CN111377181A

CN111377181A - Full-automatic storage equipment

Info

Publication number: CN111377181A
Application number: CN202010290435.XA
Authority: CN
Inventors: 姚月霞
Original assignee: Suzhou Paixun Intelligent Technology Co ltd
Current assignee: Suzhou Paixun Intelligent Technology Co ltd
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2020-07-07

Abstract

The invention relates to full-automatic warehousing equipment which comprises an outer shell and a storage rack, wherein a storage and taking module, a transfer detection and distribution module and an overturning and feeding module are arranged in the outer shell; the material storing and taking module comprises a first XZ shaft moving mechanism, the transfer detection material distributing module comprises a second XZ shaft moving mechanism, a temporary placing table and a CCD camera, and the second XZ shaft moving mechanism and the first XZ shaft moving mechanism moving table are both connected with material grabbing modules. The invention matches with the shooting record information of the CCD camera, namely, whether the material tray information is correct or not, and fully automatically controls the storage and the calling of materials, so that the warehousing is automatic and systematized, the participation of personnel is reduced, and the working efficiency is improved; the automatic door is adopted at the material inlet and outlet, so that the damage caused by the contact of personnel with the material box and the rotation can be prevented.

Description

Full-automatic storage equipment

Technical Field

The invention relates to the field of warehousing equipment, in particular to full-automatic warehousing equipment.

Background

The storage facility is a technical device and a tool which can meet the requirement of storing and keeping articles, and is not only a facility characterized by the outside such as a house, a door with a lock, and the like, but also can be specifically divided into a loading, unloading and carrying facility, a keeping facility, a metering facility, a maintenance and inspection facility, a ventilation and illumination facility, a fire safety facility, a labor protection facility, and other facilities and tools for other purposes.

The conventional shelf type warehouse is difficult to care for, complex to check, difficult to realize first-in first-out, tail material priority and other rules for material preparation, the whole process of logistics management is operated by personnel, a communication mechanism is lacked, mistakes are easy to make, account matters are difficult to guarantee all the time, and meanwhile, the working efficiency is low, so that the development of companies is seriously influenced.

Disclosure of Invention

The purpose of the invention is: the full-automatic warehousing equipment is provided, products can be stored and called fully automatically, personnel participation is reduced, and work efficiency is improved.

In order to achieve the above purpose, the present invention provides the following technical solutions:

a full-automatic warehousing device comprises an outer shell and a storage rack, wherein a storage and taking module, a transfer detection and distribution module and an overturning and feeding module are arranged in the outer shell, the storage rack is respectively positioned at two sides of the storage and taking module, the overturning and feeding module is positioned at one end of the storage and taking module, and the transfer detection and distribution module is positioned between the storage and taking module and the overturning and feeding module; the material storing and taking module comprises a first XZ shaft moving mechanism, the transfer detection material distributing module comprises a second XZ shaft moving mechanism, a temporary placing table and a CCD camera, and the second XZ shaft moving mechanism and the first XZ shaft moving mechanism moving table are both connected with material grabbing modules.

Further, the material grabbing module comprises a rotating platform and a first gear and rack straight line module, the first gear and rack straight line module is connected to the top end of the rotating platform, a vertical plate is connected to a moving platform of the first gear and rack straight line module, a finger cylinder is connected to the vertical plate, and two clamping jaws of the finger cylinder are respectively connected with a clamping plate.

Furthermore, two sides of the bottom plate of the first gear rack linear module, which are close to one end of the clamping plate, are respectively provided with an object detection sensor; the two object detecting sensors are obliquely arranged, and extension lines of rays of the two object detecting sensors are intersected at one point.

Further, the temporary placing table is positioned between the material storing and taking module and the second XZ-axis moving mechanism, and the temporary placing table is within the moving range of the second XZ-axis moving mechanism; the CCD camera is positioned right above the temporary placing table and used for photographing, recording and detecting whether the stored objects are correct or not.

Further, the overturning and feeding module comprises a temporary material taking placing frame, a material staggering placing frame and a feeding overturning mechanism; the feeding turnover mechanism comprises a turnover motor, a turnover frame and a rotating shaft; the rotating shaft is rotatably connected to the outer shell, the rotating shaft is fixedly connected with the overturning frame, and the overturning motor is fixed on the outer shell and is in driving connection with the rotating shaft; and a roller assembly is arranged at the bottom of the turnover frame.

