CN111301922B - A smart automated warehouse and storage method for clamping and retrieving finished PCB products - Google Patents
A smart automated warehouse and storage method for clamping and retrieving finished PCB productsInfo
- Publication number
- CN111301922B CN111301922B CN202010244586.1A CN202010244586A CN111301922B CN 111301922 B CN111301922 B CN 111301922B CN 202010244586 A CN202010244586 A CN 202010244586A CN 111301922 B CN111301922 B CN 111301922B
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- China
- Prior art keywords
- warehouse
- goods
- clamping
- conveying line
- roller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
A clamping type intelligent stereoscopic warehouse machine storage method for accessing PCB finished products relates to the technical field of warehouse systems. The automatic warehouse-in and warehouse-out system comprises a plurality of shelves, a clamping plate cache frame arranged on one side of the shelves, a clamping plate lifting device arranged between the clamping plate cache frames, a clamping and holding manipulator which is arranged between adjacent shelves and can move in the horizontal or vertical direction relative to the shelves and is used for conveying warehoused goods to a preset storage position for storage and taking out the goods when the goods are delivered out of the warehouse, a warehouse-in operation center arranged on the ground of the intelligent stereoscopic warehouse and positioned on one side of the shelves, a warehouse-out operation center arranged on the ground of the intelligent stereoscopic warehouse and positioned on one side of the warehouse-in operation center away from the shelves, and a control center arranged in the intelligent stereoscopic warehouse and connected with the shelves, the clamping and holding manipulator, the warehouse-in operation center and the warehouse-out operation center. The technical scheme has the advantages of simple and convenient cargo storing and taking process, low economic cost and good flexibility.
Description
Technical Field
The invention relates to the technical field of warehousing systems, in particular to an intelligent stereoscopic warehouse for clamping and holding type access of PCB finished products and a warehousing method.
Background
Along with the continuous improvement of the technology level, more intelligent and convenient warehouse systems and stereoscopic warehouses have become new trends of large factories and logistics company management warehouses. The traditional warehouse for storing PCB finished products mainly relies on manual management, warehouse management personnel need to know the spare positions of the goods shelves at any time so as to store new warehoused goods, and meanwhile, the accurate positions of the goods are also known, so that the goods can be found out in time when the goods are extracted. When the warehouse goods are more and the warehouse in and out are frequent, the labor cost is extremely high, and the warehouse in and warehouse out efficiency of the PCB finished products is difficult to ensure.
In order to solve the above problems, although the existing intelligent stereoscopic warehouse can store the PCB finished products and also can realize automatic access, most of the existing intelligent stereoscopic warehouse uses trays as units for access, and operations such as unstacking, stacking, tray inflow, carton inflow and the like are usually needed during storage and taking, so that the intelligent stereoscopic warehouse has the problems of complicated goods storing and taking process, high economic cost, poor flexibility and the like, and therefore, the intelligent stereoscopic warehouse needs to be improved.
Disclosure of Invention
In view of the defects and shortcomings of the prior art, a first object of the present invention is to provide an intelligent stereoscopic warehouse for clamping and holding type access to finished PCB products, which can store the finished PCB products in units of boxes, and simultaneously, the clamping and holding type manipulator can rapidly adjust the clamping distance, the clamping height and the clamping position, so that the clamping and holding type manipulator can clamp cargo boxes with different sizes, thereby simplifying the intelligent stereoscopic warehouse, reducing the economic cost, and having the advantages of simple and convenient cargo access process, low economic cost and good flexibility.
The intelligent stereoscopic warehouse comprises a plurality of shelves arranged on the ground of the intelligent stereoscopic warehouse and used for storing or buffering goods, a clamping plate buffer frame arranged on the ground of the intelligent stereoscopic warehouse and positioned at one side of the shelves and used for storing goods to be delivered and clamping plates, a clamping plate lifting device arranged between the clamping plate buffer frames and used for storing the clamping plates and the goods placed on the clamping plate onto the clamping plate buffer frame and used for taking the goods by taking personnel, a clamping mechanical arm arranged between the adjacent shelves and capable of moving in a horizontal or vertical direction relative to the shelves and used for storing the warehoused goods to a preset storage position and taking the goods out of the warehouse, a warehouse-in operation center arranged on the ground of the intelligent stereoscopic warehouse and positioned at one side of the shelves and used for conveying the goods to be delivered and stored by the clamping mechanical arm, a warehouse-in operation center arranged between the clamping plate buffer frame and used for storing the goods to be delivered and placed on one side of the clamping plate buffer frame and used for taking the goods to be delivered and stored by the intelligent stereoscopic warehouse, and a warehouse-in operation center arranged on the side of the intelligent stereoscopic warehouse and used for controlling the warehouse-in operation center and the warehouse-out of the intelligent stereoscopic warehouse.
The clamping type mechanical arm comprises a supporting seat capable of sliding relative to the ground to adjust the horizontal clamping position, two parallel guide rails which are arranged on the supporting seat and extend to the side far away from the supporting seat to be assembled with the goods shelf in a sliding mode, a telescopic fork support which is respectively arranged on one side, close to each other, of the two guide rails and can slide relative to the guide rails to adjust the clamping height, a clamping type telescopic fork which is arranged on the telescopic fork support and can slide relative to the telescopic fork support to be away from or close to the mounting side of the telescopic fork support and is used for adjusting the clamping distance according to the size of goods, a first driving device which is arranged on the telescopic fork support and is arranged between the telescopic fork support and the guide rails and is used for driving the telescopic fork support to slide along the guide rails, a second driving device which is arranged on the telescopic fork support and is used for driving the clamping type telescopic fork to move to adjust the clamping distance, a third driving device which is arranged on the supporting seat and is connected with the first driving device and the second driving device in a control box.
