WO2024130957A1 - System for automatically warehousing material - Google Patents

System for automatically warehousing material Download PDF

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Publication number
WO2024130957A1
WO2024130957A1 PCT/CN2023/096329 CN2023096329W WO2024130957A1 WO 2024130957 A1 WO2024130957 A1 WO 2024130957A1 CN 2023096329 W CN2023096329 W CN 2023096329W WO 2024130957 A1 WO2024130957 A1 WO 2024130957A1
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WO
WIPO (PCT)
Prior art keywords
translation
lifting
storage
screw
clamp
Prior art date
Application number
PCT/CN2023/096329
Other languages
French (fr)
Chinese (zh)
Inventor
陶霖
郑志强
Original Assignee
上海和达汽车配件有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海和达汽车配件有限公司 filed Critical 上海和达汽车配件有限公司
Publication of WO2024130957A1 publication Critical patent/WO2024130957A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0428—Transfer means for the stacker crane between the alleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"

Definitions

  • the present invention relates to the fields of logistics, warehousing and machinery, and in particular to an automatic warehousing material system.
  • the purpose of the present invention is to overcome the defects of the prior art and provide an automatic storage material system with low cost and strong flexibility, so as to improve the automation degree, accuracy and efficiency of material storage and transportation and ensure process safety.
  • an automatic storage material system including a frame, a storage mechanism, a conveyor belt, a translation mechanism, a motion platform, a lifting mechanism, a clamping mechanism and a controller, wherein:
  • the conveyor belt is arranged at the front end of the frame; the conveyor belt is driven to rotate by a conveyor motor;
  • the storage mechanism includes a storage location installation frame and a plurality of storage boards, wherein the storage location installation frame is vertically arranged at the rear end of the frame; the plurality of storage boards are horizontally arranged in the storage location installation frame from top to bottom, and each storage board is sequentially separated from left to right with a plurality of storage locations, and each storage location is provided with a real-time sensor;
  • the translation mechanism comprises a translation lead screw, a translation drive motor and two translation slide shafts; the translation lead screw and the two translation slide shafts are respectively arranged transversely on the frame, and the two translation slide shafts are respectively arranged at the front and rear sides of the translation lead screw; the translation drive motor is arranged on the frame, the output end of the translation drive motor is connected to one end of the translation lead screw, and the translation drive motor drives the translation lead screw to rotate;
  • the bottom end of the motion platform is connected to the translation lead screw and two translation sliding shafts respectively;
  • the lifting mechanism comprises a lifting mechanism installation frame, a lifting screw, a lifting drive cylinder and two lifting slide shafts;
  • the lifting mechanism installation frame is an inverted U-shaped structure, and the lifting mechanism installation frame is arranged on the moving platform; the lifting screw and the two lifting slide shafts are respectively arranged vertically on the moving platform, and the two lifting slide shafts are respectively arranged on the front and rear sides of the lifting screw; the top of the lifting screw and the top of the two lifting slide shafts are respectively connected to the top of the lifting mechanism installation frame; the output end of the lifting drive cylinder is connected to the lifting screw, and the lifting drive cylinder drives the lifting screw to rotate;
  • the clamp mechanism includes a clamp mounting platform, a material clamp, a clamp cylinder and a rotating cylinder.
  • One side of the clamp mounting platform is respectively connected to the lifting screw and two lifting slide shafts;
  • the rotating cylinder is arranged on the clamp mounting platform, the output end of the rotating cylinder is connected to the clamp cylinder, the output end of the clamp cylinder is connected to the material clamp, and a sensor is arranged on the material clamp;
  • the sensor, the conveying motor, the translation driving motor, the lifting driving cylinder, the clamping claw cylinder, the rotating cylinder and the real-time sensor are respectively connected to the controller.
  • the conveyor belt is transversely arranged at the front end of the frame through a bracket, and the conveying motor is arranged on the bracket.
  • the conveyor belt is made of anti-slip material.
  • the maximum distance that the motion platform moves along the translation screw is the same as the length of the storage plate.
  • each two adjacent storage locations on the storage board are separated by a partition, or a positioning pin is provided on each storage location.
  • the above-mentioned automatic warehousing material system wherein the bottom end of the motion platform is laterally provided with a front translation slide shaft mounting hole, a translation screw mounting hole and a rear translation slide shaft mounting hole in sequence from front to back, the two translation slide shafts are inserted into the front translation slide shaft mounting hole and the rear translation slide shaft mounting hole one by one, and the translation screw is rotatably mounted in the translation screw mounting hole.
  • the clamp mounting platform is L-shaped, and the outer side of the vertical portion of the clamp mounting platform is vertically provided with a front lifting slide shaft mounting hole, a lifting screw mounting hole and a rear lifting slide shaft mounting hole in sequence from front to back, the two lifting slide shafts are inserted into the front lifting slide shaft mounting hole and the rear lifting slide shaft mounting hole one by one, and the lifting screw is rotatably mounted in the lifting screw mounting hole;
  • the rotary cylinder is arranged on the lateral portion of the clamp mounting platform.
  • the above-mentioned automatic storage material system wherein the controller is externally connected to a human-computer interaction screen;
  • the machine interaction screen is located outside the automatic material storage system.
  • the rack is a rectangular frame structure.
  • the automatic material storage system of the present invention is low-cost and highly flexible, and improves the degree of automation, accuracy, and efficiency of material storage and transportation, while ensuring process safety.
  • FIG1 is a three-dimensional structural diagram of an automatic material storage system of the present invention.
  • FIG2 is a structural diagram of a clamping mechanism of an automatic material storage system of the present invention.
  • FIG3 is a rear view of the automatic material storage system of the present invention.
  • FIG4 is a side view of the automatic material storage system of the present invention.
  • FIG5 is a top view of the automatic material storage system of the present invention.
  • FIG. 6 is an electrical schematic diagram of the automatic material storage system of the present invention.
  • an automatic warehousing material system includes a frame 1, a warehousing mechanism 2, a conveyor belt 3, a translation mechanism 4, a motion platform 5, a lifting mechanism 6, a clamping mechanism 7 and a controller 8.
  • the frame 1 is a rectangular frame structure.
  • the conveyor belt 3 is horizontally arranged at the front end of the frame 1 through a bracket 31.
  • the conveyor belt 3 is driven to rotate by a conveyor motor 32.
  • the conveyor motor 32 is arranged on the bracket 31.
  • the conveyor motor 32 uses a transmission chain to drive the conveyor belt 3 to move at a constant speed.
  • the conveyor belt 3 vibrates slightly during the switching process from static to moving.
  • the conveyor belt 3 is made of non-slip material, and the material will not shake easily during the conveying process.
  • the width and length of the conveyor belt 3 can be reasonably enlarged or reduced according to the size of the material and the floor area, and is not limited to a single specification of materials.
  • the storage mechanism 2 includes a storage location installation frame 21 and a plurality of storage boards 22.