Further, one end is equipped with into discharge gate and interim discharge gate on the shell body, and the discharge gate sets up with feeding tilting mechanism is corresponding, and interim discharge gate sets up with interim material rack and the wrong material rack of getting.

Further, an automatic door connected to the outer shell is arranged in the material inlet and the material outlet; the automatic door comprises a door body, an electric cylinder and two guide rods which are arranged in parallel and at intervals; two ends of the door body can slide on the two guide rods respectively; one end of the electric cylinder is connected to the bottom end of the door body, and the other end of the electric cylinder is connected to the outer shell.

Furthermore, the storage rack is composed of a plurality of U-shaped plates in a rectangular array.

The invention has the beneficial effects that: according to the full-automatic storage equipment, the CCD camera is matched to photograph and record information, namely whether the material tray information is correct or not is detected, and the storage and calling of materials are controlled fully automatically, so that the storage is automated and systematized, the participation of personnel is reduced, and the working efficiency is improved; the automatic door is adopted at the material inlet and outlet, so that the damage caused by the contact of personnel with the material box during the turnover can be prevented.

Drawings

FIG. 1 is an overall isometric view of a fully automatic warehousing facility of the present invention;

FIG. 2 is a partial structure diagram of a fully automatic stocker according to the present invention;

FIG. 3 is another structural diagram of a fully automatic stocker according to the present invention;

FIG. 4 is a structural view of a storage rack according to the present invention;

FIG. 5 is a structural view of the material access module according to the present invention;

FIG. 6 is a structural view of a transit detecting and distributing module according to the present invention;

FIG. 7 is a first state view of the inverted feed module of the present invention;

FIG. 8 is a first state view of the inverted feed module of the present invention;

FIG. 9 is a first angular view of the feeding inverting mechanism of the present invention;

FIG. 10 is a second angular view of the feeding inverting mechanism of the present invention;

FIG. 11 is a structural view of a material grasping module according to the present invention;

in the figure: 1. an outer housing; 11. feeding and discharging ports; 12. a temporary discharge hole; 2. a storage rack; 21. a U-shaped plate; 3. a storage and taking module; 31. a first XZ-axis moving mechanism; 4. a transfer detection material distribution module; 41. a second XZ-axis moving mechanism; 42. a temporary placement table; 43. a CCD camera; 5. turning over the feeding module; 51. temporarily taking and placing the material; 52. a material staggering placing rack; 53. turning over a motor; 54. turning over the frame; 541. a roller assembly; 55. a rotating shaft; 6. a material grabbing module; 61. rotating the platform; 62. a first rack and pinion linear module; 63. a vertical plate; 64. a finger cylinder; 65. a splint; 66. an object detecting sensor; 7. an automatic door; 71. a guide bar; 72. a door body; 73. and (4) an electric cylinder.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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.

Referring to fig. 1 to 11, a full-automatic warehousing device includes an outer casing 1 and a material storage rack 2, wherein the outer casing 1 is provided with a material storage module 3, a transit detection material distribution module 4 and an overturning material feeding module 5, the material storage rack 2 is respectively located at two sides of the material storage module 3, the overturning material feeding module 5 is located at one end of the material storage module 3, and the transit detection material distribution module 4 is located between the material storage module 3 and the overturning material feeding module 5; the storing and taking module 3 comprises a first XZ shaft moving mechanism 31, the transfer detection material dividing module 4 comprises a second XZ shaft moving mechanism 41, a temporary placing table 42 and a CCD camera 43, and the second XZ shaft moving mechanism 41 and the first XZ shaft moving mechanism 31 are connected with a material grabbing module 6. The storage and taking module 3 is used for placing products into the storage rack 2 or taking the products from the discharge rack 2; the transfer detection material distribution module 4 is used for transferring materials between the turnover feeding module 5 and the material storage and taking module 3, photographing record information during material storage, detecting whether stored materials are the same as system preset materials or not, and screening unqualified stored materials; the overturning feeding module 5 is used for overturning the material box to a state convenient for the material grabbing module 6 to grab.

The material grabbing module 6 comprises a rotating platform 61 and a first gear and rack straight line module 62, the first gear and rack straight line module 62 is connected to the top end of the rotating platform 61, a vertical plate 63 is connected to a moving platform of the first gear and rack straight line module 62, a finger cylinder 64 is connected to the vertical plate 63, and two clamping jaws of the finger cylinder 64 are respectively connected with a clamping plate 65. The rotating platform 61 is used for driving the first gear rack linear module 62 to rotate to different positions, and the first gear rack linear module 62 is used for driving the finger cylinder 64 and the clamping plate 65 to extend, grab and retract for abdication; the finger cylinder 64 is used for driving the clamping plate 65 to clamp the material.