The goods shelf is provided with a guide rod on one side far away from the ground, a guide wheel is arranged on one side, close to the guide rod, of the guide rail, and the guide wheel is matched with the guide rod to conduct sliding guide on the guide rail.
The third driving device comprises a moving slide rail fixedly arranged on one side of the goods shelf close to the ground and playing a role in guiding and supporting the movement of the supporting seat, a roller wheel which is arranged on the supporting seat and assembled with the moving slide rail and is used for realizing the movement of the supporting seat on the moving slide rail, a driving slide rail fixedly arranged on one side of the goods shelf close to the ground and is used for being assembled with the supporting seat, a power source which is arranged on the supporting seat and is used for providing power for the movement of the supporting seat, and a driving piece which is arranged on a power output shaft of the power source and can synchronously rotate along with the power output shaft and is assembled with the driving slide rail to drive the movement of the supporting seat.
The goods shelf comprises a three-dimensional bin goods shelf for three-dimensional storage of the whole goods, and a cache bin goods shelf which is arranged side by side with the three-dimensional bin goods shelf and used for temporarily caching the mantissa boxes, wherein a first automatic code scanner and a first appearance detection device are arranged at the entrance of the cache bin goods shelf, the first automatic code scanner is used for scanning codes for identifying the goods which are entered or taken out, and sending identification information to a control center, and the first appearance detection device is used for detecting the appearance weight of the goods which are entered or taken out.
The warehouse-in operation center comprises a warehouse-in roller conveying line, a warehouse-out roller conveying line and a warehouse-out roller conveying line, wherein the warehouse-in roller conveying line is arranged on one side of the goods shelf and used for conveying goods to be warehouse-in to the corresponding goods shelf and conveying the goods to be warehouse-out to the warehouse-out operation center during warehouse-out operation; the automatic unloading machine comprises a lifting transfer machine, an unpacking manipulator, a second shape detection device, a second automatic code scanner, a buffer storage conveying line and a rotary turntable, wherein the lifting transfer machine is arranged on the storage roller conveying line and corresponds to the storage rack end, the lifting transfer machine is used for transferring cargos conveyed on the storage roller conveying line to the storage rack end for clamping by a clamping manipulator, the unpacking manipulator is arranged at the feeding position of the storage roller conveying line and used for unpacking cargos to be stored and placing the unpacked cargos on the storage roller conveying line, the second shape detection device is arranged on the storage roller conveying line and close to the feeding hole and used for detecting the size and the weight of the cargos placed on the storage roller conveying line, the second automatic code scanner is arranged on the storage roller conveying line and used for scanning the bar codes of the cargos detected to be qualified by the second shape detection device and sending the scanned information to a control center, the buffer storage conveying line is arranged on one side of the storage roller conveying line and used for receiving and buffering cargos which are not identified by the second automatic code scanner.
The warehouse-in operation center further comprises a belt conveying line, a third appearance detection device, a third automatic code scanner and a feed box buffer zone, wherein the belt conveying line is arranged between the warehouse-out operation center and the warehouse-in roller conveying line and used for manually placing the mantissa box and conveying the mantissa box to a manual working table, the third appearance detection device is arranged at a feed inlet of the belt conveying line and used for detecting the size and the weight of goods of the placed mantissa box, the third automatic code scanner is arranged on the belt conveying line and used for identifying codes of the mantissa box detected by the third appearance detection device and sending identification information to the control center, and the feed box buffer zone is arranged at a discharge outlet of the side of the belt conveying line and used for buffering the feed box.
The warehouse-in operation center comprises a warehouse-out roller conveying line, a fourth shape detection device, a fourth automatic code scanner, a stacking manipulator, a manual operation table and a warehouse-out rotary table, wherein the warehouse-out roller conveying line is in butt joint with the warehouse-in roller conveying line and used for conveying cargoes to be subjected to warehouse-out to a warehouse-out port, the fourth shape detection device is arranged at a material inlet of the warehouse-out roller conveying line and used for detecting the shape weight of the cargoes to be subjected to warehouse-out, the fourth automatic code scanner is arranged on the warehouse-out roller conveying line and used for carrying out code scanning identification on the fourth shape detection device and sending the identified information to a control center, the stacking manipulator is arranged at the warehouse-out port of the warehouse-out roller conveying line and used for carrying out stacking operation on the cargoes to be subjected to warehouse-out, the manual operation table is arranged between the stacking manipulator and the fourth automatic code scanner and used for carrying out warehouse-out operation on the cargoes, and the warehouse-out rotary table is arranged on the warehouse-out conveying line and corresponds to the manual operation table and used for changing the cargo conveying direction.
The belt conveying line is a double-layer conveying line, the upper layer conveying line of the double-layer conveying line is used for feeding materials into the storage bin goods shelf, and when the mantissas exist in the quantity of the materials to be delivered, the lower layer conveying line of the double-layer conveying line is used for delivering the mantissa boxes on the storage bin goods shelf.