  • the storage location installation frame 21 is vertically arranged at the rear end of the frame 1; the plurality of storage boards 22 are arranged horizontally in the storage location installation frame 21 from top to bottom, and each storage board 22 is sequentially separated from left to right by a plurality of storage locations 23; each adjacent storage location on the storage board 22 is separated by a partition, or each storage location is provided with a positioning pin.
  • Storage locations are not limited to Fixed size and fixed number of layers can be modified according to the material gripper and material size. In addition to the platform partition format, positioning pins and other positioning mechanisms can also be specified on the storage location.
  • a real-time sensor 24 is set on each storage location 23. The real-time sensor 24 is used to detect whether there is material in the corresponding storage location 23 and feed back the signal to the controller 8.
  • the translation mechanism 4 includes a translation screw 41, a translation drive motor 42 and two translation slide shafts 43; the translation screw 41 and the two translation slide shafts 43 are respectively arranged horizontally on the frame 1, and the two translation slide shafts 43 are respectively arranged on the front and rear sides of the translation screw 41; the translation drive motor 42 is arranged on the frame 1, and the output end of the translation drive motor 42 is connected to one end of the translation screw 41, and the translation drive motor 42 drives the translation screw 41 to rotate.
  • the bottom end of the motion platform 5 is connected to the translation lead screw 41 and the two translation slide shafts 43 respectively; specifically, the bottom end of the motion platform 5 is provided with a front translation slide shaft mounting hole 51, a translation lead screw mounting hole 52 and a rear translation slide shaft mounting hole 53 in sequence from front to back, the two translation slide shafts 43 are inserted into the front translation slide shaft mounting hole 51 and the rear translation slide shaft mounting hole 53 in a one-to-one correspondence, and the translation lead screw 41 is rotatably mounted in the translation lead screw mounting hole 52.
  • the translation drive motor 42 drives the translation lead screw 41 to rotate, the motion platform 5 can move horizontally along the two translation slide shafts 43.
  • the lifting mechanism 6 includes a lifting mechanism mounting frame 61, a lifting screw 62, a lifting drive cylinder 63 and two lifting slide shafts 64;
  • the lifting mechanism mounting frame 61 is an inverted U-shaped structure, and the lifting mechanism mounting frame 61 is arranged on the motion platform 5;
  • the lifting screw 62 and the two lifting slide shafts 64 are respectively vertically arranged on the motion platform 5, and the two lifting slide shafts 64 are respectively arranged on the front and rear sides of the lifting screw 62;
  • the top end of the lifting screw 62 and the top end of the two lifting slide shafts 64 are respectively connected to the top end of the lifting mechanism mounting frame 61;
  • the output end of the lifting drive cylinder 63 is connected to the lifting screw 62, and the lifting drive cylinder 63 drives the lifting screw 62 to rotate.
  • the clamping mechanism 7 includes a clamping jaw mounting platform 71, a material clamping jaw 72, a clamping jaw cylinder 73 and a rotating cylinder 74.
  • One side of the clamping jaw mounting platform 71 is respectively connected to the lifting screw 62 and the two lifting slide shafts 64.
  • the clamping jaw mounting platform 71 is L-shaped, and the outer side of the vertical portion of the clamping jaw mounting platform 71 is vertically provided with a front lifting slide shaft mounting hole, a lifting screw mounting hole and a rear lifting slide shaft mounting hole from front to back.
  • the two lifting slide shafts 64 are inserted into the front lifting slide shaft mounting hole and the rear lifting slide shaft mounting hole one by one.
  • the lifting screw 62 is rotatably mounted on The lifting screw is installed in the hole; the rotating cylinder 74 is arranged on the transverse part of the clamping claw installation platform 71; the output end of the rotating cylinder 74 is connected to the clamping claw cylinder 73, and the output end of the clamping claw cylinder 73 is connected to the material clamping claw 72; when the lifting drive cylinder 63 drives the lifting screw 62 to rotate, the lifting screw 62 drives the clamping claw installation platform 71 to move up and down along the two lifting slide shafts 64, thereby driving the rotating cylinder 74, the clamping claw cylinder 73 and the material clamping claw 72 on the clamping claw installation platform 71 to perform lifting movement as a whole, and the rotating cylinder 74 is used to drive the clamping claw cylinder 73 and the material clamping claw 72 to do
  • the clamping jaw cylinder 73 is used to drive the material clamping jaw 72 to extend and clamp the material.
  • the material clamping jaw 72 is provided with a sensor 75.
  • the sensor 75, the conveying motor 32, the translation drive motor 42, the lifting drive cylinder 63, the clamping cylinder 73, the rotating cylinder 74 and the real-time sensor 24 are respectively connected to the controller 8; the controller 8 is located outside the automatic storage material system.
  • the controller 8 is set separately as needed for easy operation.
  • the controller 8 is externally connected to the human-computer interaction screen 9; the human-computer interaction screen 9 is located outside the automatic storage material system.
  • the human-computer interaction screen 9 is a monitoring screen and a control screen, which is arranged outside the equipment, separated from the storage material system equipment, and arranged at a suitable position according to the actual situation on site.
  • the automatic storage material system of the present invention comprises a main frame composed of a frame 1, a bracket 31, a storage location installation frame 21 and a lifting mechanism installation frame 61.
  • the main frame is made of standard aluminum profiles, and the material clamp 72 is of non-standard design.
  • the lifting mechanism 6 is a component that realizes the up and down movement of the clamp mechanism 7.
  • the lifting drive cylinder 63 can drive the lifting screw 62 to move at a uniform speed, which is safe and reliable.
  • the speed and position of the up and down movement of the clamp mechanism 7 can be adjusted in a standard manner according to the corresponding material and the required cycle beat.
  • the motion platform 5 carries the lifting mechanism 6 and the clamp mechanism 7.
  • the motion platform 5 is translated and slid by the translation screw 41 and the translation sliding shaft 43.
  • the maximum distance that the motion platform 5 moves along the translation screw 41 is the same as the length of the storage plate 22.
  • the movement of the clamp mechanism 7 can cover all storage locations 23.
  • the functional components work in coordination with each other and are controlled by an external controller 8.
  • the connection between the transportation of each part is sensed by a precision sensor to ensure the accuracy of grabbing and placing, and the operation rhythm process runs.
  • the automatic storage material system of the present invention has the following working process:
  • the controller 8 senses that the worker or robot has finished its action, controls the conveying motor 32 to work, and the conveying motor 32 drives the conveyor belt 3 to move. After the sensor 75 senses that the material has reached the specified position, the sensor 75 sends an in-place signal to the controller 8, and the controller 8 controls the conveying motor 32 to stop working;
  • the controller 8 controls the movement of the clamp cylinder 73 and the rotating cylinder 74 to control the material clamp 72 to clamp the material, and then rotate to the direction of the storage location 23, and determines the vacant storage location 23 according to the real-time sensor 24 on the storage location 23, and the controller 8 controls the movement of the translation drive motor 42 and the lifting drive cylinder 63 to make the material clamp 72 move with the material to the vacant storage location, and the controller 8 controls the clamp cylinder 73 to extend the material clamp 72 and place the material steadily in the storage location 23.
