CN109018800A - A kind of stock and picking method of automated warehouse storage system - Google Patents

Abstract

The invention discloses a kind of stock of automated warehouse storage system and picking methods, when needing stock, are placed in cargo at the access port of container deposit goods taking device first, then deposit goods taking device and bring into operation, at goods handling to specified locker；Displacement device operation, displacement device make the distance between specified locker and adjacent locker in maximum rating, finally access goods dress and place goods on specified locker；When needing picking, displacement device is run first, and displacement device makes the distance between specified locker and adjacent locker in maximum rating；Goods taking device operation is deposited, access goods dress removes cargo from specified locker, then deposits goods taking device at the access port of goods handling to container, cargo is finally taken out at access port.

Description

Inventory and pick-up method for an automated warehousing system

technical field

The invention belongs to the technical field of intelligent warehousing, in particular, the invention relates to a method for storing and picking up goods in an automatic warehousing system.

Background technique

In my country, with the continuous expansion of the scale of economic development, the market economy is becoming more and more prosperous, and various shopping malls and e-commerce have become important economic carriers in the market. Especially in recent years, large multinational and chain shopping malls have been established one after another, which have brought great convenience to the daily life of urban residents. At the same time, the storage space provided by shopping malls for customers is limited, which is difficult to meet actual needs, especially During the holidays, this kind of problem is more prominent. At the same time, with the large-scale development of e-commerce, the self-service express delivery and receiving industry was also born. However, at present, self-service express cabinets are often set on a fixed wall and fixed on one side. The storage cavity is a traditional cabinet type. The storage space is limited, and the automation of accessing goods is not enough. How to improve the efficiency of storing and retrieving goods and realize automatic and efficient storage has become one of the important issues that need to be considered at present.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, the present invention provides a method for storing and picking up goods in an automated storage system, with the purpose of improving work efficiency.

In order to achieve the above object, the technical solution adopted by the present invention is: an inventory method for a storage system. The storage system includes a cargo box, a plurality of lockers for storing goods and arranged side by side inside the cargo box, and a storage cabinet for picking up goods. The pick-up device and the displacement device used to control the movement of the lockers to adjust the distance between two adjacent lockers, the cargo box has an access opening for the goods to pass through;

When inventory is needed, first place the goods in the storage and retrieval device at the access opening of the container, and then the storage and retrieval device starts to operate to transport the goods to the designated locker; the displacement device operates, and the displacement device Make the distance between the designated locker and the adjacent locker at the maximum state, and finally access the cargo and place the goods on the designated locker.

The displacement device includes a scissor-type telescopic mechanism connected to two adjacent lockers and a telescopic control mechanism connected to the scissor-type telescopic mechanism and used to control the scissor-type telescopic mechanism to extend or contract , multiple scissor-type telescopic mechanisms are provided, and each scissor-type telescopic mechanism is respectively connected to every two adjacent lockers.

The telescopic control mechanism includes a power assembly, a switching mechanism, a booster mechanism and a power transmission mechanism. There are multiple booster mechanisms and each booster mechanism is respectively connected to one scissor-type telescopic mechanism. The power transmission mechanism is provided with multiple And each power transmission mechanism is respectively connected with a booster mechanism, and the switching mechanism is used to control the power assembly and each power transmission mechanism to switch between the combined state and the separated state.

The power assembly includes a drive shaft, a drive gear sleeved on the drive shaft and a first displacement motor connected to the drive shaft, the drive gear rotates synchronously with the drive shaft and the drive gear can move axially relative to the drive shaft The power transmission mechanism includes a shifting rack meshed with the drive gear, a booster rod connected to the booster mechanism and rotatably arranged on the locker, and connected to the shifting rack for A pull rod that applies a pulling force to the booster rod to rotate, the pull rod and the displacement rack are horizontally arranged and the length direction of the pull rod is perpendicular to the axis of the drive shaft; the booster mechanism includes a movable The driving block and the sliding block that can be movably arranged and matched with the driving block, the moving direction of the sliding block is perpendicular to the moving direction of the driving block, the sliding block is connected with the scissors telescopic mechanism, and the driving block is connected with the power transmission mechanism connect.

The switching mechanism includes a second displacement motor, a screw shaft connected to the second displacement motor, and a nut seat sleeved on the drive shaft and threaded with the screw shaft. When the second displacement motor is running, the The drive gear is pushed by the nut seat to move along the axial direction of the drive shaft.

The present invention also provides a method for picking up goods in a storage system. The storage system includes a container, a plurality of lockers for storing goods and arranged side by side inside the container, a storage and retrieval device for picking up goods, and a The displacement device is used to control the movement of the locker to adjust the distance between two adjacent lockers, and the container has an access port for the goods to pass through;

When it is necessary to pick up the goods, first the displacement device operates, and the displacement device makes the distance between the designated locker and the adjacent locker at the maximum state; The goods are removed from the cabinet, and then the storage and retrieval device transports the goods to the access opening of the container, and finally the goods are taken out at the access opening.

The displacement device includes a scissor-type telescopic mechanism connected to two adjacent lockers and a telescopic control mechanism connected to the scissor-type telescopic mechanism and used to control the scissor-type telescopic mechanism to extend or contract , multiple scissor-type telescopic mechanisms are provided, and each scissor-type telescopic mechanism is respectively connected to every two adjacent lockers.

The telescopic control mechanism includes a power assembly, a switching mechanism, a booster mechanism and a power transmission mechanism. There are multiple booster mechanisms and each booster mechanism is respectively connected to one scissor-type telescopic mechanism. The power transmission mechanism is provided with multiple And each power transmission mechanism is respectively connected with a booster mechanism, and the switching mechanism is used to control the power assembly and each power transmission mechanism to switch between the combined state and the separated state.