After the technical scheme is adopted, the method has the beneficial effects that when cargoes are put in storage, the whole cargoes or the whole stack are unpacked by an unpacking manipulator, unpacked cargoes are placed on a storage roller conveying line one by one, after passing through a second appearance detection device and being identified by a second automatic code scanner, the conveying direction is changed by a jacking transfer machine, the put cargoes are conveyed to the inlet of a corresponding three-dimensional storage rack, then the cargoes are stored in a preset storage position by a clamping manipulator according to a control signal of a control center, a mantissa box is placed on a mantissa conveying line by a worker, the upper layer with a belt conveying line is conveyed to a manual work table, and after being processed by the manual work table, the cargoes are stored on the cache storage rack through a first appearance detection device and the first automatic code scanner. When goods are delivered, order information of delivery is input into a control center, a control center controls a clamping type manipulator to place the whole box of goods on a warehouse roller conveying line to be conveyed to a delivery roller conveying line, the goods are scanned by a fourth shape detection device and a fourth automatic code scanner, then are operated by a manual operation table, are conveyed to a stacking manipulator to be stacked, and the mantissa part is taken out from a storage shelf of a cache warehouse, is operated by a first shape detection and a first automatic code scanner, is conveyed to the stacking manipulator to be stacked, and after stacking is completed, a pallet and the goods which are stacked are stored on a pallet cache rack by a pallet lifting device to be cached by a goods taker through codes. The intelligent stereoscopic warehouse has the advantages of simple and convenient goods storing and taking process, low economic cost and good flexibility.
In view of the defects and shortcomings of the prior art, a second object of the present invention is to provide a storage method, which not only simplifies the storage process, but also reduces the economic cost, and has the advantages of simple and convenient goods storage process, low economic cost and good flexibility.
In order to achieve the purpose, the technical scheme adopted by the invention is that the storage method is based on the intelligent stereoscopic warehouse and comprises the following steps of:
S1, placing a PCB finished product into a warehouse-in operation center, and conveying the PCB finished product to a position corresponding to the goods shelf by the warehouse-in operation center so as to facilitate the operation of the clamping type mechanical arm;
S2, the control center controls the clamping type mechanical arm to convey the PCB finished goods sorted and conveyed by the warehouse-in operation center to the corresponding storage position of the corresponding goods shelf for storing the PCB finished goods;
S3, inputting order information to the control center, so that the control center controls the ex-warehouse operation center to sort cargoes in the order information according to the order information and perform stacking operation;
S4, transporting the stacked clamping plates and materials to a clamping plate caching frame for caching through the clamping plate lifting device, so that a person taking goods can take goods by means of codes.
After the method is adopted, when goods are stored, the PCB finished products can be stored by taking the boxes as units, meanwhile, the warehousing mode is simple and convenient, the ex-warehouse mode is quick and accurate, the storage and taking process is simplified, the economic cost is reduced, and the method has the advantages of simplicity and convenience in the goods storage and taking process, low economic cost and good flexibility.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of the present embodiment;
FIG. 2 is a partial schematic view of the structure corresponding to FIG. 1;
FIG. 3 is a schematic view of the structure of the rack and the clamping manipulator in the present embodiment;
FIG. 4 is a left side view corresponding to FIG. 3;
FIG. 5 is an enlarged view of a portion of detail A of FIG. 4;
FIG. 6 is an enlarged view of a portion of detail B of FIG. 4;
fig. 7 is a schematic structural diagram of the clamping manipulator in the present embodiment;
Fig. 8 is a schematic view of a part of the structure of the clamping manipulator in the present embodiment;
FIG. 9 is a block diagram showing the whole-box cargo warehousing process in this embodiment;
FIG. 10 is a flow chart of the cargo warehousing of the mantissa box in this embodiment;
Fig. 11 is a block diagram of a cargo shipment flow in the present embodiment.
Reference numerals indicate 1, a shelf; the automatic stacking machine comprises a three-dimensional bin shelf, 12, a buffer bin shelf, 13, a first automatic code scanner, 14, a first appearance detection device, 15, a manual work table, 16, a guide rod, 2, a clamping plate buffer shelf, 3, a clamping plate lifting device, 4, a clamping type mechanical arm, 41, a supporting seat, 42, a guide rail, 43, a telescopic fork bracket, 44, a clamping type telescopic fork, 45, a first driving device, 46, a second driving device, 47, a third driving device, 471, a moving slide rail, 472, a roller, 473, a driving slide rail, 474, a power source, 475, a driving part, 476, a fixing part, 477, a supporting part, 478, an assembling part, 479, a guide wheel, 48, a control box, 5, a warehouse-in operation center, 51, a warehouse-in roller, 52, a jacking transfer machine, 53, a unpacking mechanical arm, 54, a second appearance detection device, 55, a second automatic code scanner, 56, a buffer transfer line, 57, a rotary turntable, 58, a belt, 59, a third appearance detection device, 50, a third scanner, a warehouse, 6, a labeling machine, a warehouse-in-out roller, a warehouse-out roller, a 7, a warehouse-out roller, a control box, a manual work center, a 7, a labeling machine, a warehouse-out roller, a label machine, a 65, a warehouse-in-out operation center, a control device, a manual work table, a control box, a 7, a warehouse-in-out roller, a 7.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and those skilled in the art can make modifications to the present embodiment which do not contribute to the invention as required after reading the present specification, but are protected by the patent laws within the scope of the appended claims.
The embodiment relates to an intelligent stereoscopic warehouse for clamping and holding type access of PCB finished products, which is shown in figures 1-8 and comprises a goods shelf 1, a clamping plate buffer storage frame 2, a clamping plate lifting device 3, a clamping and holding type manipulator 4, a warehousing operation center 5, a delivery operation center 6 and a control center 7.
Wherein, as shown in fig. 1-8, the pallet 1 is provided with a plurality of. The goods shelf 1 is arranged on the ground of the intelligent stereoscopic warehouse, and the goods shelf 1 is used for storing or caching goods. The cardboard cache rack 2 is arranged on the ground of the intelligent stereoscopic warehouse and is positioned on one side of the goods shelf 1. The pallet buffer storage rack 2 is used for storing cargoes to be delivered and pallets. The clamping plate lifting device 3 is arranged between the clamping plate cache frames 2. The pallet lifting device 3 is used for storing pallets and goods placed on the pallets on the pallet cache frame 2 for the goods taking staff to take goods. The clamping type mechanical arm 4 is arranged between the adjacent shelves 1, and the clamping type mechanical arm 4 can move in the horizontal or vertical direction relative to the shelves 1. The clamping type mechanical arm 4 is used for conveying warehoused goods to a preset storage position for storage. The clamping type mechanical arm 4 is used for taking out the goods when the goods are delivered out of the warehouse.