Two sides of one end, close to the clamping plate 65, of the bottom plate of the first rack and pinion linear module 62 are respectively provided with an object detection sensor 66; the two object detecting sensors 66 are obliquely arranged, extension lines of rays of the two object detecting sensors 66 intersect at a point, and the two object detecting sensors 66 are used for detecting whether materials exist in front of the material grabbing module 6 or not.

The temporary placing table 42 is positioned between the depositing and taking module 3 and the second XZ-axis moving mechanism 41, and the temporary placing table 42 is within the moving range of the second XZ-axis moving mechanism 41; the CCD camera 43 is located right above the temporary placement table 42, and is used for photographing, recording and detecting whether the stored articles are correct.

The turnover feeding module 5 comprises a temporary material taking placing frame 51, a material error placing frame 52 and a feeding turnover mechanism; the feeding turnover mechanism comprises a turnover motor 53, a turnover frame 54 and a rotating shaft 55; the rotating shaft 55 is rotatably connected to the outer shell 1, the rotating shaft 55 is fixedly connected with the turning frame 54, and the turning motor 53 is fixed on the outer shell 1 and is in driving connection with the rotating shaft 55; the bottom of the turning frame 54 is provided with a roller assembly 541. The turning motor 53 drives the rotating shaft 55, namely the turning frame 54, to turn from the horizontal state to the vertical state; the overturning frame 54 is used for placing the material box, so that the material box is prevented from jumping out during overturning.

One end is equipped with into discharge gate 11 and interim discharge gate 12 on the shell body 1, and into discharge gate 11 sets up with feeding tilting mechanism is corresponding, and interim discharge gate 12 sets up with interim material rack 51 and wrong material rack 52 is corresponding.

An automatic door 7 connected to the outer shell 1 is arranged in the feed and discharge port 11, and the automatic door 7 can prevent personnel from contacting the material box and causing damage during overturning; the automatic door 7 comprises a door body 72, an electric cylinder 73 and two guide rods 71 which are arranged in parallel and at intervals; two ends of the door body 72 can slide on the two guide rods 71 respectively; one end of the electric cylinder 73 is connected to the bottom end of the door body 72, and the other end is connected to the outer shell 1.

The storage rack 2 is composed of a plurality of U-shaped plates 21 in a rectangular array.

The second XZ axis moving mechanism 41 and the first XZ axis moving mechanism 31 both specifically employ an XY axis servo linear module, which is a prior art, for moving in the lateral and vertical directions.

The full-automatic storage equipment of binary channels that this embodiment adopted (also can adopt the multichannel all), be equipped with two storage material module 3, transfer detection material module 4 and the upset feeding module 5 that set up side by side, every 3 both sides of depositing material module all are equipped with storage frame 2, adopt binary channels or multichannel, improve the capacity of access.

The working principle is as follows:

during material storage:

the external VGA trolley carries the material box to the material inlet/outlet 11, the material box is pushed into the turnover frame 54 along the roller component 541 through the material inlet/outlet 11 (at the moment, the turnover frame 54 is in a horizontal state), then the electric cylinder 73 extends out to drive the door body 72 to extend out to seal the material inlet/outlet 11, and then the turnover motor 53 drives the turnover frame 54 to turn over to a vertical state; the second XZ-axis moving mechanism 41 drives the material grabbing module 6 thereon to sequentially take out the materials in the material boxes in the vertical material frame and place the materials on the temporary placing table 42, and the CCD camera 43 takes pictures of the materials on the temporary placing table 42 to record warehousing information and detect that the stored materials are consistent with the preset stored materials (the materials are damaged or the two-dimensional codes are lost, the two-dimensional codes are wrongly pasted and the like);

if the materials are inconsistent, the second XZ-axis moving mechanism 41 drives the material grabbing module 6 thereon to take out and move the materials on the temporary placing table 42 into the wrong material placing rack 52, and the materials are taken out through the temporary discharging port 12 manually from the outside.

If the two materials are consistent, the first XZ-axis moving mechanism 31 drives the material grabbing module 6 thereon to move to the U-shaped plate 21 in the predetermined material storage rack 2.

After all the materials in the material box are taken out, the automatic door 7 is opened, the turnover frame 54 is turned over to be in a horizontal state again, and the empty material frame is taken out by the external VGA trolley.

