CN211003005U

CN211003005U - Unmanned storage picking assembly for material box

Info

Publication number: CN211003005U
Application number: CN201921583895.0U
Authority: CN
Inventors: 章兴睿
Original assignee: Nanjing Fuhai Electric Power Technology Co ltd
Current assignee: Nanjing Fuhai Electric Power Technology Co ltd
Priority date: 2019-09-23
Filing date: 2019-09-23
Publication date: 2020-07-14
Anticipated expiration: 2029-09-23

Abstract

The utility model discloses an unmanned storage picking assembly for a material box, which comprises two main rails, a truss robot moving along the extension direction of the main rails, a transfer robot positioned on the truss robot, a conveying picking platform positioned on one side of a support part and a picking mechanical arm; the truss robot is provided with two auxiliary rails which extend vertically to the main rail, and the carrying robot is positioned on the auxiliary rails and moves along the extension direction of the auxiliary rails; the feed boxes are arranged below the middle positions of the main rails, and no rail is required to be arranged between the adjacent feed box containing wells. Therefore, the plane space occupied by the plurality of bin containing wells can be completely used for containing bins, and the containing efficiency of the bins in the same space is improved. And the automatic picking of the bins is realized by moving the truss robot and the carrying robot to the designated positions.

Description

Unmanned storage picking assembly for material box

Technical Field

The utility model belongs to the technical field of the storage is automatic, especially, subassembly is selected in unmanned storage.

Background

Most of the current warehousing systems still adopt the traditional structures, namely, the structures of a goods shelf, a track and a shuttle car. For example, chinese patent application publication No. 1579899a discloses an automated material handling system, which includes a conveying track (overhead traveling crane track), a conveying vehicle (overhead traveling crane), and a storage cabinet. The conveying vehicle can move on the conveying track. The conveying vehicle moves to the position of a storage cabinet where goods need to be taken and placed, and the operation of taking and placing the goods (material boxes) is performed. However, in the structure of the middle storage system, the positions of the goods shelves and the shuttle track (crown block track) need to be reserved respectively during the setting, and the track position of the shuttle cannot store goods. In a small space warehouse environment, the shuttle rails occupy a certain amount of space resulting in limited storage of goods. Meanwhile, when the storage system is built, the shuttle track and the storage cabinet are prevented from interfering, but under the condition that the shape of the shuttle track is complex, if the shuttle track is in a shape like a Chinese character jing, the problem of low efficiency exists in the building process.

Therefore, a new technical solution is needed to solve the above technical problems.

Disclosure of Invention

The purpose of the invention is as follows: the utility model provides an unmanned storage of workbin is selected subassembly can accept the workbin in more effective utilization space to realize automatic operation.

The technical scheme is as follows: the utility model discloses can adopt following technical scheme:

an unmanned storage picking assembly for a bin comprises two main rails, a rail support member for supporting the two main rails, a truss robot, a transfer robot, a conveying picking platform and a picking mechanical arm, wherein the truss robot spans the two main rails and moves along the extension direction of the main rails; a material box is arranged below the middle position of the main track; the two ends of the truss robot are wheels respectively borne on the two main rails, the truss robot is provided with two auxiliary rails which extend perpendicular to the main rails, the carrying robot is positioned on the auxiliary rails and moves along the extending direction of the auxiliary rails, and the carrying robot is provided with a gripping device which extends downwards; the middle part of the truss robot is provided with a hollow slot for the gripping device to extend downwards, and the slot is a hollow space between the two auxiliary rails; the conveying and sorting table is provided with a transverse conveying roller way or a conveying belt, and the sorting mechanical arm stands on one side of the conveying and sorting table.