The warehouse-in operation center 5 is arranged on the ground of the intelligent stereoscopic warehouse and is positioned on one side of the goods shelf 1. The warehouse-in operation center 5 is used for conveying goods to be stored in a box unit for being stored by the clamping type mechanical arm 4. When the goods are delivered, the warehouse-in operation center 5 is also used for conveying the goods to be delivered, which are taken out by the clamping type mechanical arm 4. The warehouse-out operation center 6 is arranged on the ground of the intelligent stereoscopic warehouse, and the warehouse-out operation center 6 is positioned on one side of the warehouse-in operation center 5, which is far away from the goods shelf 1. The ex-warehouse operation center 6 is used for carrying out ex-warehouse operation on the goods to be ex-warehouse transported by the warehouse-in operation center 5. The control center 7 is arranged in the intelligent stereoscopic warehouse. The control center 7 is connected with the goods shelf 1, the clamping type mechanical arm 4, the warehouse-in operation center 5 and the warehouse-out operation center 6, and the control center 7 is used for realizing intelligent warehouse-in and warehouse-out of the intelligent stereoscopic warehouse by taking a box as a unit.
Further, as shown in FIGS. 1 and 2, the pallet 1 includes a three-dimensional pallet 11 and a buffer pallet 12. The stereoscopic warehouse goods shelf 11 is used for stereoscopic storage of the whole goods. The buffer bin shelf 12 is arranged side by side with the three-dimensional bin shelf 11, and the buffer bin shelf 12 is used for temporarily buffering the mantissa box, so that the mantissa box can be conveniently stored and taken out. In the embodiment, a group of cardboard caches is additionally arranged, the three-dimensional bin shelf 11 is arranged in a group 11, and the cache bin shelf 12 is arranged in a group 1. The three-dimensional bin shelf 11 is provided with four bins with different sizes and storage bins, 24156 bins can be stored in total, and the size of the three-dimensional bin is 24800 multiplied by 2500 multiplied by 2680 millimeters. The design length of the pallet buffer rack 2 is 24.8 meters, and the pallet buffer rack is supplied with 13 columns, 2 rows and 2 layers of 52 bins, and the size of each bin is 1500 multiplied by 800 multiplied by 890 millimeters.
Further, as shown in fig. 1 and 2, a first automatic code scanner 13 and a first appearance detection device 14 are arranged at the entrance of the cache storage shelf 12. The first automatic code scanner 13 is used for scanning codes for identifying the entered or fetched goods and sending identification information to the control center 7. The first profile detection device 14 is used for profile weight detection of the incoming or outgoing goods.
Further, as shown in fig. 1 to 8, the clamping manipulator 4 includes a support base 41, a guide rail 42, a telescopic fork bracket 43, a clamping telescopic fork 44, a first driving device 45, a second driving device 46, a third driving device 47, and a control box 48.
The support seat 41 is slidable relative to the ground to adjust the horizontal clamping position. The guide rail 42 is provided on the support base 41, and the guide rail 42 extends to a side away from the support base 41 so as to be slidably fitted to the shelf 1. The guide rails 42 are provided in two and the two guide rails 42 are parallel to each other. The telescopic fork brackets 43 are respectively arranged on one sides of the two guide rails 42, which are close to each other, and the telescopic fork brackets 43 can slide relative to the guide rails 42, so that the clamping height is adjusted. The clamping type telescopic fork 44 is arranged on the telescopic fork bracket 43, and the clamping type telescopic fork 44 can slide relative to the telescopic fork bracket 43 so as to be far away from or close to the mounting side of the telescopic fork bracket 43. The clamping telescopic fork 44 is used for adjusting the clamping interval according to the size of the goods, so as to adapt to the feed boxes with different sizes. The first driving device 45 is disposed on the telescopic fork bracket 43, and the first driving device 45 is located between the telescopic fork bracket 43 and the guide rail 42. The first driving device 45 is used for driving the telescopic fork bracket 43 to slide along the guide rail 42. The second driving device 46 is disposed on the telescopic fork bracket 43, and the second driving device 46 is used for driving the clamping type telescopic fork 44 to move, so as to adjust the clamping distance. The third driving device 47 is disposed on the supporting seat 41, and is used for driving the supporting seat 41 to slide. The control box 48 is disposed on the supporting seat 41 and connected to the control unit, and the control box 48 is used for controlling the first driving device 45, the second driving device 46 and the third driving device 47 to operate sequentially.
Further, as shown in FIGS. 1-8, the third driving device 47 includes a moving slide 471, a roller 472, a driving slide 473, a power source 474, and a driver 475. The moving slide 471 is fixedly arranged on one side of the goods shelf 1 close to the ground, and the moving slide 471 plays a role in guiding and supporting the movement of the supporting seat 41. The roller 472 is disposed on the support 41 and assembled with the moving slide 471. The roller 472 is used to realize the movement of the support 41 on the movement slide 471. The driving sliding rail 473 is fixedly installed on one side, close to the ground, of the shelf 1, and the driving sliding rail 473 is used for being assembled with the supporting seat 41. A power source 474 is provided on the support base 41, and the power source 474 is used to power the movement of the support base 41. The driver 475 is mounted on a power output shaft of the power source 474, and the driver 475 can rotate synchronously with the power output shaft. The driver 475 is configured to be assembled with the driving sliding rail 473, so as to drive the supporting seat 41 to move.