The power assembly includes a drive shaft, a drive gear sleeved on the drive shaft and a first displacement motor connected to the drive shaft, the drive gear rotates synchronously with the drive shaft and the drive gear can move axially relative to the drive shaft The power transmission mechanism includes a shifting rack meshed with the drive gear, a booster rod connected to the booster mechanism and rotatably arranged on the locker, and connected to the shifting rack for A pull rod that applies a pulling force to the booster rod to rotate, the pull rod and the displacement rack are horizontally arranged and the length direction of the pull rod is perpendicular to the axis of the drive shaft; the booster mechanism includes a movable The driving block and the sliding block that can be movably arranged and matched with the driving block, the moving direction of the sliding block is perpendicular to the moving direction of the driving block, the sliding block is connected with the scissors telescopic mechanism, and the driving block is connected with the power transmission mechanism connect.

The switching mechanism includes a second displacement motor, a screw shaft connected to the second displacement motor, and a nut seat sleeved on the drive shaft and threaded with the screw shaft. When the second displacement motor is running, the The drive gear is pushed by the nut seat to move along the axial direction of the drive shaft.

The storage and picking method of the storage system of the present invention has the following advantages:

1. Compared with the existing multi-row locker storage system, the storage and retrieval method of the storage system of the present invention has a large space utilization rate, and realizes the displacement between the two lockers through the displacement device. Multi-row lockers only need to have a channel for corresponding displacement; thus, there is no need for each locker to need a channel, which greatly improves the space utilization rate;

2. The storage and retrieval method of the storage system of the present invention can control each motor to cooperate with each other through the output and input signals of the single-chip microcomputer to realize fully automatic storage and retrieval, with high work efficiency and stable and reliable system operation;

3. In the storage and retrieval method of the storage system of the present invention, the storage cavity in the locker configured in the storage system includes storage compartments of different sizes, which can store goods in diversity and flexibility; when stocking, The cargo can be scanned by the 3D scanning device integrated in the controller, its size can be identified, and the size information of the cargo can be converted into an electrical signal, and then processed by the processing unit of the controller, and the cargo can be automatically matched with the corresponding storage Cavity, and the controller can also send cargo size information to the end effector to automatically adjust the end effector to adapt to the cargo that needs to be accessed. The controller is installed on the human-machine interface for cargo storage and retrieval;

4. The storage and retrieval method of the storage system of the present invention is equipped with universal wheels at the bottom of the storage system, which facilitates the movement and transfer of the entire storage system, and is also suitable for various indoor and outdoor working environments; and the top is equipped with an adjustable azimuth Advanced solar panels can realize the self-power supply of the entire storage system in the place irradiated by sunlight, which is energy-saving and environmentally friendly.

Description of drawings

This manual includes the following drawings, the contents shown are:

Fig. 1 is the structural representation of storage system of the present invention;

Fig. 2 is a schematic diagram of the internal structure of the storage system of the present invention;

Fig. 3 is the structural representation of displacement device;

Fig. 4 is a partial structural schematic diagram of the displacement device;

Fig. 5 is a schematic structural view of the storage and retrieval device;

Fig. 6 is a schematic structural view of the end effector;

2, container; 201, top cover; 202, access opening; 203, side plate; 204, bottom plate; 3, displacement device; 301, first displacement motor; 302, The second displacement motor; 303, drive shaft; 304, drive gear; 305, screw shaft; 306, nut seat; 307, displacement rack; 308, booster rod; 309, connecting rod; 310, drive block; 311 , sliding block; 312, the first scissor arm; 313, the second scissor arm; 314, the first return spring; 315, the second return spring; 316, pull rod; 4, storage and retrieval device; 401, the first motor ; 402, the first lead screw; 403, the Y-axis slide table; 404, the second motor; 405, the Z-axis slide table; 406, the third lead screw; 407, the third motor; 408, the X-axis slide table; 409, The second leading screw; 410, bracket; 411, the first support; 412, the second support; 413, the third support; 414, lifting support; 415, supporting rod; 416, lifting motor; Lifting transmission mechanism; 5. Solar panel; 6. Cover plate; 7. Locker.

Detailed ways

The specific embodiment of the present invention will be described in further detail by describing the embodiments below with reference to the accompanying drawings, the purpose is to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and contribute to its implementation.

As shown in Figures 1 to 6, the present invention provides a storage system, including a cargo box 2, a plurality of lockers 7 arranged side by side inside the cargo box 2 for storing goods, and a storage box for picking up goods. The pick-up device 4 and the displacement device 3 for controlling the movement of the storage cabinets 7 to adjust the distance between two adjacent storage cabinets 7, the container 2 has an access opening 202 for the goods to pass through.

Specifically, as shown in Figures 1 and 2, the cargo box 2 is a hollow rectangular box, and all lockers 7 are arranged side by side in the inner cavity of the cargo box 2, and all lockers 7 are arranged along the sides of the cargo box. The length direction of the box 2 is arranged sequentially. The locker 7 has a storage cavity for placing goods, and the storage cavity is a rectangular cavity provided on the locker 7, and the locker 7 is provided with a plurality of storage cavities. The locker 7 is vertically arranged, and the storage cavity forms an opening on the vertical side of the locker 7 (the vertical side is a plane vertically arranged and perpendicular to the first direction), which is convenient for accessing goods. The locker 7 is arranged to move linearly along a first direction inside the cargo box 2 , the first direction is a horizontal direction and the first direction is parallel to the length direction of the cargo box 2 . The displacement device 3 is connected to every two adjacent lockers 7, and when storing or taking out goods, the distance between the two adjacent lockers 7 needs to be adjusted to the maximum state by the displacement device 3 , it is convenient for the access device 4 to pass between two adjacent lockers 7, so as to store the goods in the storage cavity of the locker 7 or take out the goods from the storage cavity.

