. 10, guide assemblies c-13 are disposed at both sides of the conveying track c-1, and each guide assembly c-13 includes a support rod c-131, a connecting rod c-132, a guide rod c-133, and a guide fixing plate c-134. The supporting rods c-131 are vertically arranged, and the bottom ends of the supporting rods are fixed on the shelf body of the material storage shelf c through guide fixing plates c-134; the length direction of the guide rod c-133 is parallel to the length direction of the conveying track c-1, the connecting rod c-132 is arranged along the width direction of the conveying track c-1, one end of the connecting rod c-132 is fixedly connected with the top end of the supporting rod c-131, and the other end of the connecting rod c-132 is connected with the inner side surface of the guide rod c-133. The single side of the connecting rod c-132 is provided with an adjusting allowance of 20 cm-70 cm, so that the size of the box-type material 200 can be conveniently adjusted, and the surface of the guide rod c-133 is wrapped with a rubber material to prevent the surface of the material 200 from being scratched.

The automatic goods taking robot a is installed on the movable sliding rail b, the automatic goods taking robot a can reciprocate under the driving of the movable sliding rail b, and when the automatic goods taking robot a moves to a position close to the front section material taking opening of the conveying rail b, the automatic goods taking robot a can grab materials onto the automatic carrying trolley d. The movable sliding rail b adopts a servo motor to drive a gear and a rack to transmit, and the movable sliding rail is depended on to move, so that the displacement transmission precision is high. In this embodiment, the effective stroke of movable slide rail b is 3.5 meters, can carry out the extension design according to how much of material kind, and the commonality is strong. The length of the manipulator arm of the automatic goods taking robot a is more than 2.6 meters, the load is more than 150 kilograms, and relatively heavy materials can be clamped.

The automatic carrying trolley d is electrically connected with the automatic control system, path information between the automatic carrying trolley d and the target position is stored in the automatic control system, and the automatic carrying trolley d sends the material 200 to the target position according to a set path after obtaining an instruction. Referring to fig. 11, the automatic carrier cart d is an AGV cart having a plurality of rollers d-1 aligned in a straight line on the top surface thereof.

The warehouse security fence 100 is provided with the security gratings at the personnel entrance 101, when a person enters the personnel entrance 101 in the working process of the equipment, the infrared light beam of the security gratings is shielded, and an alarm signal is sent to the automatic control system through the photoelectric protection device, the automatic control system is electrically connected with the automatic goods taking robot a, and after receiving the alarm signal, the automatic control system controls the automatic goods taking robot a to stop working, so that the personal safety of the worker is effectively protected. The whole warehouse security fence 100 of this embodiment adopts aluminum alloy section bar and acrylic plate to design, has reached save material and visual purpose.

The automatic material taking warehouse also comprises a standard side charging pile e and an operation panel f; the standard side charging pile e is used for charging the automatic carrying trolley d; the operation panel f is used for inputting corresponding material demand information and is electrically connected with the automatic goods taking robot a.

Above-mentioned automatic material warehouse of getting still includes regulator cubicle g and crane span structure formula wire casing h, and all circuits and pipelines of whole warehouse are all accomodate in crane span structure formula wire casing h to unified access regulator cubicle g can realize the unified control to all electrical equipment in the warehouse, and circuit layout is reasonable, can not influence automatic carrying dolly d current.

The automatic material taking warehouse of the embodiment has the working process as follows:

firstly, the box-type material 200 (or the turnover box) is manually fed to the feeding port of the material storage rack a in a transverse mode (the transverse mode is mainly used for considering the influence on the length of the automatic grabbing device of the automatic goods taking robot a). The material 200 is automatically conveyed to the front section material taking port under the action of self weight by the inclination of the conveying track c-1. And a fluent strip baffle c-11 is designed at the position of the front-section material taking opening to play a role in limiting. After the emptying is finished, the three-color lamp k and the safety grating on the material storage shelf a are checked to be normal without alarm, and the door at the personnel entrance 101 of the warehouse safety fence 100 is closed. When the automatic goods taking robot a needs to take goods, an operation button on the operation panel f is started, corresponding material demand information is input, the automatic goods taking robot a receives the corresponding material demand information and then moves on the movable sliding rail b, the corresponding warehouse material taking port is achieved to carry out goods taking operation, after the goods taking operation is completed, the automatic goods taking robot a shrinks the mechanical arm, and the automatic goods taking robot a moves to the automatic carrying trolley d at the specified position on the movable sliding rail b. And after the automatic carrying trolley d obtains the instruction, the material 200 is conveyed to the target position according to the track set by the system. After the material 200 is removed, the automated carrier cart d returns to the designated waiting position. Repeating the previous process. In addition, the automatic carrier cart d may be charged through the standard side charging post e at the waiting position as shown in fig. 1.