Preferably, the driving sliding rail 473 is a rack protruding from the shelf 1, and the driving member 475 is a driving gear protruding from the supporting seat 41, where the driving gear is meshed with the rack. After the clamping type mechanical arm 4 is opened, the driving gear is driven to rotate by the power source 474, so that the driving gear moves on the rack, and power is provided for the movement of the clamping type mechanical arm 4.
Specifically, as shown in FIGS. 1-8, the kinematic slide 471 includes a fixed portion 476, a support portion 477, and a fitting portion 478. The fixing portion 476 is fixedly mounted on the shelf 1. The support portion 477 is disposed on the side of the fixing portion 476 near the support seat 41. The fitting portion 478 is disposed on the support portion 477, and a lateral dimension of the fitting portion 478 is greater than a lateral dimension of the support portion 477. The fitting portion 478 is for fitting with the roller 472. In this embodiment, the fixing portion 476 is fixedly assembled with the support base by fastening screws. The support portion 477 and the fitting portion 478 are integrally formed with the fixing portion 476.
Preferably, two moving slide rails 471 are arranged in parallel, so that stability of the clamping type manipulator 4 during movement is ensured, and the driving slide rail 473 is arranged between the two moving slide rails 471.
Preferably, as shown in fig. 1-8, a guide bar 16 is provided on the side of the shelf 1 away from the ground, a guide wheel 479 is provided on the side of the guide rail 42 close to the guide bar 16, and the guide wheel 479 is adapted to the guide bar 16 for sliding guiding of the guide rail 42. The guide wheels 479 are provided in two sets and are located on both sides of the guide bar 16, respectively. When the clamping type mechanical arm 4 moves, the guide wheels 479 roll along the side wall of the guide rod 16, so that the upper end of the clamping type mechanical arm 4 is stabilized, and the running stability of the clamping type mechanical arm 4 is further ensured.
As shown in fig. 1-2, the warehouse-in operation center 5 includes a warehouse-in roller conveyor line 51, a jacking transfer machine 52, an unpacking manipulator 53, a second shape detection device 54, a second automatic code scanner 55, a buffer conveyor line 56, and a warehouse-in rotary turret 57.
The warehouse entry roller conveyor line 51 is provided on the shelf 1 side. The warehouse-in roller conveying line 51 is used for conveying cargoes to be warehouse-in to the corresponding goods shelf 1, and the warehouse-in roller conveying line 51 is also used for conveying cargoes to be warehouse-out to the warehouse-out operation center 6 during warehouse-out operation. The lifting transfer machine 52 is provided on the warehouse-in roller conveyor line 51 and is provided at the end of the pallet 1. The jacking transfer machine 52 is used for transferring the goods conveyed on the warehouse-in roller conveying line 51 to the entrance of the goods shelf 1 for clamping by the clamping type mechanical arm 4. The unpacking manipulator 53 is disposed at the feed port of the warehouse-in roller conveyor line 51. The unpacking manipulator 53 is used for unpacking the goods to be stored, and placing the unpacked goods on the warehouse-in roller conveyor line 51.
The second shape detecting device 54 is disposed on the side of the warehouse-in roller conveyor line 51 close to the feed inlet. The second shape detecting means 54 is used for detecting the size and weight of the goods put on the warehouse-in roller conveyor line 51. The second automatic code scanner 55 is provided on the warehouse-in roller conveyor line 51. The second automatic code scanner 55 is used for scanning the bar code of the qualified goods detected by the second shape detection device 54, and then sending the scanned information to the control center 7. The buffer transfer line 56 is disposed on one side of the roller transfer line. The buffer conveyor line 56 is used for receiving and buffering goods which are not identified by the code scanning by the second automatic code scanner 55. The warehouse entry rotary turret 57 is provided on the warehouse entry roller conveyor line 51. The warehouse-in rotary turntable 57 is used for diverting and conveying cargoes which are not identified by the code scanning of the second automatic code scanner 55 to the buffer conveyor line 56.
Further, the warehouse entry work center 5 as shown in fig. 1-2 further includes a belt conveyor line 58, a third profile detection device 59, a third scanner 50, and a bin buffer 501. The belt conveyor line 58 is provided between the warehouse-out operation center 6 and the warehouse-in roller conveyor line 51. The belt conveyor 58 is used for manual placement of the mantissa box and for conveying the mantissa box to the manual work station 15. The third appearance detection device 59 sets up in the pan feeding mouth department of belt transfer chain 58, and third appearance detection device 59 is used for carrying out size and weight detection to the mantissa case of putting into. The third automatic code scanner is arranged on the belt conveyor line 58, and is used for scanning and identifying the mantissa box detected by the third appearance detection device 59 and sending the identification information to the control center 7. The bin buffer area 501 is arranged at a discharge port on the side of the belt conveyor line 58, and the bin buffer area 501 is used for feeding bin buffer.
Further, the warehouse-in operation center 5 shown in fig. 1-2 includes a warehouse-out roller conveyor line 61, a fourth shape detecting device 62, a fourth automatic code scanner 63, a palletizing manipulator 64, a manual operation table 65, and a warehouse-out rotary turntable 66.