As shown in Figure 1, the container 2 is mainly composed of a base plate 204, a top cover 201 arranged opposite to the base plate 204, and four side plates 203 vertically arranged on the base plate 204, the top cover 201 is positioned above the base plate 204 and the top cover 201 is parallel to the bottom plate 204, four side plates 203 are located between the top cover 201 and the bottom plate 204, the side plates 203 are vertically arranged, the upper end of the side plate 203 is fixedly connected with the top cover 201, and the lower end of the side plate 203 is connected with the bottom plate 204 Fixedly connected, the four side plates 203 are distributed in a rectangular shape, the top cover 201 and the bottom plate 204 are rectangular plates, and the four side plates 203 are respectively fixedly connected to one side of the bottom plate 204 .

As shown in Figures 1 to 4, the displacement device 3 includes a scissor-type telescopic mechanism connected to two adjacent lockers 7 and is connected with the scissor-type telescopic mechanism and used to control the scissor-type telescopic mechanism to extend. Long or shrinkable telescopic control mechanism, the scissor type telescopic mechanism is provided with multiple and each scissor type telescopic mechanism is respectively connected with every adjacent two lockers 7, the total number of scissor type telescopic mechanisms is more than that of the locker 7 The total is one less. The telescopic control mechanism is connected with all the scissor-type telescopic mechanisms, which is compact in structure and convenient to arrange. The adjustment of the distance between the two lockers 7. The scissors telescopic mechanism includes a first scissor arm 312 and a second scissor arm 313, the first scissor arm 312 is connected with the telescopic control mechanism, and the first scissor arm 312 is connected with the second scissor arm 313 in cross rotation to form X-shaped scissor arm set. One end of the first scissor arm 312 is rotatably connected to the telescopic control mechanism, and the other end of the first scissor arm 312 is rotatably connected to the locker 7 . One end of the second scissor arm 313 is rotationally connected to one of the two adjacent lockers 7, and the other end of the second scissor arm 313 is connected to one of the two adjacent lockers 7. Another locker 7 is slidingly connected, and the first scissor arm 312 and the second scissor arm 313 are rotationally connected at the middle position in the length direction, and the rotation center line of the first scissor arm 312 and the second scissor arm 313 is Parallel to the second direction, the second direction is horizontal and perpendicular to the first direction, the length direction of the first scissor arm 312 and the second scissor arm 313 is perpendicular to the second direction. The first scissor arm 312 and the second scissor arm 313 are located on the same side of the locker 7, and the locker 7 has a guide groove for the end of the second scissor arm 313 to embed, and the guide groove is used in the locker. The long groove extending vertically on the outer wall surface of 7.

When the scissor telescopic mechanism is in the extended state, the angle between the first scissor arm 312 and the second scissor arm 313 is at the minimum state, and the distance between two adjacent lockers 7 is at the maximum state; when the scissor telescopic mechanism is in contraction state, the angle between the first scissor arm 312 and the second scissor arm 313 is at the maximum state, and the distance between two adjacent lockers 7 in minimal condition. The scissor-type telescopic mechanism can ensure that when adjusting the distance between two adjacent lockers, the movement is more stable and the mechanism is more stable; at the same time, the scissor-type telescopic mechanism converts the longitudinal movement into the lateral movement of the locker Move and change the direction of motion; and can obtain greater lateral movement with a relatively small longitudinal movement, and the mechanism will not produce a dead point position, so that the locker can move flexibly; while ensuring the rigidity and strength required for work, reduce The organization occupies the external space and saves the exercise space.

As shown in Figures 1 to 4, the telescopic control mechanism includes a power assembly, a switching mechanism, a booster mechanism, and a power transmission mechanism. There are multiple booster mechanisms and each booster mechanism is connected to a scissor-type telescopic mechanism. There are multiple transmission mechanisms and each power transmission mechanism is respectively connected to a booster mechanism, and the switching mechanism is used to control the power assembly and each power transmission mechanism to switch between the combined state and the separated state. The power assembly is used to provide source power, the power assembly is connected with the cargo box 2 and the power assembly is located in the inner cavity of the cargo box 2 . The power assembly includes a drive shaft 303, a drive gear 304 sleeved on the drive shaft 303, and a first displacement motor 301 connected to the drive shaft 303. The drive gear 304 rotates synchronously with the drive shaft 303 and the drive gear 304 can be driven relative to the drive shaft 303. The shaft 303 moves in the axial direction. The drive shaft 303 is vertically arranged and the drive shaft 303 is rotationally connected with the container 2, the container 2 provides support to the drive shaft 303, the first displacement motor 301 is fixedly connected with the container 2, the first displacement motor 301 and The drive shaft 303 is positioned under the top cover 201 of the container 2, and the upper end of the drive shaft 303 is connected with the motor shaft of the first displacement motor 301 through a coupling. The driving shaft 303 is a spline shaft, the driving shaft 303 is provided with external splines, the driving gear 304 is provided with internal splines, the driving gear 304 is sleeved on the driving shaft 303 and the internal splines on the driving gear 304 and the driving shaft The external splines on 303 are meshed, the driving gear 304 is a cylindrical gear and the driving gear 304 and the driving shaft 303 are coaxially arranged. After the first displacement motor 301 runs, the driving shaft 303 can drive the driving gear 304 to rotate synchronously around its axis . The switching mechanism is used to control the drive gear 304 to move along the axial direction of the drive shaft 303 on the drive shaft 303. Through the cooperation of the external spline and the internal spline, the drive shaft 303 can guide the drive gear 304, and the drive gear 304 As the power output part of the powertrain, the power is transmitted to the power transmission mechanism, and the power transmission mechanism transmits the power to the booster mechanism, and finally the booster mechanism realizes the elongation and contraction of the scissor telescopic mechanism.