  • the controller 8 uses a PLC controller, a human-machine interactive screen 9, a sensor 75 and a real-time sensor 24 and Without going into details, it can be customized according to different material forms, production processes and goals, and further selected and confirmed based on cost-effectiveness.
  • the automatic warehousing material system of the present invention is used as the core foundation, and peripheral equipment is configured, and it can even participate in the production process.
  • the controller 8 and the system debugging should be confirmed and debugged repeatedly according to the actual situation to finally reach the target state.
  • the weight of the material should be fully considered, and the structure should be reasonable, and the durability should be increased under the premise of ensuring safety.
  • the safety of the labor and the safety of the equipment should be fully considered.
  • Physical safety partitions or safety gratings and other equipment should be set up in all locations that may be accessible by manual labor to ensure manual safety and smooth production process.
  • the storage and retrieval of materials can be partially or fully automated through the automatic storage material system of the present invention, which can improve production efficiency, reduce labor costs, and make the process traceable.
  • Materials are transported by conveyor belts, and sensors attached to material clamps sense whether the materials have reached the specified position, and then the material clamps carry out transportation, transporting the materials on the conveyor belt to the controlled storage location.
  • the storage location and the real-time status of the materials are monitored through the external human-computer interaction screen 9, so that materials can be accurately taken or placed, and the staff can control the overall material status in real time.
  • the automatic storage material system of the present invention is low-cost and highly flexible, which improves the degree of automation, accuracy, and efficiency in material storage and transportation, and ensures process safety.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Warehouses Or Storage Devices (AREA)

Abstract

A system for automatically warehousing material, said system comprising a frame (1), a warehousing mechanism (2), a conveyor belt (3), a translation mechanism (4), a motion platform (5), a lifting mechanism (6), a clamping jaw mechanism (7) and a controller (8). The conveyor belt (3) is disposed at a front end (1) of the frame and is driven by a conveying motor (32) to rotate; the warehousing mechanism (2) comprises a storage position mounting frame (21) and multiple warehousing plates (22); the translation mechanism (4) comprises a translation lead screw (41), a translation driving motor (42), and two translation sliding shafts (43); a bottom end of the motion platform (5) is connected to the translation lead screw (41) and the two translation sliding shafts (43), respectively; the lifting mechanism (6) comprises a lifting mechanism mounting frame (61), a lifting lead screw (62), a lifting driving cylinder (63) and two lifting sliding shafts (64); the lifting lead screw (62) and the two lifting sliding shafts (64) are respectively vertically arranged on the motion platform (5); the clamping jaw mechanism (7) comprises a clamping jaw mounting platform (71), a material clamping jaw (72), a clamping jaw air cylinder (73) and a rotating air cylinder (74). The described system for automatically warehousing material improves the level of automation, precision and efficiency of material storage and transfer, and process safety is guaranteed.

Description

一种自动仓储物料系统An automatic storage material system 技术领域Technical Field
本发明涉及物流仓储、机械领域，具体涉及一种自动仓储物料系统。The present invention relates to the fields of logistics, warehousing and machinery, and in particular to an automatic warehousing material system.
背景技术Background technique
各行业对备料仓储，成品出库等物料搬运，限于成本问题，或者体量不够，无法达到智慧物流仓储的标准，在成品转运、或物料供给等流程上存在人工成本较高，单据繁琐，效率较低。Due to cost issues or insufficient volume, various industries are unable to meet the standards of smart logistics warehousing for material handling such as material preparation warehousing and finished product delivery. In processes such as finished product transportation and material supply, labor costs are high, documents are cumbersome, and efficiency is low.
发明内容Summary of the invention
本发明的目的是克服现有技术的缺陷，提供一种自动仓储物料系统，成本低廉，柔性强，使物料在存储及转运的自动化程度提高，精度提高，效率提高，并保证过程安全。The purpose of the present invention is to overcome the defects of the prior art and provide an automatic storage material system with low cost and strong flexibility, so as to improve the automation degree, accuracy and efficiency of material storage and transportation and ensure process safety.
实现上述目的的技术方案是：一种自动仓储物料系统，包括机架、仓储机构、输送带、平移机构、运动平台、升降机构、夹爪机构和控制器，其中：The technical solution to achieve the above purpose is: an automatic storage material system, including a frame, a storage mechanism, a conveyor belt, a translation mechanism, a motion platform, a lifting mechanism, a clamping mechanism and a controller, wherein:
所述输送带设置在所述机架的前端；所述输送带由输送电机驱动转动；The conveyor belt is arranged at the front end of the frame; the conveyor belt is driven to rotate by a conveyor motor;
所述仓储机构包括库位安装框和若干仓储板，所述库位安装框竖向设置在所述机架的后端；所述若干仓储板从上至下依次横向设置在所述库位安装框内，每个仓储板上从左至右依次分隔有多个仓储库位，每个仓储库位上设置有实时感应器；The storage mechanism includes a storage location installation frame and a plurality of storage boards, wherein the storage location installation frame is vertically arranged at the rear end of the frame; the plurality of storage boards are horizontally arranged in the storage location installation frame from top to bottom, and each storage board is sequentially separated from left to right with a plurality of storage locations, and each storage location is provided with a real-time sensor;
所述平移机构包括平移丝杠、平移驱动电机和两个平移滑轴；所述平移丝杠和两个平移滑轴分别横向设置在所述机架上，且所述两个平移滑轴分设在所述平移丝杠的前、后侧；所述平移驱动电机设置在所述机架上，所述平移驱动电机的输出端与所述平移丝杠的一端相连，所述平移驱动电机驱动所述平移丝杠转动；The translation mechanism comprises a translation lead screw, a translation drive motor and two translation slide shafts; the translation lead screw and the two translation slide shafts are respectively arranged transversely on the frame, and the two translation slide shafts are respectively arranged at the front and rear sides of the translation lead screw; the translation drive motor is arranged on the frame, the output end of the translation drive motor is connected to one end of the translation lead screw, and the translation drive motor drives the translation lead screw to rotate;
所述运动平台的底端分别与所述平移丝杠和两个平移滑轴相连；The bottom end of the motion platform is connected to the translation lead screw and two translation sliding shafts respectively;
所述升降机构包括升降机构安装框、升降丝杠、升降驱动气缸和两个升降滑轴； 所述升降机构安装框呈倒U形结构，所述升降机构安装框设置在所述运动平台上；所述升降丝杠和两个升降滑轴分别竖向设置在所述运动平台上，所述两个升降滑轴分设在所述升降丝杠的前、后侧；所述升降丝杠的顶端和两个升降滑轴的顶端分别与所述升降机构安装框的顶端相连；所述升降驱动气缸的输出端与所述升降丝杠相连，升降驱动气缸驱动所述升降丝杠转动；The lifting mechanism comprises a lifting mechanism installation frame, a lifting screw, a lifting drive cylinder and two lifting slide shafts; The lifting mechanism installation frame is an inverted U-shaped structure, and the lifting mechanism installation frame is arranged on the moving platform; the lifting screw and the two lifting slide shafts are respectively arranged vertically on the moving platform, and the two lifting slide shafts are respectively arranged on the front and rear sides of the lifting screw; the top of the lifting screw and the top of the two lifting slide shafts are respectively connected to the top of the lifting mechanism installation frame; the output end of the lifting drive cylinder is connected to the lifting screw, and the lifting drive cylinder drives the lifting screw to rotate;
所述夹爪机构包括夹爪安装平台、物料夹爪、夹爪气缸和旋转气缸，所述夹爪安装平台的一侧分别与所述升降丝杠和两个升降滑轴相连；所述旋转气缸设置在所述夹爪安装平台上，所述旋转气缸的输出端与所述夹爪气缸相连，所述夹爪气缸的输出端与所述物料夹爪相连，所述物料夹爪上设置有传感器；The clamp mechanism includes a clamp mounting platform, a material clamp, a clamp cylinder and a rotating cylinder. One side of the clamp mounting platform is respectively connected to the lifting screw and two lifting slide shafts; the rotating cylinder is arranged on the clamp mounting platform, the output end of the rotating cylinder is connected to the clamp cylinder, the output end of the clamp cylinder is connected to the material clamp, and a sensor is arranged on the material clamp;
所述传感器、输送电机、平移驱动电机、升降驱动气缸、夹爪气缸、旋转气缸和实时感应器分别与所述控制器相连。The sensor, the conveying motor, the translation driving motor, the lifting driving cylinder, the clamping claw cylinder, the rotating cylinder and the real-time sensor are respectively connected to the controller.