Specifically, the ex-warehouse roller conveying line 61 is in butt joint with the warehouse-in roller conveying line 51, and the ex-warehouse roller conveying line 61 is used for conveying goods to be ex-warehouse on the warehouse-in roller conveying line 51 to an ex-warehouse port. The fourth shape detecting device 62 is disposed at the feed inlet of the delivery roller conveyor line 61. The fourth profile detection device 62 is used for detecting the profile weight of the goods to be delivered. The fourth automatic code scanner 63 is provided on the delivery roller conveyor line 61. The fourth automatic code scanner 63 is configured to scan the code through the fourth shape detection device 62, and send the identified information to the control center 7. The palletizing robot 64 is provided at the delivery port of the delivery roller delivery line 61. The palletizing robot 64 is used for palletizing the goods to be delivered. The manual operation table 65 is disposed on the delivery roller conveying line 61, and the manual operation table 65 is located between the stacking manipulator 64 and the fourth automatic code scanner 63. The manual operation table 65 is used for a worker to perform a warehouse-out operation. The delivery rotary table 66 is provided on the delivery roller conveyor line 61, and the delivery rotary table 66 corresponds to the manual operation table 65. The outbound rotary turret 66 is used to change the direction of cargo conveyance.
Preferably, the manual stations 65 as shown in FIGS. 1-2 include a bagging, marking station, a sealing packaging station, a vacuum packaging station, a boxing station, a quality inspection station, and the like. Four packing and marking operation tables are arranged, and four rotary tables 66 for discharging are arranged on the four packing and marking operation tables corresponding to the rotary conveying lines 61 for discharging. The delivery roller conveyor line 61 is provided with an automatic labeling machine 67, and the automatic labeling machine 67 is provided at the rear of the quality detection console.
Further, as shown in fig. 1-2, the belt conveyor 58 is a double-layer conveyor, and the upper layer conveyor of the double-layer conveyor is used for feeding materials into the cache storage shelf 12, and when the number of the mantissas to be discharged exists, the lower layer conveyor of the double-layer conveyor is used for discharging the mantissa boxes on the cache storage shelf 12. When the mantissa box is taken out of the warehouse, the mantissa box on the lower conveying line can be conveyed to the manual work table 15 for manual operation.
The working principle of the embodiment is that when cargoes are put in storage, the whole cargoes or the whole stack is unpacked by an unpacking manipulator 53, unpacked cargoes are placed on a storage roller conveying line 51 one by one, after being qualified by a second appearance detection device 54 and being scanned and identified by a second automatic code scanner 55, the conveying direction is changed by a jacking transfer machine 52, the stored cargoes are conveyed to the inlet of a corresponding three-dimensional storage rack 11, the cargoes are stored in a preset storage position by a clamping manipulator 4 according to a control signal of a control center 7, a mantissa box is manually placed on a mantissa conveying line, the upper layer with a belt conveying line 58 is conveyed to a manual workbench 15, and after being processed by the manual workbench 15, the cargoes are stored on the storage rack 12 through a first appearance detection device 14 and a first automatic code scanner 13. When goods are delivered, the order information of delivery is input into the control center 7, the control center 7 controls the clamping type manipulator 4 to place the whole goods on the warehouse-in roller conveying line 51 to be conveyed to the delivery roller conveying line 61, the goods are scanned by the fourth shape detection device 62 and the fourth automatic code scanner 63, the goods are operated by the manual operation table 65 and then are conveyed to the stacking manipulator 64 to be stacked, the mantissa part is taken out from the storage warehouse goods shelf 12, the goods are operated by the manual operation table 65 and then conveyed to the stacking manipulator 64 to be stacked, and after stacking is completed, the stacked clamping plates and the goods are stored on the clamping plate cache shelf 2 through the clamping plate lifting device 3 to be stored for the goods taker to take goods by the code. The intelligent stereoscopic warehouse has the advantages of simple and convenient goods storing and taking process, low economic cost and good flexibility.
Based on the above scheme, this embodiment also provides a warehousing method, as shown in fig. 9-11, including the following steps:
S1, placing a PCB finished product into a warehouse-in operation center 5, and conveying the PCB finished product to a position corresponding to a goods shelf 1 by the warehouse-in operation center 5 so as to facilitate the operation of a clamping type manipulator 4;
S2, the control center 7 controls the clamping type mechanical arm 4 to convey the PCB finished goods sorted and conveyed by the warehouse-in operation center 5 to the corresponding storage positions of the corresponding shelves 1 for storing the PCB finished goods;
s3, inputting order information to the control center 7, so that the control center 7 controls the ex-warehouse operation center 6 to sort cargoes in the order information according to the order information and perform stacking operation;
S4, transporting the stacked clamping plates and materials to the clamping plate buffer storage frame 2 for buffering through the clamping plate lifting device 3, so that a cargo taking person can take the cargoes by means of codes.
Specifically, when the goods are put in storage, as shown in fig. 9, step S1 includes the steps of:
S11, manually placing the whole stack or the whole box of the PCB finished products to be put in storage at the unpacking manipulator 53, and performing destacking and grabbing through the unpacking manipulator 53, so that the PCB finished products are placed on the storage roller conveying line 51 for conveying in a box unit;
S12, detecting the appearance and the weight of the warehoused goods through a second appearance detection device 54, and sending data detected by the appearance and the weight to the control center 7, so that the control center 7 can conveniently control the warehouse-in roller conveying line 51 to convey the warehoused goods to the corresponding goods shelf 1 inlet;
S13, performing bar code scanning and identification through a second bar code scanner, so as to acquire basic information of the entered goods, and sending the identification information to the control center 7 after identification so as to be convenient for the control center 7 to record;
S14, the control center 7 controls the warehousing conveying line to convey the goods to be warehoused to the corresponding three-dimensional warehouse goods shelf 11 according to the detection data of the second shape detection device 54 and the information identified by the second code scanner, and then the corresponding jacking transfer machine 52 transfers the goods to the material inlet of the corresponding three-dimensional warehouse goods shelf 11;
and S15, the control center 7 controls the clamping type mechanical arm 4 to convey cargoes positioned at the feeding port of the three-dimensional bin shelf 11 into corresponding storage bins for storage.