As shown in Figures 1 to 4, the power transmission mechanism includes a shifting rack 307 meshing with a drive gear 304, a booster rod 308 connected to the booster mechanism and rotatably arranged on the locker 7 and connected to the shifter. The gear rack 307 is connected to the pull rod 316 that is used to apply a pulling force to the booster rod 308 to rotate it. The pull rod 316 and the shift rack 307 are horizontally arranged and the length direction of the pull rod 316 is perpendicular to the axis of the drive shaft 303. The power transmission mechanisms are arranged in sequence along the vertical direction. The displacement rack 307 is a straight rack, the length direction of the displacement rack 307 and the pull rod 316 is parallel to the first direction, and one end of the length direction of the pull rod 316 is fixedly connected with the displacement rack 307, and the length direction of the pull rod 316 is The other end on the top is connected with booster rod 308. The shifting rack 307 meshes with the driving gear 304. In the second direction, the shifting rack 307 is located between the driving gear 304 and the locker 7, and the driving gear 304 and the shifting rack 307 form a rack and pinion mechanism. The locker 7 acts as a guide to the displacement rack 307 and the pull rod 316, and the displacement rack 307, the pull rod 316 and the booster rod 308 are located on the same side of the locker 7 as the scissor telescopic mechanism. The booster rod 308 has a certain length, the length direction of the booster rod 308 is perpendicular to the second direction, the upper end of the booster rod 308 is connected with the booster mechanism, the lower end of the booster rod 308 is connected with the end of the pull rod 316, and The force bar 308 is rotatably connected with the locker 7 at a position between two ends, and the rotation center line of the force bar 308 is parallel to the second direction. After the first displacement motor 301 runs, the drive shaft 303 drives the drive gear 304 to rotate synchronously around its axis, the drive gear 304 meshes with the displacement rack 307, the drive gear 304 pushes the displacement rack 307 to move along the first direction, and the pull rod 316 Moving synchronously with the displacement rack 307, the pull rod 316 pulls the lower end of the booster rod 308, thereby making the booster rod 308 swing, and the booster rod 308 transmits power to the booster mechanism. With this power transmission mechanism, only two displacement motors are needed to realize the mutual cooperative movement of all lockers, instead of each locker being equipped with a motor drive, which reduces the number of motors, reduces costs, and simplifies the control of the motors Management; and through the meshing transmission of the driving gear and the shifting rack, the distance between each adjacent two lockers can be accurately calculated and controlled, the movement is accurate, and the vibration can be reduced, so that the mechanism can run smoothly.

As shown in Figures 1 to 4, the number of power transmission mechanisms is the same as the number of scissor-type telescopic mechanisms, that is, multiple displacement racks 307, pull rods 316 and booster rods 308 are provided, and all displacement racks 307 are Arranged in sequence along the vertical direction, all booster rods 308 are arranged in sequence along the first direction, one drive gear 304 is provided, and the switching mechanism is used to control the combination state and separation of the drive gear 304 and the displacement rack 307 of each power transmission mechanism To switch between the states, the driving gear 304 is set to selectively engage with any one of the shifting racks 307, thereby controlling the movement of the corresponding locker 7. The number of booster mechanisms is the same as that of the power transmission mechanisms, and each power transmission mechanism is connected to a scissor-type telescopic mechanism through a booster mechanism.

As shown in Figures 1 to 4, the booster mechanism includes a drive block 310 that is movably arranged on the locker 7 and a slide block 311 that is movably arranged and cooperates with the drive block 310, and the moving direction of the slide block 311 is the same as The moving direction of the driving block 310 is vertical, the sliding block 311 is connected with the scissors telescopic mechanism, the driving block 310 is located above the scissors telescopic mechanism and the driving block 310 is connected with the power transmission mechanism. The moving direction of the driving block 310 is parallel to the first direction, and the driving block 310 is in sliding connection with the locker 7 . The driving block 310 cooperates with the sliding block 311 to form a wedge mechanism. The sliding block 311 is vertically arranged. The driving block 310 has a driving surface in contact with the sliding block 311. The driving surface is an inclined plane arranged obliquely on the driving block 310. , the driving surface is parallel to the second direction, and has an included angle between the driving surface and the first direction, and the included angle is an acute angle. The first scissor arm 312 is located below the driving block 310, the lower end of the sliding block 311 is rotationally connected with the upper end of the first scissor arm 312, the sliding block 311 is slidingly connected to the locker 7 and the sliding block 311 and the driving block 310 are arranged On the same locker 7 , the lower end of the first detection part is rotatably connected with another adjacent locker 7 . The upper end of the booster rod 308 is connected with the driving block 310 through the connecting rod 309, the driving block 310 is located between the sliding block 311 and the connecting rod 309, one end of the connecting rod 309 is rotationally connected with the upper end of the boosting rod 308, and the other end of the connecting rod 309 One end is rotatably connected with the driving block 310 . When the booster rod 308 swings, it can push the driving block 310 to move linearly along the first direction through the connecting rod 309 . After the driving block 310 moves linearly along the first direction, it can push the sliding block 311 to move downward in the vertical direction, and the sliding block 311 simultaneously pushes the upper end of the first scissor arm 312 to move downward, and then the first scissor arm 312 moves downward. Rotate, the first scissors arm 312 drives the second scissors arm 313 to rotate synchronously, finally makes the scissors telescopic mechanism stretch. The booster mechanism is used to expand the power of the driving block and reduce the output power of the first displacement motor 301. At the same time, the booster bar is reasonably used at the side height of the locker, so that the mechanism is compact and reasonable, and the principle is simple; The force bar and the driving block are connected by a connecting rod to form a rocker slider mechanism, which makes the driving block move uniquely, and the self-locking protection of the mechanism can be realized through the self-locking of the motor; the driving block is in the form of an inclined plane, which can smoothly push the scissor arm, Make the organization run more stably.