When taking materials: the first XZ-axis moving mechanism 31 drives the material grabbing module 6 thereon to take out from the storage rack 2 and move to the temporary placing table 42 according to the system instruction, and the CCD camera 43 takes a picture of the material on the temporary placing table 42 and records the delivery information; if the material is temporarily discharged, the material grabbing module 6 on the temporary placing table 42 is driven by the second XZ-axis moving mechanism 41 to grab and place the material on the temporary placing table into the temporary material taking placing frame 51, and the material is manually taken from the outside; if the materials are discharged in batches, the second XZ-axis moving mechanism 41 drives the material grabbing module 6 thereon to grab the materials on the temporary placing table 42 into the material frame of the turnover feeding module 5, and then the materials are turned to be horizontal and taken out from the material inlet and outlet 11.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The above examples are intended to further illustrate the present invention, but are not intended to limit the invention to these specific embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.

Claims

1. The utility model provides a full-automatic storage equipment, includes shell body (1) and storage frame (2), its characterized in that: the material storing and taking module (3), the transfer detection distribution module (4) and the overturning feeding module (5) are arranged in the outer shell (1), the material storing frame (2) is respectively positioned at two sides of the material storing and taking module (3), the overturning feeding module (5) is positioned at one end of the material storing and taking module (3), and the transfer detection distribution module (4) is positioned between the material storing and taking module (3) and the overturning feeding module (5); the storage and taking module (3) comprises a first XZ shaft moving mechanism (31), the transfer detection and distribution module (4) comprises a second XZ shaft moving mechanism (41), a temporary placing table (42) and a CCD camera (43), and the second XZ shaft moving mechanism (41) and the first XZ shaft moving mechanism (31) are connected with a material grabbing module (6) on moving tables.

2. The fully automatic warehousing equipment of claim 1, wherein: the material grabbing module (6) comprises a rotating platform (61) and a first gear and rack straight line module (62), the first gear and rack straight line module (62) is connected to the top end of the rotating platform (61), a vertical plate (63) is connected to a moving platform of the first gear and rack straight line module (62), a finger cylinder (64) is connected to the vertical plate (63), and two clamping jaws of the finger cylinder (64) are respectively connected with a clamping plate (65).

3. The fully automatic warehousing equipment of claim 2, wherein: two sides of one end, close to the clamping plate (65), of the bottom plate of the first gear rack linear module (62) are respectively provided with an object detection sensor (66); the two object detecting sensors (66) are obliquely arranged, and extension lines of rays of the two object detecting sensors are intersected at one point.

4. The fully automatic warehousing equipment as claimed in claim 1 or 2, wherein: the temporary placing table (42) is positioned between the material storing and taking module (3) and the second XZ-axis moving mechanism (41), and the temporary placing table (42) is within the moving range of the second XZ-axis moving mechanism (41); the CCD camera (43) is positioned right above the temporary placing table (42) and is used for photographing, recording and detecting whether the stored articles are correct or not.

5. The fully automatic warehousing equipment of claim 4, wherein: the turnover feeding module (5) comprises a temporary material taking placing rack (51), a material staggering placing rack (52) and a feeding turnover mechanism; the feeding turnover mechanism comprises a turnover motor (53), a turnover frame (54) and a rotating shaft (55); the rotating shaft (55) is rotatably connected to the outer shell (1), the rotating shaft (55) is fixedly connected with the turning frame (54), and the turning motor (53) is fixed on the outer shell (1) and is in driving connection with the rotating shaft (55); the bottom of the turning frame (54) is provided with a roller component (541).

6. The fully automatic warehousing equipment of claim 5, wherein: one end is equipped with into discharge gate (11) and interim discharge gate (12) on shell body (1), and discharge gate (11) and feeding tilting mechanism correspond the setting, and interim discharge gate (12) and interim material rack (51) and wrong material rack (52) correspond the setting.

7. The fully automatic warehousing equipment of claim 6, wherein: an automatic door (7) connected to the outer shell (1) is arranged in the feed and discharge port (11); the automatic door (7) comprises a door body (72), an electric cylinder (73) and two guide rods (71) which are arranged in parallel and at intervals; two ends of the door body (72) can slide on the two guide rods (71) respectively; one end of the electric cylinder (73) is connected to the bottom end of the door body (72), and the other end of the electric cylinder is connected to the outer shell (1).

8. The fully automatic warehousing equipment of claim 1, wherein: the storage rack (2) is composed of a plurality of U-shaped plates (21) in a rectangular array.