上述的一种自动仓储物料系统，其中，所述输送带通过支架横向设置在所述机架的前端，所述输送电机设置在所述支架上。In the above-mentioned automatic warehousing material system, the conveyor belt is transversely arranged at the front end of the frame through a bracket, and the conveying motor is arranged on the bracket.
上述的一种自动仓储物料系统，其中，所述输送带采用防滑材质制成。In the above-mentioned automatic warehousing material system, the conveyor belt is made of anti-slip material.
上述的一种自动仓储物料系统，其中，所述运动平台沿所述平移丝杠移动的最大距离与所述仓储板的长度相同。In the above-mentioned automatic material storage system, the maximum distance that the motion platform moves along the translation screw is the same as the length of the storage plate.
上述的一种自动仓储物料系统，其中，所述仓储板上每相邻的两个仓储库位之间通过隔断分隔，或者每个仓储库位上均设置有一个定位销。In the above-mentioned automatic material storage system, each two adjacent storage locations on the storage board are separated by a partition, or a positioning pin is provided on each storage location.
上述的一种自动仓储物料系统，其中，所述运动平台的底端从前至后依次横向设置有前平移滑轴安装孔、平移丝杠安装孔和后平移滑轴安装孔，所述两个平移滑轴一一对应地穿插在所述前平移滑轴安装孔和后平移滑轴安装孔内，所述平移丝杠可转动地安装在所述平移丝杠安装孔内。The above-mentioned automatic warehousing material system, wherein the bottom end of the motion platform is laterally provided with a front translation slide shaft mounting hole, a translation screw mounting hole and a rear translation slide shaft mounting hole in sequence from front to back, the two translation slide shafts are inserted into the front translation slide shaft mounting hole and the rear translation slide shaft mounting hole one by one, and the translation screw is rotatably mounted in the translation screw mounting hole.
上述的一种自动仓储物料系统，其中，所述夹爪安装平台呈L形形状，所述夹爪安装平台的竖向部的外侧从前至后依次竖向设置有前升降滑轴安装孔、升降丝杠安装孔和后升降滑轴安装孔，所述两个升降滑轴一一对应地穿插在所述前升降滑轴安装孔和后升降滑轴安装孔内，所述升降丝杠可转动地安装在所述升降丝杠安装孔内；The above-mentioned automatic storage material system, wherein the clamp mounting platform is L-shaped, and the outer side of the vertical portion of the clamp mounting platform is vertically provided with a front lifting slide shaft mounting hole, a lifting screw mounting hole and a rear lifting slide shaft mounting hole in sequence from front to back, the two lifting slide shafts are inserted into the front lifting slide shaft mounting hole and the rear lifting slide shaft mounting hole one by one, and the lifting screw is rotatably mounted in the lifting screw mounting hole;
所述旋转气缸设置在所述夹爪安装平台的横向部上。The rotary cylinder is arranged on the lateral portion of the clamp mounting platform.
上述的一种自动仓储物料系统，其中，所述控制器外接人机交互屏幕；所述人 机交互屏幕位于所述自动仓储物料系统的外部。The above-mentioned automatic storage material system, wherein the controller is externally connected to a human-computer interaction screen; The machine interaction screen is located outside the automatic material storage system.
上述的一种自动仓储物料系统，其中，所述机架呈长方形框架结构。In the above-mentioned automatic warehousing material system, the rack is a rectangular frame structure.
本发明的自动仓储物料系统，成本低廉，柔性强，使物料在存储及转运的自动化程度提高，精度提高，效率提高，并保证过程安全。The automatic material storage system of the present invention is low-cost and highly flexible, and improves the degree of automation, accuracy, and efficiency of material storage and transportation, while ensuring process safety.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明的自动仓储物料系统的立体结构图；FIG1 is a three-dimensional structural diagram of an automatic material storage system of the present invention;
图2为本发明的自动仓储物料系统的夹爪机构的结构图；FIG2 is a structural diagram of a clamping mechanism of an automatic material storage system of the present invention;
图3为本发明的自动仓储物料系统的后视图；FIG3 is a rear view of the automatic material storage system of the present invention;
图4为本发明的自动仓储物料系统的侧视图；FIG4 is a side view of the automatic material storage system of the present invention;
图5为本发明的自动仓储物料系统的俯视图；FIG5 is a top view of the automatic material storage system of the present invention;
图6为本发明的自动仓储物料系统的电气原理图。FIG. 6 is an electrical schematic diagram of the automatic material storage system of the present invention.
具体实施方式Detailed ways
为了使本技术领域的技术人员能更好地理解本发明的技术方案，下面结合附图对其具体实施方式进行详细地说明：In order to enable those skilled in the art to better understand the technical solution of the present invention, the specific implementation methods thereof are described in detail below in conjunction with the accompanying drawings:
请参阅图1至图6，本发明的最佳实施例，一种自动仓储物料系统，包括机架1、仓储机构2、输送带3、平移机构4、运动平台5、升降机构6、夹爪机构7和控制器8。Please refer to Figures 1 to 6, the best embodiment of the present invention, an automatic warehousing material system, includes a frame 1, a warehousing mechanism 2, a conveyor belt 3, a translation mechanism 4, a motion platform 5, a lifting mechanism 6, a clamping mechanism 7 and a controller 8.