Preferably, the upper end of the sliding block 311 is provided with a roller in contact with the driving surface of the driving block 310, the roller is rotatable, and when the driving block 310 and the sliding block 311 move relative to each other, the roller can roll on the driving surface , to reduce the friction between the sliding block 311 and the driving block 310 .

As shown in Figures 1 to 4, the switching mechanism includes a second displacement motor 302, a screw shaft 305 connected to the second displacement motor 302, and a nut seat sleeved on the drive shaft 303 and threaded with the screw shaft 305 306 , when the second displacement motor 302 is running, the driving gear 304 is pushed by the nut seat 306 to move along the axial direction of the driving shaft 303 . The screw shaft 305 is vertically arranged and the screw shaft 305 is rotationally connected with the cargo box 2, the cargo box 2 provides support to the screw shaft 305, the second displacement motor 302 is fixedly connected with the cargo box 2, the second displacement motor 302 and The screw shaft 305 is located under the top cover 201 of the container 2, and the upper end of the screw shaft 305 is connected with the motor shaft of the second displacement motor 302 through a coupling. The outer surface of the screw shaft 305 is provided with external threads, the nut seat 306 is sleeved on the screw shaft 305 and the nut seat 306 and the screw shaft 305 form a screw drive, after the second displacement motor 302 is running, the screw shaft 305 rotates around its axis, The nut seat 306 can be driven to move linearly along the vertical direction, and the nut seat 306 simultaneously drives the driving gear 304 to move along the axial direction of the drive shaft 303 . The nut seat 306 is a U-shaped structure, the drive gear 304 is located in the inner cavity of the nut seat 306, one end of the nut seat 306 is sleeved on the screw shaft 305, and the other end of the nut seat 306 is provided with a passage for the drive shaft 303 to pass through. The end of the hole and the nut seat 306 is the end where the U-shaped opening is located, and the through hole is a round hole and the diameter of the through hole is the same as the outer diameter at the position where the external spline is provided with the drive shaft 303. The drive shaft 303 is The nut seat 306 plays a guiding role. Adopting the screw nut mechanism can make the driving gear 304 stay at the adjusted height position and lock the driving gear 304 at the adjusted height position to ensure the normal operation of the driving gear 304 with high reliability. With this switching mechanism, the height of the nut seat 306 can be accurately positioned through the second displacement motor 302, and the driving gear can be meshed with the corresponding rack, thereby accurately moving the corresponding locker. The mechanism is simple , easy to arrange, and low in cost, it is realized that only one first displacement motor 301 is used to provide power for the movement of all lockers.

As shown in Fig. 2, Fig. 5 and Fig. 6, the storage and retrieval device 4 includes a first driving mechanism, a Y-axis sliding table arranged on the first driving mechanism and performing linear motion, and a second driving mechanism connected with the Y-axis sliding table. mechanism, the X-axis sliding table arranged on the second driving mechanism and moving linearly, the third driving mechanism connected with the X-axis sliding table, the Z-axis sliding table arranged on the third driving mechanism and moving linearly, and the The end effector on the Z-axis slide for picking up goods. The end effector of the storage and retrieval device 4 moves in the three degrees of freedom of X, Y, and Z, so that the end effector can move freely in its stroke space at a certain angle to meet the requirements for picking up and placing the goods. wide range. The first driving mechanism is used to make the Y-axis sliding table 403 do reciprocating linear motion along the Y-axis direction, the second driving mechanism is used to make the X-axis sliding table 408 do reciprocating linear motion along the X-axis direction, and the third driving mechanism is used to make Z The axis sliding table 405 performs reciprocating linear motion along the Z-axis direction. The X-axis direction is horizontal and parallel to the first direction. The Y-axis direction is horizontal and parallel to the second direction. The Z-axis direction is vertical. The moving directions of the axis slide table 408, the Y axis slide table 403 and the Z axis slide table 405 are perpendicular to each other.

As shown in Fig. 2, Fig. 5 and Fig. 6, the first driving mechanism includes a first bracket 411 fixedly arranged on the container 2, a first lead screw 402 rotatably arranged on the first bracket 411 and a first screw 402 arranged on the second A first motor 401 on a support 411 and connected to the first lead screw 402, the Y-axis sliding table 403 is sleeved on the first lead screw 402 and forms a screw transmission with the first lead screw 402, the first motor 401 generates the first The power of the rotation of the screw 402, when the first motor 401 runs, the first screw 402 rotates, and then drives the Y-axis sliding table 403 to move linearly along the Y-axis.