Has the advantages that: compared with the prior art, the utility model discloses in placed the workbin in the below of main track intermediate position, need not set up the track between the adjacent workbin accommodating well. Therefore, the plane space occupied by the plurality of bin containing wells can be completely used for containing bins, and the containing efficiency of the bins (goods) in the same space is improved. The track layer is located above the material box containing well, so that the plane space between the material boxes is not occupied, and the carrying equipment moves above the track layer and does not interfere with the material box containing well. For the sorting of the bins, the truss robot moves in the first direction, the carrying robot moves in the second direction perpendicular to the first direction, the truss robot can move to any position where the rail reaches on the horizontal plane, after the position is reached, the bin below the carrying robot is grabbed by the grabbing device extending downwards, the carrying robot moves to the position above the conveying sorting table, the bin is placed downwards on the conveying sorting table, the next sorting operation on the conveying sorting table is carried out, and therefore the automatic sorting of the bin is achieved.

Drawings

Figure 1 is the overall structural side view of the unmanned storage picking assembly of the present invention.

Fig. 2 is a top view of the overall structure of the unmanned storage and picking assembly of the present invention.

Fig. 3 is a schematic structural view of the grabbing platform matched with the bin, and shows a state that the holding claw is not in contact with the bin.

FIG. 4 is a schematic structural diagram showing the holding claw after contacting with the material box.

Fig. 5 is a schematic structural view of the gripping platform connected to the truck through a steel belt.

Fig. 6 is a structural view of the storage device.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments.

As shown in fig. 1 and 2, the present invention discloses an unmanned storage picking assembly for bins, which comprises two main rails 11, a rail support 12 for supporting the two main rails 11, a truss robot 20 crossing the two main rails 11 and moving along the extending direction of the main rails 11, a transfer robot 30 located on the truss robot 20, a conveying picking platform 41 located at one side of the support 12, and a picking mechanical arm 42; a material box 200 is arranged below the middle position of the main track 11.

The two ends of the truss robot 20 are wheels 201 respectively supported on the two main rails, and the truss robot 20 is provided with two auxiliary rails 202 extending perpendicular to the main rails. The transfer robot 30 is located on the auxiliary rail 202 and moves along the extending direction of the auxiliary rail 202. The transfer robot 30 is provided with a gripping device 120 extending downward. The middle part of the truss robot 20 is provided with a hollow slot for the gripping device 120 to extend downwards, and the slot is a hollow space between the two auxiliary rails 202. The truss robot and the transfer robot are respectively provided with a servo motor for controlling wheels to walk. The number of the transfer robots may be more than one, and the auxiliary track may have a plurality of transfer robots. The conveying and sorting table 41 is provided with a transverse conveying roller way or a conveying belt, and the sorting mechanical arm 42 stands on one side of the conveying and sorting table. The truss robot is powered by a cable, and the carrying robot is powered by a battery.

As shown in fig. 3 to 6, the storing and releasing device 130 and the grabbing platform 120, the storing and releasing device 130 pulls the grabbing platform 120 upwards or downwards. The retraction device 130 includes two parallel lifting pulling shafts 131 and a lifting motor 132. Each lifting and dragging shaft 131 is provided with two steel belts 133 wound on the lifting and dragging shaft, and the bottom end of each steel belt 133 is fixed on the grabbing platform 120. The lifting dragging shafts 131 are all provided with driven pulleys 134. Two coaxial driving pulleys 135 are arranged on the output shaft of the lifting motor 132, and respectively drive two driven pulleys 134 to rotate through belt transmission, and the grabbing platform 120 is moved upwards or downwards through the rotation of the lifting dragging shaft 131. And the storage device 130 is provided in the truck 100. The lifting pulling shaft 131 and the lifting motor 132 of the retracting device are both installed in the truck 100, the steel belt 133 extends downward from the bottom of the truck, and the gripping platform 110 is located right below the truck. Wherein, two lifting and dragging shafts 131 are installed on the frame of the carrier, and the whole grabbing platform assembly is installed with the carrier body. Both ends of the two lifting dragging shafts 131 are provided with bearings 136 mounted on the body of the carrier, and the tail end of the output shaft of the lifting motor 132 is also provided with a bearing 137 mounted on the body. The grabbing device 120 comprises a positive and negative screw rod 121, a motor device 122 for driving the positive and negative screw rod 121 to rotate, and two holding claws 123 installed at two ends of the positive and negative screw rod 121, wherein the lower end of each holding claw 123 is provided with a hook 124 extending inwards. The positive and negative lead screws 121 and the motor device 122 are installed inside the grabbing platform 110, and the holding claws 123 extend downwards from the bottom of the grabbing platform 110. As shown in fig. 1, the material box matched with the grabbing device 120 has a structure that a step portion 210 matched with the holding claw 110 is arranged above two ends of the material box 200, and after the two holding claws 123 move inwards along the forward and backward screw rods 121, the hooks 124 of the two holding claws abut against the lower portion of the step portion 210.