机架1呈长方形框架结构。The frame 1 is a rectangular frame structure.
输送带3通过支架31横向设置在机架1的前端，输送带3由输送电机32驱动转动，输送电机32设置在支架31上，输送电机32使用传动链条带动输送带3匀速运动，输送带3静止到运动切换动作的过程中振动微小，输送带3采用防滑材质制成，物料在输送的过程中不会轻易晃动。输送带3的宽度、长度的变化等可根据物料大小、占地面积进行合理的比例放大或缩小，不局限于单一规格物料。The conveyor belt 3 is horizontally arranged at the front end of the frame 1 through a bracket 31. The conveyor belt 3 is driven to rotate by a conveyor motor 32. The conveyor motor 32 is arranged on the bracket 31. The conveyor motor 32 uses a transmission chain to drive the conveyor belt 3 to move at a constant speed. The conveyor belt 3 vibrates slightly during the switching process from static to moving. The conveyor belt 3 is made of non-slip material, and the material will not shake easily during the conveying process. The width and length of the conveyor belt 3 can be reasonably enlarged or reduced according to the size of the material and the floor area, and is not limited to a single specification of materials.
仓储机构2包括库位安装框21和若干仓储板22，库位安装框21竖向设置在机架1的后端；若干仓储板22从上至下依次横向设置在库位安装框21内，每个仓储板22上从左至右依次分隔有多个仓储库位23；仓储板22上每相邻的两个仓储库位之间通过隔断分隔，或者每个仓储库位上均设置有一个定位销。仓储库位不局限于 固定大小与固定层数，根据物料夹爪与物料大小进行改动，除平台隔断格式外也可在仓储库位上指定定位销等定位机构。每个仓储库位23上设置有实时感应器24，实时感应器24用于检测相应的仓储库位23是否有物料，并将信号反馈给控制器8。The storage mechanism 2 includes a storage location installation frame 21 and a plurality of storage boards 22. The storage location installation frame 21 is vertically arranged at the rear end of the frame 1; the plurality of storage boards 22 are arranged horizontally in the storage location installation frame 21 from top to bottom, and each storage board 22 is sequentially separated from left to right by a plurality of storage locations 23; each adjacent storage location on the storage board 22 is separated by a partition, or each storage location is provided with a positioning pin. Storage locations are not limited to Fixed size and fixed number of layers can be modified according to the material gripper and material size. In addition to the platform partition format, positioning pins and other positioning mechanisms can also be specified on the storage location. A real-time sensor 24 is set on each storage location 23. The real-time sensor 24 is used to detect whether there is material in the corresponding storage location 23 and feed back the signal to the controller 8.
平移机构4包括平移丝杠41、平移驱动电机42和两个平移滑轴43；平移丝杠41和两个平移滑轴43分别横向设置在机架1上，且两个平移滑轴43分设在平移丝杠41的前、后侧；平移驱动电机42设置在机架1上，平移驱动电机42的输出端与平移丝杠41的一端相连，平移驱动电机42驱动平移丝杠41转动。The translation mechanism 4 includes a translation screw 41, a translation drive motor 42 and two translation slide shafts 43; the translation screw 41 and the two translation slide shafts 43 are respectively arranged horizontally on the frame 1, and the two translation slide shafts 43 are respectively arranged on the front and rear sides of the translation screw 41; the translation drive motor 42 is arranged on the frame 1, and the output end of the translation drive motor 42 is connected to one end of the translation screw 41, and the translation drive motor 42 drives the translation screw 41 to rotate.
运动平台5的底端分别与平移丝杠41和两个平移滑轴43相连；具体地，运动平台5的底端从前至后依次横向设置有前平移滑轴安装孔51、平移丝杠安装孔52和后平移滑轴安装孔53，两个平移滑轴43一一对应地穿插在前平移滑轴安装孔51和后平移滑轴安装孔53内，平移丝杠41可转动地安装在平移丝杠安装孔52内。平移驱动电机42驱动平移丝杠41转动时，运动平台5可以沿着两个平移滑轴43水平移动。The bottom end of the motion platform 5 is connected to the translation lead screw 41 and the two translation slide shafts 43 respectively; specifically, the bottom end of the motion platform 5 is provided with a front translation slide shaft mounting hole 51, a translation lead screw mounting hole 52 and a rear translation slide shaft mounting hole 53 in sequence from front to back, the two translation slide shafts 43 are inserted into the front translation slide shaft mounting hole 51 and the rear translation slide shaft mounting hole 53 in a one-to-one correspondence, and the translation lead screw 41 is rotatably mounted in the translation lead screw mounting hole 52. When the translation drive motor 42 drives the translation lead screw 41 to rotate, the motion platform 5 can move horizontally along the two translation slide shafts 43.
升降机构6包括升降机构安装框61、升降丝杠62、升降驱动气缸63和两个升降滑轴64；升降机构安装框61呈倒U形结构，升降机构安装框61设置在运动平台5上；升降丝杠62和两个升降滑轴64分别竖向设置在运动平台5上，两个升降滑轴64分设在升降丝杠62的前、后侧；升降丝杠62的顶端和两个升降滑轴64的顶端分别与升降机构安装框61的顶端相连；升降驱动气缸63的输出端与升降丝杠62相连，升降驱动气缸63驱动升降丝杠62转动。The lifting mechanism 6 includes a lifting mechanism mounting frame 61, a lifting screw 62, a lifting drive cylinder 63 and two lifting slide shafts 64; the lifting mechanism mounting frame 61 is an inverted U-shaped structure, and the lifting mechanism mounting frame 61 is arranged on the motion platform 5; the lifting screw 62 and the two lifting slide shafts 64 are respectively vertically arranged on the motion platform 5, and the two lifting slide shafts 64 are respectively arranged on the front and rear sides of the lifting screw 62; the top end of the lifting screw 62 and the top end of the two lifting slide shafts 64 are respectively connected to the top end of the lifting mechanism mounting frame 61; the output end of the lifting drive cylinder 63 is connected to the lifting screw 62, and the lifting drive cylinder 63 drives the lifting screw 62 to rotate.