The second drive mechanism includes a movably arranged second bracket 412, a rotatable second screw 409 arranged on the second bracket 412 and the Y-axis slide table 403, and a second screw 409 arranged on the second bracket 412 and connected to the second screw. 409 is connected to the second motor 404 , and the X-axis sliding table 408 is sleeved on the second screw 409 and forms a screw drive with the second screw 409 . The second motor 404 generates power to rotate the second screw 409 . The second bracket 412 is arranged opposite to the Y-axis slide table 403 and the second bracket 412 and the Y-axis slide table 403 are on the same straight line parallel to the first direction. The second bracket 412 and the Y-axis slide table 403 are respectively in the second One end of leading screw 409 provides supporting effect to second leading screw 409, and cargo box 2 is provided with the first guide bar that guides second support 412, and first guiding bar is parallel with first leading screw 402, and the second The bracket 412 is sheathed on the first guide rod, and the first guide rod is located under the top cover 201 and fixedly connected with the top cover 201 . When the second motor 404 is running, the second lead screw 409 rotates, and then drives the X-axis sliding table 408 to move linearly along the X-axis.

The 3rd driving mechanism comprises the 3rd support 413 that is fixedly arranged on the cargo box 2, the 3rd lead screw 406 that is rotatably arranged on the 3rd support 413 and is arranged on the X-axis slide table 408 and with the 3rd lead screw 406 The connected third motor 407, the Z-axis slide table 405 is sleeved on the third lead screw 406 and forms a screw transmission with the third lead screw 406, the third motor 407 generates power to rotate the third lead screw 406, and the third support 413 is located below the Z-axis slide table 405 . The X-axis slide table 408 is provided with a second guide rod for guiding the Z-axis slide table 405. The second guide rod is vertically arranged and positioned on one side of the third lead screw 406, and the Z-axis slide table 405 covers It is arranged on the second guide rod, the upper end of the second guide rod is fixedly connected with the X-axis slide table 408 and the second guide rod extends toward the bottom of the X-axis slide table 408 . When the third motor 407 is running, the third lead screw 406 rotates, and then drives the Z-axis sliding table 405 and the end effector on it to move linearly along the Z-axis.

As shown in Fig. 2, Fig. 5 and Fig. 6, the end effector includes a bracket 410 connected with the Z-axis slide 405, a lifting bracket 414 movably arranged on the bracket 410, and a movable bracket 410 arranged on the bracket 410. The supporting rod 415 used to hold up the goods, the transmission rod 417 connected in rotation with the supporting rod 415 and the lifting bracket 414, the lifting motor 416 arranged on the bracket 410 and the lifting transmission connected with the lifting motor 416 and the lifting bracket 414 In the mechanism 418, the moving direction of the supporting rod 415 is perpendicular to the moving direction of the lifting bracket 414, and the supporting rod 415 is arranged to be movable along the second direction. The bracket 410 is fixedly connected with the Z-axis slide table 405, the lifting bracket 414 is slidingly connected with the bracket 410 and the moving direction of the lifting bracket 414 is the vertical direction, and the bracket 410 guides the lifting bracket 414. The lifting motor 416 is fixedly arranged on the bracket 410, and the lifting motor 416 is used to provide the driving force to make the lifting bracket 414 move in the vertical direction. The axis of the lifting motor 416 is parallel to the first direction, and the lifting transmission mechanism 418 is preferably In the rack and pinion mechanism, the rack of the lifting transmission mechanism 418 is fixedly connected with the lifting support 414 , and the gear of the lifting transmission mechanism 418 is fixedly connected with the motor shaft of the lifting motor 416 . Support rod 415 is positioned at the below of elevating support 414, and transmission rod 417 is positioned between elevating support 414 and support rod 415, and the upper end of transmission rod 417 is rotationally connected with the lower end of elevating support 414, and the lower end of transmission rod 417 is rotationally connected with support rod 415. The support bar 415 has a certain length, the length direction of the support bar 415 is parallel to the first direction, and the support bar 415 protrudes toward the outside of the bracket 410, which is convenient for holding up goods and inserting them into the storage cavity of the locker 7 . The bracket 410 has a chute for the end of the bracket 415 to be embedded. The chute is a long groove extending along the second direction on the bracket 410 . The bracket 410 guides the bracket 415 .

As preferably, a plurality of support rods 415 are provided and all support rods 415 are at the same height position, all support rods 415 are arranged side by side, and the position of the support rods 415 on the bracket 410 can be adjusted, and then between two adjacent support rods 415 The distance between them can be adjusted to suit cargoes of different sizes, improve stability and reliability, and prevent cargoes from falling when the end effector moves. In this embodiment, two support rods 415 are provided, and the number of transmission rods 417 is the same as the number of support rods 415. The lower ends of each transmission rod 417 are rotatably connected to one support rod 415 respectively, and the upper ends of each transmission rod 417 are connected to the lifter. The lower end of the bracket 414 is rotatably connected.

The storage and retrieval device 4 with the above-mentioned structure is simple in structure, easy to operate, low in cost, and can save costs. The storage and withdrawal device adopts a screw mechanism, which has good stability and high reliability, can realize accurate positioning when the goods are placed, and is easy to control each goods to be placed on the locker 7 according to the set position.

As shown in Figure 1, the storage system of the present invention also includes a solar panel 5 arranged on the cargo box 2, the solar panel 5 is located above the cargo box 2 and the solar panel 5 is fixedly connected to the top cover 201, and the cargo box 2 is also provided with There are batteries for storing electrical energy. The bottom of the cargo box 2 is provided with a caster 1, which is fixedly connected to the bottom plate 204 of the cargo box 2. There are multiple casters 1, and the caster 1 can roll. The caster 1 provides stable support for the cargo box 2, and is convenient for the storage system as a whole. to move.