When there is a mantissa in the load of the warehouse-in lot, as shown in fig. 10, step S1 further includes:
s16, manually placing the mantissa box on a mantissa conveying line, sequentially detecting the external dimension and the weight through a third external shape detecting device 59, identifying the code scanning through a third code scanner, and sending the information of the code scanning identification to a control center 7 for recording;
S17, conveying the mantissa box to a box buffer area 501 through a mantissa conveying line for buffering so as to be operated by the manual workbench 15;
s18, after passing through a manual operation table 65, the mantissa box is sent to a feed inlet of the cache storage shelf 12, the appearance is detected through a first appearance detection device 14, and after the first code scanner scans codes and identifies, the first code scanner is stored in a corresponding storage grid on the cache storage shelf 12 through a clamping type mechanical arm 4.
Specifically, when the goods are delivered out of the warehouse, as shown in fig. 11, step S3 includes:
S31, inputting the information of the order form to the control center 7, and judging whether the number of the order forms has a mantissa part or not by the control center 7;
S32, the whole number part is controlled by the control center 7 to take corresponding order cargoes by the clamping type mechanical arm 4 according to the ex-warehouse order information, the order cargoes are placed on the warehouse-in roller conveying line 51, and the warehouse-in roller conveying line 51 conveys the order cargoes to the ex-warehouse roller conveying line 61;
s33, conveying the order goods to a fourth shape detection device 62 by a warehouse-out roller conveying line 61 for shape size detection and weight detection so as to obtain size and weight information of the order goods;
s34, conveying the order cargoes to a fourth code scanner by the delivery roller conveying line 61 for code scanning identification so as to identify information and record the quantity of the order cargoes, and then sending the information and the quantity of the order cargoes to the control center 7;
S35, delivering order goods to a manual operation table 65 through a delivery rotary turntable 66 by the delivery roller conveying line 61, then delivering the order goods to a stacking manipulator 64 through the delivery roller conveying line 61, and loading the order goods on a clamping plate through the stacking manipulator 64;
s36, the loaded clamping plates and cargoes are sent to the clamping plate buffer storage frame 2 through the clamping plate lifting device 3 to be delivered to a warehouse for buffer storage, so that a cargo taking person can conveniently take out ordered cargoes according to a cargo taking code.
S37, the control center 7 controls the clamping type manipulator 4 to take the corresponding mantissa box from the cache bin shelf 12 according to the mantissa existing in the order goods, and the taken mantissa box is sent to the manual workbench 15 for mantissa processing after the first automatic code scanner 13 scans codes and the first appearance detection device 14 detects the size and the weight;
s39, placing the mantissa box after mantissa processing on a lower layer conveying line of the double-layer conveying line, conveying the mantissa box to a manual operation table 65 by the lower layer conveying line for manual delivery and arrangement, and conveying the mantissa box to a stacking manipulator 64 for delivery after delivery and arrangement.
After the method is adopted, when goods are stored, the PCB finished products can be stored by taking the boxes as units, meanwhile, the warehousing mode is simple and convenient, the ex-warehouse mode is quick and accurate, the storage and taking process is simplified, the economic cost is reduced, and the method has the advantages of simplicity and convenience in the goods storage and taking process, low economic cost and good flexibility.
The above description is only for the purpose of illustrating the technical solution of the present invention and not for the purpose of limiting the same, and other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. An intelligent stereoscopic warehouse for clamping and holding type access to a PCB finished product, which is characterized by comprising:
The system comprises a plurality of shelves (1) arranged on the ground of the intelligent stereoscopic warehouse and used for storing or caching goods, a clamping plate cache frame (2) arranged on the ground of the intelligent stereoscopic warehouse and positioned at one side of the shelves (1) and used for storing goods to be delivered and clamping plates;
The clamping plate lifting device (3) is arranged between the clamping plate buffer frames (2) and used for storing clamping plates and goods placed on the clamping plates onto the clamping plate buffer frames (2) so as to be used for goods taking by goods taking staff;
The clamping type mechanical arm (4) is arranged between the adjacent goods shelves (1) and can move in the horizontal or vertical direction relative to the goods shelves (1) and is used for conveying the warehoused goods to a preset storage position for storage and taking out the goods when the goods are delivered out of the warehouse;
The warehouse-in operation center (5) is arranged on the ground of the intelligent stereoscopic warehouse and positioned at one side of the goods shelf (1) and used for conveying goods to be stored in a box unit for being stored by the clamping type mechanical arm (4), and the warehouse-in operation center (5) is also used for conveying goods to be delivered taken out by the clamping type mechanical arm (4);
the warehouse-out operation center (6) is arranged on the ground of the intelligent stereoscopic warehouse and is positioned at one side of the warehouse-in operation center (5) far away from the goods shelf (1) and is used for carrying out warehouse-out operation on goods to be warehouse-out, which are conveyed by the warehouse-in operation center (5);
And the control center (7) is arranged in the intelligent stereoscopic warehouse, is connected with the goods shelf (1), the clamping type mechanical arm (4), the warehousing operation center (5) and the ex-warehouse operation center (6) and is used for realizing intelligent ex-warehouse and in-warehouse of the intelligent stereoscopic warehouse by taking a box as a unit.