夹爪机构7包括夹爪安装平台71、物料夹爪72、夹爪气缸73和旋转气缸74，夹爪安装平台71的一侧分别与升降丝杠62和两个升降滑轴64相连，具体地，夹爪安装平台71呈L形形状，夹爪安装平台71的竖向部的外侧从前至后依次竖向设置有前升降滑轴安装孔、升降丝杠安装孔和后升降滑轴安装孔，两个升降滑轴64一一对应地穿插在前升降滑轴安装孔和后升降滑轴安装孔内，升降丝杠62可转动地安装在升降丝杠安装孔内；旋转气缸74设置在夹爪安装平台71的横向部上；旋转气缸74的输出端与夹爪气缸73相连，夹爪气缸73的输出端与物料夹爪72相连；升降驱动气缸63驱动升降丝杠62转动时，升降丝杠62带动夹爪安装平台71沿两个升降滑轴64上下运动，进而带动夹爪安装平台71上的旋转气缸74、夹爪气缸73和物料夹爪72整体做升降运动，旋转气缸74用于驱动夹爪气缸73和物料夹爪72做 水平旋转，夹爪气缸73用于驱动物料夹爪72的伸缩和夹紧物料。物料夹爪72上设置有传感器75。The clamping mechanism 7 includes a clamping jaw mounting platform 71, a material clamping jaw 72, a clamping jaw cylinder 73 and a rotating cylinder 74. One side of the clamping jaw mounting platform 71 is respectively connected to the lifting screw 62 and the two lifting slide shafts 64. Specifically, the clamping jaw mounting platform 71 is L-shaped, and the outer side of the vertical portion of the clamping jaw mounting platform 71 is vertically provided with a front lifting slide shaft mounting hole, a lifting screw mounting hole and a rear lifting slide shaft mounting hole from front to back. The two lifting slide shafts 64 are inserted into the front lifting slide shaft mounting hole and the rear lifting slide shaft mounting hole one by one. The lifting screw 62 is rotatably mounted on The lifting screw is installed in the hole; the rotating cylinder 74 is arranged on the transverse part of the clamping claw installation platform 71; the output end of the rotating cylinder 74 is connected to the clamping claw cylinder 73, and the output end of the clamping claw cylinder 73 is connected to the material clamping claw 72; when the lifting drive cylinder 63 drives the lifting screw 62 to rotate, the lifting screw 62 drives the clamping claw installation platform 71 to move up and down along the two lifting slide shafts 64, thereby driving the rotating cylinder 74, the clamping claw cylinder 73 and the material clamping claw 72 on the clamping claw installation platform 71 to perform lifting movement as a whole, and the rotating cylinder 74 is used to drive the clamping claw cylinder 73 and the material clamping claw 72 to do The clamping jaw cylinder 73 is used to drive the material clamping jaw 72 to extend and clamp the material. The material clamping jaw 72 is provided with a sensor 75.
传感器75、输送电机32、平移驱动电机42、升降驱动气缸63、夹爪气缸73、旋转气缸74和实时感应器24分别与控制器8相连；控制器8位于自动仓储物料系统的外部。控制器8根据需要单独设置，方便操作，控制器8外接人机交互屏幕9；人机交互屏幕9位于所述自动仓储物料系统的外部。人机交互屏幕9为监控屏幕以及操控屏幕，布置在设备外，与仓储物料系统设备脱离，根据现场实际情况布置到合适位置。The sensor 75, the conveying motor 32, the translation drive motor 42, the lifting drive cylinder 63, the clamping cylinder 73, the rotating cylinder 74 and the real-time sensor 24 are respectively connected to the controller 8; the controller 8 is located outside the automatic storage material system. The controller 8 is set separately as needed for easy operation. The controller 8 is externally connected to the human-computer interaction screen 9; the human-computer interaction screen 9 is located outside the automatic storage material system. The human-computer interaction screen 9 is a monitoring screen and a control screen, which is arranged outside the equipment, separated from the storage material system equipment, and arranged at a suitable position according to the actual situation on site.
本发明的自动仓储物料系统，机架1、支架31、库位安装框21和升降机构安装框61组成主体框架，主体框架采用标准铝型材，物料夹爪72非标设计，升降机构6是实现夹爪机构7上下运动的部件，升降驱动气缸63可以驱动升降丝杠62可匀速运动，安全可靠。可根据对应物料，要求的周期节拍，对夹爪机构7上下运动的速度，位置进行标准调节。运动平台5承载升降机构6和夹爪机构7，运动平台5通过平移丝杠41和平移滑轴43进行平移滑动，运动平台5沿平移丝杠41移动的最大距离与仓储板22的长度相同，夹爪机构7的移动可以覆盖全部仓储库位23。The automatic storage material system of the present invention comprises a main frame composed of a frame 1, a bracket 31, a storage location installation frame 21 and a lifting mechanism installation frame 61. The main frame is made of standard aluminum profiles, and the material clamp 72 is of non-standard design. The lifting mechanism 6 is a component that realizes the up and down movement of the clamp mechanism 7. The lifting drive cylinder 63 can drive the lifting screw 62 to move at a uniform speed, which is safe and reliable. The speed and position of the up and down movement of the clamp mechanism 7 can be adjusted in a standard manner according to the corresponding material and the required cycle beat. The motion platform 5 carries the lifting mechanism 6 and the clamp mechanism 7. The motion platform 5 is translated and slid by the translation screw 41 and the translation sliding shaft 43. The maximum distance that the motion platform 5 moves along the translation screw 41 is the same as the length of the storage plate 22. The movement of the clamp mechanism 7 can cover all storage locations 23.
本发明的自动仓储物料系统，各功能部件相互协调工作，由外置的控制器8控制，各部位转运间的衔接通过精密传感器感应，保证抓取、放置精度，工作节拍流程运行。In the automatic material storage system of the present invention, the functional components work in coordination with each other and are controlled by an external controller 8. The connection between the transportation of each part is sensed by a precision sensor to ensure the accuracy of grabbing and placing, and the operation rhythm process runs.
本发明的自动仓储物料系统，工作流程如下：The automatic storage material system of the present invention has the following working process:
S1，工人或机器人将物料放在输送带3上；S1, a worker or robot places the material on the conveyor belt 3;
S2，控制器8感应到工人或机器人动作结束，控制输送电机32工作，输送电机32带动输送带3运动，传感器75感应到物料到达指定位置后，传感器75发送到位信号给控制器8，控制器8控制输送电机32停止工作；S2, the controller 8 senses that the worker or robot has finished its action, controls the conveying motor 32 to work, and the conveying motor 32 drives the conveyor belt 3 to move. After the sensor 75 senses that the material has reached the specified position, the sensor 75 sends an in-place signal to the controller 8, and the controller 8 controls the conveying motor 32 to stop working;
S3，同时，控制器8通过控制夹爪气缸73与旋转气缸74的运动，控制物料夹爪72夹紧物料，后转至仓储库位23方向，根据仓储库位23上的实时感应器24，确定空置的仓储库位23，且控制器8通过控制平移驱动电机42和升降驱动气缸63的运动，使得物料夹爪72携带物料移动，移至空置的仓储库位，控制器8通过控制夹爪气缸73使得物料夹爪72伸出，将物料平稳放到仓储库位23。S3, at the same time, the controller 8 controls the movement of the clamp cylinder 73 and the rotating cylinder 74 to control the material clamp 72 to clamp the material, and then rotate to the direction of the storage location 23, and determines the vacant storage location 23 according to the real-time sensor 24 on the storage location 23, and the controller 8 controls the movement of the translation drive motor 42 and the lifting drive cylinder 63 to make the material clamp 72 move with the material to the vacant storage location, and the controller 8 controls the clamp cylinder 73 to extend the material clamp 72 and place the material steadily in the storage location 23.