As shown in Figure 1 , the side plate 203 of the container 2 is provided with an access opening 202 for goods to pass through. A through hole is provided through the thickness direction, and a cover plate 6 for closing the access opening 202 is provided on the side plate 203. The area of the cover plate 6 is not less than the area of the access opening 202. The cover plate 6 and the side plate 203 Rotationally connected and the rotation center line of the cover plate 6 is parallel to the first direction, the cover plate 6 can rotate up and down to realize the opening and closing control of the access opening 202 . The end effector of the access device 4 can move back and forth between the access port 202 and the storage cavity of the locker 7 to realize the access of goods.

As shown in Figures 3 and 4, the telescopic control mechanism also includes a first return spring 314 for switching the scissor type telescopic mechanism from an extended state to a retracted state, the first return spring 314 is arranged on the locker 7 and The first return spring 314 is connected with the upper end of the first scissors arm 312 or the sliding block 311, and the first return spring 314 is used to apply an active force to move upwards to the upper end of the first scissors arm 312 or the sliding block 311 to push The first scissor arm 312 and the sliding block 311 reset, and the sliding block 311 pushes the driving block 310 to move, finally realizing the reset of the locker 7, and the locker 7 returns to the initial position. The distance between them is at the minimum state, and the lockers 7 and the lockers 7 are close to each other, which improves the space utilization rate. The first return spring 314 is preferably a cylindrical coil spring and is a compression spring, and the first return spring 314 is clamped between the locker 7 and the upper end of the first scissor arm 312 . The telescopic control mechanism also includes a second return spring 315 for applying a pulling force to the displacement rack 307, the second return spring 315 is connected with the locker 7 and the displacement rack 307, and the second return spring 315 is connected to the displacement rack 307. The tension applied by 307 makes the displacement rack 307 move towards the direction close to the booster rod 308 when the scissors telescopic mechanism is switched from the extended state to the contracted state, so as to realize the reset of the displacement rack 307 and the pull rod 316 . The second return spring 315 is preferably a tension spring.

As shown in Figure 3 and Figure 4, for every two adjacent lockers 7, the distance between one locker 7 and the powertrain is smaller than the distance between the other locker 7 and the powertrain , that is, one locker 7 is closer to the powertrain, and the other locker 7 is farther away from the powertrain. On the close locker 7, the lower end of the second scissor arm 313 is connected with the locker 7 closer to the powertrain, and the lower end of the first scissor arm 312 and the upper end of the second scissor arm 313 are connected with A locker 7 connection farther from the powertrain. All displacement racks 307 of the telescopic control mechanism are arranged on the locker 7 closest to the powertrain among all the lockers 7 .

The warehousing system of the present invention also includes a controller, a scanner and a miniature bar code printer. The first displacement motor 301, the second displacement motor 302, the first motor, the second motor, the third motor and the lifting motor 416 are controlled by the controller. Control, the first displacement motor 301, the second displacement motor 302, the first motor, the second motor, the third motor and the lifting motor 416 are preferably stepping motors. The scanner and the micro barcode printer are set on the cargo box 2. The printer is used to print the storage barcode ticket, and the scanner is used to scan the barcode on the storage barcode ticket. The barcode stores the scanning information, and the scanning code The information is coordinate information of goods stored in a certain storage chamber in the locker 7 . The structures of the scanner and the micro-bar code printer are well known to those skilled in the art, and will not be repeated here.

The present invention also provides an inventory method for a storage system. Using the storage system with the above structure, when inventory is required, the goods are first placed in the storage and retrieval device 4 at the access opening 202 of the container 2, and then the storage and retrieval device 4 start operation, to deliver goods to designated locker 7 places; Displacement device 3 runs, and displacement device 3 makes the distance between designated locker 7 and adjacent locker 7 be in the maximum state, The final access to the cargo is to place the cargo on the designated locker 7 .

The present invention also provides a method for picking up goods in a storage system. When using the storage system with the above-mentioned structure, when picking up goods is required, the displacement device 3 is first operated, and the displacement device 3 makes the designated locker 7 and the adjacent storage The distance between the cabinets 7 is at the maximum state; the storage and retrieval device 4 is in operation, and the storage and retrieval cargo is removed from the designated locker 7, and then the storage and retrieval device 4 transports the cargo to the storage and retrieval of the cargo box 2 At the port 202, the goods are finally taken out at the access port 202.

During the storage and retrieval process of the above-mentioned warehousing system, the designated locker 7 is connected with the adjacent locker 7 through a scissor-type telescopic mechanism, and the designated locker 7 is moved or pushed by the scissor-type telescopic mechanism The locker 7 adjacent to the designated locker 7 moves.

The present invention has been exemplarily described above with reference to the accompanying drawings. Apparently, the specific implementation of the present invention is not limited by the above methods. As long as various insubstantial improvements are made using the method concept and technical solution of the present invention; or without improvement, the above-mentioned concept and technical solution of the present invention are directly applied to other occasions, all within the protection scope of the present invention within.

Claims (10)

1. the stock method of automated warehouse storage system, it is characterised in that: warehousing system includes container, for storing cargo and in goods It is multiple lockers arranged side by side inside case, for picking up depositing goods taking device and being moved for controlling locker for cargo To adjust the displacement device of the distance between two neighboring locker, container has the access port for allowing cargo to pass through；

When needing stock, cargo is placed at the access port of container deposits goods taking device first, then deposited goods taking device and start Operation, at goods handling to specified locker；Displacement device operation, displacement device make specified locker and adjacent The distance between locker is in maximum rating, finally accesses goods dress and places goods on specified locker.