For picking of the bin 200, the transfer robot 30 moves on the auxiliary rail 202 in a second direction perpendicular to the first direction while moving on the first direction in which the main rail 11 extends by the truss robot 20, and can move to any position where the rail reaches on the horizontal plane. After reaching this position, the carrier robot 30 moves to above the conveying and sorting table after the lower bin 200 is picked by the downwardly extending gripping device 120, places the bin 200 downward on the conveying and sorting table 41, and performs the next picking operation on the conveying and sorting table by the picking robot 42.

In addition, the specific implementation methods and ways of the present invention are numerous, and the above description is only the preferred embodiment of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. An unmanned storage picking assembly for a bin is characterized by comprising two main rails, a rail support member for supporting the two main rails, a truss robot, a transfer robot, a conveying picking platform and a picking mechanical arm, wherein the truss robot spans the two main rails and moves along the extension direction of the main rails; a material box is arranged below the middle position of the main track;

the two ends of the truss robot are wheels respectively borne on the two main rails, the truss robot is provided with two auxiliary rails which extend perpendicular to the main rails, the carrying robot is positioned on the auxiliary rails and moves along the extending direction of the auxiliary rails, and the carrying robot is provided with a gripping device which extends downwards; the middle part of the truss robot is provided with a hollow slot for the gripping device to extend downwards, and the slot is a hollow space between the two auxiliary rails;

the conveying and sorting table is provided with a transverse conveying roller way or a conveying belt, and the sorting mechanical arm stands on one side of the conveying and sorting table.

2. The unmanned storage picking assembly of claim 1, wherein: the auxiliary track is provided with a plurality of transfer robots.

3. The unmanned storage picking assembly of claim 2, wherein: the carrying robot comprises a vehicle body, wheels, a grabbing platform and a retracting device connected with the grabbing platform; the picking platform is pulled upwards or downwards by the retracting device; the grabbing platform is provided with a grabbing device;

the retraction device comprises two mutually parallel lifting dragging shafts and a lifting motor which are positioned in the vehicle body; each lifting dragging shaft is provided with two steel belts wound on the lifting dragging shaft, and the bottom end of each steel belt is fixed on the grabbing platform; the lifting dragging shaft is provided with driven belt wheels, the output shaft of the lifting motor is provided with two coaxial driving belt wheels, the two driving belt wheels are driven by a belt to rotate respectively, and the grabbing platform moves upwards or downwards through the rotation of the lifting dragging shaft.

4. The unmanned storage picking assembly of claim 3, wherein: the grabbing device comprises a positive lead screw, a negative lead screw, a motor device for driving the positive lead screw and the negative lead screw to rotate, and two holding claws arranged at two ends of the positive lead screw and the negative lead screw, wherein the lower end of each holding claw is provided with a clamping hook extending inwards; the positive and negative screw rods and the motor device are arranged inside the grabbing platform, and the holding claws extend downwards from the bottom of the grabbing platform.

5. The unmanned storage picking assembly of any of claims 1-4, wherein: the truss robot and the transfer robot are respectively provided with a servo motor for controlling wheels to walk.

6. The unmanned storage picking assembly of claim 5, wherein: the carrying robot is powered by a battery.