控制器8采用PLC控制器、人机交互屏幕9、传感器75以及实时感应器24并 不多做阐述，可根据物料形态不同、生产流程不同、目标不同的几种状态定制，并结合性价比进一步的选择确认。The controller 8 uses a PLC controller, a human-machine interactive screen 9, a sensor 75 and a real-time sensor 24 and Without going into details, it can be customized according to different material forms, production processes and goals, and further selected and confirmed based on cost-effectiveness.
从输送带3取出或放入物料，可配置人工或由机器人替代，以本发明的自动仓储物料系统为核心基础，配置周边设备，甚至可以参与生产环节。控制器8以及系统调试，应根据实际情况确认并反复调试，最终达到目标状态。在按照相应比例进行系统设备的放大缩小，应充分考虑物料重量，结构合理，在保证安全的前提下增加耐用性。当由人工参与到工作过程中，应该对人工的安全，设备的安全进行充分考虑，凡是有可能有人工可达到的位置，都应设置物理安全隔断或设置安全光栅等设备，保证人工安全，生产过程流畅。Taking out or putting in materials from the conveyor belt 3 can be done manually or by robots. The automatic warehousing material system of the present invention is used as the core foundation, and peripheral equipment is configured, and it can even participate in the production process. The controller 8 and the system debugging should be confirmed and debugged repeatedly according to the actual situation to finally reach the target state. When enlarging and reducing the system equipment according to the corresponding proportion, the weight of the material should be fully considered, and the structure should be reasonable, and the durability should be increased under the premise of ensuring safety. When manual labor is involved in the work process, the safety of the labor and the safety of the equipment should be fully considered. Physical safety partitions or safety gratings and other equipment should be set up in all locations that may be accessible by manual labor to ensure manual safety and smooth production process.
从物料的存储、取出都可通过本发明的自动仓储物料系统实现部分或全部自动化，可以使生产效率提高、人工成本降低、过程可追溯，通过输送带对物料进行输送，由物料夹爪上附带的传感器感应到物料是否到达指定位置，再由物料夹爪进行搬运，将输送带上物料搬运至控制仓储库位，通过外置的人机交互屏幕9监控仓储库位以及物料的实时状态，以便可以准确拿取或放置物料，并可以让工作人员实时掌控总体物料状态。The storage and retrieval of materials can be partially or fully automated through the automatic storage material system of the present invention, which can improve production efficiency, reduce labor costs, and make the process traceable. Materials are transported by conveyor belts, and sensors attached to material clamps sense whether the materials have reached the specified position, and then the material clamps carry out transportation, transporting the materials on the conveyor belt to the controlled storage location. The storage location and the real-time status of the materials are monitored through the external human-computer interaction screen 9, so that materials can be accurately taken or placed, and the staff can control the overall material status in real time.
综上所述，本发明的自动仓储物料系统，成本低廉，柔性强，使物料在存储及转运的自动化程度提高，精度提高，效率提高，并保证过程安全。In summary, the automatic storage material system of the present invention is low-cost and highly flexible, which improves the degree of automation, accuracy, and efficiency in material storage and transportation, and ensures process safety.
本技术领域中的普通技术人员应当认识到，以上的实施例仅是用来说明本发明，而并非用作为对本发明的限定，只要在本发明的实质精神范围内，对以上所述实施例的变化、变型都将落在本发明的权利要求书范围内。 Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims (9)

  1. 一种自动仓储物料系统，其特征在于，包括机架、仓储机构、输送带、平移机构、运动平台、升降机构、夹爪机构和控制器，其中：An automatic warehousing material system, characterized in that it includes a frame, a warehousing mechanism, a conveyor belt, a translation mechanism, a motion platform, a lifting mechanism, a clamping mechanism and a controller, wherein:
    所述输送带设置在所述机架的前端，所述输送带由输送电机驱动转动；The conveyor belt is arranged at the front end of the frame, and the conveyor belt is driven to rotate by a conveyor motor;
    所述仓储机构包括库位安装框和若干仓储板，所述库位安装框竖向设置在所述机架的后端；所述若干仓储板从上至下依次横向设置在所述库位安装框内，每个仓储板上从左至右依次分隔有多个仓储库位，每个仓储库位上设置有实时感应器；The storage mechanism includes a storage location installation frame and a plurality of storage boards, wherein the storage location installation frame is vertically arranged at the rear end of the frame; the plurality of storage boards are horizontally arranged in the storage location installation frame from top to bottom, and each storage board is sequentially separated from left to right with a plurality of storage locations, and each storage location is provided with a real-time sensor;
    所述平移机构包括平移丝杠、平移驱动电机和两个平移滑轴；所述平移丝杠和两个平移滑轴分别横向设置在所述机架上，且所述两个平移滑轴分设在所述平移丝杠的前、后侧；所述平移驱动电机设置在所述机架上，所述平移驱动电机的输出端与所述平移丝杠的一端相连，所述平移驱动电机驱动所述平移丝杠转动；The translation mechanism comprises a translation lead screw, a translation drive motor and two translation slide shafts; the translation lead screw and the two translation slide shafts are respectively arranged transversely on the frame, and the two translation slide shafts are respectively arranged at the front and rear sides of the translation lead screw; the translation drive motor is arranged on the frame, the output end of the translation drive motor is connected to one end of the translation lead screw, and the translation drive motor drives the translation lead screw to rotate;
    所述运动平台的底端分别与所述平移丝杠和两个平移滑轴相连；The bottom end of the motion platform is connected to the translation lead screw and two translation sliding shafts respectively;
    所述升降机构包括升降机构安装框、升降丝杠、升降驱动气缸和两个升降滑轴；所述升降机构安装框呈倒U形结构，所述升降机构安装框设置在所述运动平台上；所述升降丝杠和两个升降滑轴分别竖向设置在所述运动平台上，所述两个升降滑轴分设在所述升降丝杠的前、后侧；所述升降丝杠的顶端和两个升降滑轴的顶端分别与所述升降机构安装框的顶端相连；所述升降驱动气缸的输出端与所述升降丝杠相连，所述升降驱动气缸驱动所述升降丝杠转动；The lifting mechanism comprises a lifting mechanism installation frame, a lifting screw, a lifting drive cylinder and two lifting slide shafts; the lifting mechanism installation frame is an inverted U-shaped structure, and the lifting mechanism installation frame is arranged on the moving platform; the lifting screw and the two lifting slide shafts are respectively arranged vertically on the moving platform, and the two lifting slide shafts are respectively arranged on the front and rear sides of the lifting screw; the top end of the lifting screw and the top ends of the two lifting slide shafts are respectively connected to the top end of the lifting mechanism installation frame; the output end of the lifting drive cylinder is connected to the lifting screw, and the lifting drive cylinder drives the lifting screw to rotate;
    所述夹爪机构包括夹爪安装平台、物料夹爪、夹爪气缸和旋转气缸，所述夹爪安装平台的一侧分别与所述升降丝杠和两个升降滑轴相连；所述旋转气缸设置在所述夹爪安装平台上，所述旋转气缸的输出端与所述夹爪气缸相连，所述夹爪气缸的输出端与所述物料夹爪相连，所述物料夹爪上设置有传感器；The clamp mechanism includes a clamp mounting platform, a material clamp, a clamp cylinder and a rotating cylinder. One side of the clamp mounting platform is respectively connected to the lifting screw and two lifting slide shafts; the rotating cylinder is arranged on the clamp mounting platform, the output end of the rotating cylinder is connected to the clamp cylinder, the output end of the clamp cylinder is connected to the material clamp, and a sensor is arranged on the material clamp;
    所述传感器、输送电机、平移驱动电机、升降驱动气缸、夹爪气缸、旋转气缸和实时感应器分别与所述控制器相连。The sensor, the conveying motor, the translation driving motor, the lifting driving cylinder, the clamping claw cylinder, the rotating cylinder and the real-time sensor are respectively connected to the controller.