2. the stock method of automated warehouse storage system according to claim 1, it is characterised in that: the displacement device includes It the scissor type telescopic mechanism that is connect with two adjacent lockers and connect with scissor type telescopic mechanism and is cut for controlling The pushing handle telescopic control mechanism that V shape telescoping mechanism is extended or shunk, scissor type telescopic mechanism are arranged multiple and each scissor-type and stretch Contracting mechanism is connect with every two adjacent lockers respectively.

3. the stock method of automated warehouse storage system according to claim 2, it is characterised in that: the pushing handle telescopic control mechanism Including power assembly, switching mechanism, force-increasing mechanism and power transfer mechanism, multiple and each force-increasing mechanism point is arranged in force-increasing mechanism It is not connect with a scissor type telescopic mechanism, power transfer mechanism setting is multiple and each power transfer mechanism is respectively with one A force-increasing mechanism connection, switching mechanism is for controlling power assembly and each power transfer mechanism in bonding state and discrete state Between switch over.

4. the stock method of automated warehouse storage system according to claim 3, it is characterised in that: the power assembly includes Drive shaft, the driving gear being sheathed in drive shaft and the first displacement motor with driving axis connection, drive gear and drive shaft Synchronous rotary and driving gear can be move alonged the axial direction relative to drive shaft；The power transfer mechanism include and driving gear The displacement rack gear of engagement, connect with the force-increasing mechanism and for the reinforcement bar that is rotatably arranged on the locker and with change Position rack gear connection and the pull rod for applying the pulling force for rotating it to reinforcement bar, pull rod and displacement rack gear are horizontally disposed and draw The axis perpendicular of the length direction of bar and the drive shaft；Force-increasing mechanism includes the driving being movably set on locker Block and the sliding shoe for being movably arranged and matching with drive block, the moving direction of sliding shoe mutually hang down with the moving direction of drive block Directly, sliding shoe is connect with the scissor type telescopic mechanism, and drive block is connect with the power transfer mechanism.

5. the stock method of automated warehouse storage system according to claim 4, it is characterised in that: the switching mechanism includes Second conjugates motor, the screw shaft connecting with the second displacement motor and is sheathed in the drive shaft and is screw thread company with screw shaft The nut seat connect, when the second displacement motor operates, the driving gear is pushed by nut seat and the axial direction along drive shaft is moved It is dynamic.

6. the picking method of automated warehouse storage system, it is characterised in that: warehousing system includes container, for storing cargo and in goods It is multiple lockers arranged side by side inside case, for picking up depositing goods taking device and being moved for controlling locker for cargo To adjust the displacement device of the distance between two neighboring locker, container has the access port for allowing cargo to pass through；

When needing picking, first displacement device run, displacement device make between specified locker and adjacent locker away from From in maximum rating；Goods taking device operation is deposited, access goods dress removes cargo from specified locker, then accesses goods dress It sets at the access port of goods handling to container, cargo is finally taken out at access port.

7. the picking method of automated warehouse storage system according to claim 6, it is characterised in that: the displacement device includes It the scissor type telescopic mechanism that is connect with two adjacent lockers and connect with scissor type telescopic mechanism and is cut for controlling The pushing handle telescopic control mechanism that V shape telescoping mechanism is extended or shunk, scissor type telescopic mechanism are arranged multiple and each scissor-type and stretch Contracting mechanism is connect with every two adjacent lockers respectively.

8. the picking method of automated warehouse storage system according to claim 7, it is characterised in that: the pushing handle telescopic control mechanism Including power assembly, switching mechanism, force-increasing mechanism and power transfer mechanism, multiple and each force-increasing mechanism point is arranged in force-increasing mechanism It is not connect with a scissor type telescopic mechanism, power transfer mechanism setting is multiple and each power transfer mechanism is respectively with one A force-increasing mechanism connection, switching mechanism is for controlling power assembly and each power transfer mechanism in bonding state and discrete state Between switch over.

9. the picking method of automated warehouse storage system according to claim 8, it is characterised in that: the power assembly includes Drive shaft, the driving gear being sheathed in drive shaft and the first displacement motor with driving axis connection, drive gear and drive shaft Synchronous rotary and driving gear can be move alonged the axial direction relative to drive shaft；The power transfer mechanism include and driving gear The displacement rack gear of engagement, connect with the force-increasing mechanism and for the reinforcement bar that is rotatably arranged on the locker and with change Position rack gear connection and the pull rod for applying the pulling force for rotating it to reinforcement bar, pull rod and displacement rack gear are horizontally disposed and draw The axis perpendicular of the length direction of bar and the drive shaft；Force-increasing mechanism includes the driving being movably set on locker Block and the sliding shoe for being movably arranged and matching with drive block, the moving direction of sliding shoe mutually hang down with the moving direction of drive block Directly, sliding shoe is connect with the scissor type telescopic mechanism, and drive block is connect with the power transfer mechanism.

10. the picking method of automated warehouse storage system according to claim 9, it is characterised in that: the switching mechanism packet It includes the second displacement motor, the screw shaft connecting with the second displacement motor and is sheathed in the drive shaft and is screw thread with screw shaft The nut seat of connection, when the second displacement motor operates, the driving gear is pushed by nut seat and is carried out along the axial direction of drive shaft It is mobile.