The automatic material warehouse of getting of this embodiment adopts automation equipment to replace the manual work and gets the material, has guaranteed its ability of coming out of the warehouse fast, and the production efficiency is improved, the mechanization of warehouse operation has been realized, and is automatic, and automatic goods robot of getting can snatch heavier goods, has avoided excessive artifical manual labor, and the cost of labor has been reduced, and, warehouse security fence 100 will get goods robot a automation mechanized operation part and surround in a safe working range, avoid the machine to the injury of people in the course of the work. The electrical cabinet g, the automatic control system, the operation panel f and other equipment needing manual operation are placed outside the warehouse safety fence 200, so that the cross operation of people and machines is avoided. Because the material loading mouth all is in warehouse security fence 100's outside, automatic goods robot a of getting can also carry out the material loading operation when getting goods, does not have the problem that cross operation influences efficiency.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An automatic material taking warehouse is characterized by comprising a warehouse safety fence, an automatic material taking robot, a movable slide rail, a material warehouse storage rack, an automatic control system and an automatic carrying trolley, wherein the automatic material taking robot, the movable slide rail, the material warehouse storage rack, the automatic control system and the automatic carrying trolley are positioned in the warehouse safety fence;

a conveying track for automatically conveying materials is arranged on the material storage rack;

the automatic goods taking robot is arranged on a movable sliding rail and driven by the movable sliding rail to reciprocate, and when the automatic goods taking robot moves to a position close to a material taking port at the front section of the conveying rail, the automatic goods taking robot grabs materials onto the automatic carrying trolley;

the automatic carrying trolley is electrically connected with the automatic control system, path information between the automatic carrying trolley and a target position is stored in the automatic control system, and the automatic carrying trolley sends materials to the target position according to a set path after receiving an instruction.

2. The automated reclaiming warehouse of claim 1, wherein the automated picking robot comprises a robot arm and an automated grasping device mounted at an end of the robot arm for grasping and depositing material; the automatic gripping device comprises a vertically arranged mounting plate, and a clamping and positioning mechanism, a supporting mechanism and a clamping power assembly which are fixedly mounted on the mounting plate; the clamping and positioning mechanism comprises two vertically arranged clamping plates, and the two clamping plates are both vertical to the mounting plate; the clamping power assembly can drive the two clamping plates to do linear motion in the opposite direction or the back direction within a certain set range when in work; the supporting mechanism is provided with a lower supporting strip, the lower supporting strip is fixed at the bottom of the mounting plate, and the length direction of the lower supporting strip is perpendicular to the mounting plate.

3. The automatic material taking warehouse as claimed in claim 2, wherein the clamping power assembly comprises a controller, a servo motor, a belt transmission assembly, a ball screw assembly, a guide rail and two sets of transmission assemblies, the servo motor drives a screw rod in the ball screw assembly to rotate through the belt transmission assembly when working, and two transmission blocks arranged at intervals are fixed on the screw rod of the ball screw assembly; each group of transmission assemblies comprises a connecting plate, a sliding block and a connecting rod mechanism; the sliding block can be slidably nested on the guide rail, the length direction of the guide rail is perpendicular to the clamping plate, one end of the connecting plate is connected with the transmission block, the other end of the connecting plate is fixedly connected with the sliding block, meanwhile, the other end of the connecting plate is hinged with one end of the connecting rod mechanism, and the other end of the connecting rod mechanism is fixedly connected with the clamping plate; the controller is electrically connected with the servo motor and can control the servo motor to rotate forwards or backwards for a certain set angle.

4. The automatic material taking warehouse as claimed in claim 2, wherein the conveying track is inclined as a whole, wherein a front section material taking port of the conveying track is at the lowest position, and two sides of the front section material taking port are provided with fluent strip baffles for stopping materials; automatic get goods robot's automatic grabbing device can insert the material below and promote the material, the lower support strip of automatic grabbing device's bottom staggers fluent strip plate washer, in order to guarantee the lower support strip does not receive when inserting the material below fluent strip plate washer blocks.

5. The automatic material taking warehouse according to claim 4, wherein at least two layers of storage spaces are arranged on the material storage shelf at intervals in the vertical direction, and at least two conveying tracks are arranged in each storage space in the transverse direction; the conveying track is provided with a plurality of rollers arranged along the length direction of the conveying track, and materials can slide down to the front section material taking port along the rollers under the action of self gravity.

6. The automatic material taking warehouse according to any one of claims 1 to 5, wherein guide assemblies are arranged on two sides of the conveying track, each guide assembly comprises a support rod, a connecting rod, a guide rod and a guide fixing plate, the support rods are vertically arranged, and the bottom ends of the support rods are fixed on the rack body of the material storage rack through the guide fixing plates; the length direction of the guide rod is parallel to the length direction of the conveying track, the connecting rod is arranged along the width direction of the conveying track, one end of the connecting rod is fixedly connected with the top end of the supporting rod, and the other end of the connecting rod is connected with the inner side face of the guide rod.

7. The automatic material taking warehouse according to any one of claims 1 to 5, wherein the warehouse safety fences are provided with safety light gratings at personnel entrances and exits, when a person enters the personnel entrances and exits during the operation of the equipment, infrared light beams of the safety light gratings are shielded, and alarm signals are sent to the automatic control system through a photoelectric protection device, the automatic control system is electrically connected with the automatic goods taking robot, and the automatic control system controls the automatic goods taking robot to stop operating after receiving the alarm signals.

8. The automated reclaiming warehouse of claim 1 wherein the automated carrying cart is an AGV cart having a plurality of rollers aligned in a linear direction on a top surface of the AGV cart.

9. The automated reclaiming warehouse of claim 1, wherein the automated reclaiming warehouse further comprises a standard side charging station and an operating panel; the standard side charging station is used for charging the automatic carrying trolley; the operation panel is used for inputting corresponding material demand information and is electrically connected with the automatic goods taking robot.

10. The automated reclaiming warehouse of claim 1, wherein the automated reclaiming warehouse further comprises an electrical cabinet and a bridge-type trunking, and all lines and pipes in the entire warehouse are accommodated in the bridge-type trunking and are uniformly connected to the electrical cabinet, so as to realize uniform control of all electrical equipment in the warehouse.

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