  2. 根据权利要求1所述的一种自动仓储物料系统，其特征在于，所述输送带通过支架横向设置在所述机架的前端，所述输送电机设置在所述支架上。An automatic warehousing material system according to claim 1, characterized in that the conveyor belt is transversely arranged at the front end of the frame through a bracket, and the conveying motor is arranged on the bracket.
  3. 根据权利要求1所述的一种自动仓储物料系统，其特征在于，所述输送带采 用防滑材质制成。The automatic storage material system according to claim 1 is characterized in that the conveyor belt is Made of non-slip material.
  4. 根据权利要求1所述的一种自动仓储物料系统，其特征在于，所述运动平台沿所述平移丝杠移动的最大距离与所述仓储板的长度相同。An automatic material storage system according to claim 1, characterized in that the maximum distance that the motion platform moves along the translation screw is the same as the length of the storage plate.
  5. 根据权利要求1所述的一种自动仓储物料系统，其特征在于，所述仓储板上每相邻的两个仓储库位之间通过隔断分隔，或者每个仓储库位上均设置有一个定位销。An automatic material storage system according to claim 1, characterized in that every two adjacent storage locations on the storage board are separated by a partition, or a positioning pin is provided on each storage location.
  6. 根据权利要求1所述的一种自动仓储物料系统，其特征在于，所述运动平台的底端从前至后依次横向设置有前平移滑轴安装孔、平移丝杠安装孔和后平移滑轴安装孔，所述两个平移滑轴一一对应地穿插在所述前平移滑轴安装孔和后平移滑轴安装孔内，所述平移丝杠可转动地安装在所述平移丝杠安装孔内。An automatic material storage system according to claim 1 is characterized in that a front translation slide shaft mounting hole, a translation screw mounting hole and a rear translation slide shaft mounting hole are horizontally arranged in sequence from front to back at the bottom end of the motion platform, and the two translation slide shafts are inserted into the front translation slide shaft mounting hole and the rear translation slide shaft mounting hole one by one, and the translation screw is rotatably mounted in the translation screw mounting hole.
  7. 根据权利要求1所述的一种自动仓储物料系统，其特征在于，所述夹爪安装平台呈L形形状，所述夹爪安装平台的竖向部的外侧从前至后依次竖向设置有前升降滑轴安装孔、升降丝杠安装孔和后升降滑轴安装孔，所述两个升降滑轴一一对应地穿插在所述前升降滑轴安装孔和后升降滑轴安装孔内，所述升降丝杠可转动地安装在所述升降丝杠安装孔内；According to claim 1, an automatic storage material system is characterized in that the clamp mounting platform is L-shaped, and the outer side of the vertical portion of the clamp mounting platform is vertically provided with a front lifting slide shaft mounting hole, a lifting screw mounting hole and a rear lifting slide shaft mounting hole in sequence from front to back, the two lifting slide shafts are inserted into the front lifting slide shaft mounting hole and the rear lifting slide shaft mounting hole one by one, and the lifting screw is rotatably mounted in the lifting screw mounting hole;
    所述旋转气缸设置在所述夹爪安装平台的横向部上。The rotary cylinder is arranged on the lateral portion of the clamp mounting platform.
  8. 根据权利要求1所述的一种自动仓储物料系统，其特征在于，所述控制器外接人机交互屏幕；所述人机交互屏幕位于所述自动仓储物料系统的外部。An automatic material storage system according to claim 1, characterized in that the controller is externally connected to a human-computer interaction screen; the human-computer interaction screen is located outside the automatic material storage system.
  9. 根据权利要求1所述的一种自动仓储物料系统，其特征在于，所述机架呈长方形框架结构。 An automatic material storage system according to claim 1, characterized in that the rack is a rectangular frame structure.
PCT/CN2023/096329 2022-12-21 2023-05-25 System for automatically warehousing material WO2024130957A1 (en)

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CN202211651548.3 2022-12-21

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10258909A (en) * 1997-03-18 1998-09-29 Tsubakimoto Chain Co Device for detecting excessive temperature up within article storing shelves in automatic warehouse
US20040126209A1 (en) * 2001-01-26 2004-07-01 Warhurst Julian D. Random access storage and retrieval system for microplates, microplate transport and microplate conveyor
CN105620995A (en) * 2016-04-11 2016-06-01 山东建筑大学 Automatic storing and fetching device for expresses
CN106241166A (en) * 2016-07-12 2016-12-21 山东科技大学 A kind of intelligence is convenient accesses fast delivery device
CN210654764U (en) * 2019-08-07 2020-06-02 武汉库柏特科技有限公司 Intelligent secondary warehouse for pharmacy

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10258909A (en) * 1997-03-18 1998-09-29 Tsubakimoto Chain Co Device for detecting excessive temperature up within article storing shelves in automatic warehouse
US20040126209A1 (en) * 2001-01-26 2004-07-01 Warhurst Julian D. Random access storage and retrieval system for microplates, microplate transport and microplate conveyor
CN105620995A (en) * 2016-04-11 2016-06-01 山东建筑大学 Automatic storing and fetching device for expresses
CN106241166A (en) * 2016-07-12 2016-12-21 山东科技大学 A kind of intelligence is convenient accesses fast delivery device
CN210654764U (en) * 2019-08-07 2020-06-02 武汉库柏特科技有限公司 Intelligent secondary warehouse for pharmacy

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