2. The intelligent stereoscopic warehouse for clamping and holding type access to finished PCB products according to claim 1, characterized in that the clamping and holding type manipulator (4) comprises:
a support seat (41) which can slide relative to the ground to adjust the horizontal clamping position;
two parallel guide rails (42) which are arranged on the supporting seat (41) and extend to the side far away from the supporting seat (41) so as to be assembled with the goods shelf (1) in a sliding way;
A telescopic fork bracket (43) which is respectively arranged on one side of the two guide rails (42) which are close to each other and can slide relative to the guide rails (42) to adjust the clamping height;
a clamping type telescopic fork (44) which is arranged on the telescopic fork bracket (43) and can slide relative to the telescopic fork bracket (43) to be far away from or close to the installation side of the telescopic fork bracket (43) and is used for adjusting the clamping interval according to the size of goods;
A first driving device (45) which is arranged on the telescopic fork bracket (43), is positioned between the telescopic fork bracket (43) and the guide rail (42) and is used for driving the telescopic fork bracket (43) to slide along the guide rail (42);
The second driving device (46) is arranged on the telescopic fork bracket (43) and used for driving the clamping telescopic fork (44) to move so as to adjust the clamping interval;
A third driving device (47) arranged on the supporting seat (41) and used for driving the supporting seat (41) to slide, and
And a control box (48) which is arranged on the supporting seat (41) and is connected with the control and is used for controlling the first driving device (45), the second driving device (46) and the third driving device (47) to work sequentially.
3. The intelligent stereoscopic warehouse for clamping and holding type access of finished PCB products according to claim 2, wherein a guide rod (16) is arranged on one side, far away from the ground, of the goods shelf (1), a guide wheel (479) is arranged on one side, close to the guide rod (16), of the guide rail (42), and the guide wheel (479) is matched with the guide rod (16) to conduct sliding guide for the guide rail (42).
4. A smart stereoscopic warehouse for accessing PCB finished products according to claim 3, characterized in that said third driving means (47) comprise:
A movement slide rail (471) fixedly arranged on one side of the goods shelf (1) close to the ground and playing a role in guiding and supporting the movement of the supporting seat (41);
A roller (472) which is arranged on the supporting seat (41) and is assembled with the movement sliding rail (471) and is used for realizing the movement of the supporting seat (41) on the movement sliding rail (471);
A driving sliding rail (473) fixedly arranged on one side of the goods shelf (1) close to the ground and used for being assembled with the supporting seat (41);
A power source (474) provided on the support base (41) for powering the movement of the support base (41), and
And a driving piece (475) which is arranged on the power output shaft of the power source (474) and can synchronously rotate along with the power output shaft and is used for being assembled with the driving sliding rail (473) to drive the supporting seat (41) to move.
5. Intelligent stereoscopic warehouse for accessing finished PCB products, in which the shelves (1) comprise:
a three-dimensional warehouse goods shelf (11) for three-dimensional storage of the whole goods and
A buffer storage bin shelf (12) which is arranged side by side with the three-dimensional bin shelf (11) and used for temporarily buffering the mantissa box, a first automatic code scanner (13) and a first appearance detection device (14) are arranged at the entrance of the buffer storage bin shelf (12),
The first automatic code scanner (13) is used for scanning codes for identification of entered or fetched goods and sending identification information to the control center (7), and the first appearance detection device (14) is used for carrying out appearance weight detection on the entered or fetched goods.
6. Intelligent stereoscopic warehouse for accessing finished PCB products, according to claim 5, characterized in that said warehouse-in operation centre (5) comprises:
The warehouse-in roller conveying line (51) is arranged at one side of the goods shelf (1) and used for conveying goods to be warehouse-in to the corresponding goods shelf (1) and conveying the goods to be warehouse-out to the warehouse-out operation center (6) during warehouse-out operation;
the jacking transfer machine (52) is arranged on the warehouse-in roller conveying line (51) and is correspondingly arranged at the end part of the goods shelf (1) and used for transferring goods conveyed on the warehouse-in roller conveying line (51) to the end of the goods shelf (1) for clamping by the clamping type mechanical arm (4);
The unpacking manipulator (53) is arranged at the feeding position of the warehouse-in roller conveying line (51) and used for unpacking cargoes to be stored and placing the unpacked cargoes on the warehouse-in roller conveying line (51), and the second appearance detection device (54) is arranged on the warehouse-in roller conveying line (51) and close to one side of a feeding hole and used for detecting the size and the weight of the cargoes placed on the warehouse-in roller conveying line (51);
The second automatic code scanner (55) is arranged on the warehouse-in roller conveying line (51) and used for scanning bar codes of the qualified goods detected by the second shape detection device (54) and sending scanned information to the control center (7);
a buffer conveyor line (56) arranged at one side of the roller conveyor line and used for receiving and buffering cargoes which are not identified by the code scanning of the second automatic code scanner (55), and
And the warehousing rotary turntable (57) is arranged on the warehousing roller conveying line (51) and used for diverting and conveying cargoes which are not identified by the code scanning of the second automatic code scanner (55) to the cache conveying line (56).
7. The intelligent stereoscopic warehouse for accessing finished PCB products in a clamping manner according to claim 6, characterized in that the warehouse-in operation center (5) further comprises:
A belt conveyor line (58) arranged between the ex-warehouse operation center (6) and the warehouse-in roller conveyor line (51) and used for manually placing the mantissa box and conveying the mantissa box to the manual workbench (15);
a third appearance detection device (59) which is arranged at the feed opening of the belt conveyor line (58) and is used for detecting the size and the weight of the goods in the placed mantissa box;
A third automatic code scanner arranged on the belt conveyor line (58) and used for identifying the code scanning of the mantissa box detected by the third appearance detection device (59) and sending the identification information to the control center (7), and
And the feed box buffer zone (501) is arranged at the discharge hole at the side of the belt conveying line (58) and used for buffering a feed box.
8. Intelligent stereoscopic warehouse for accessing finished PCB products, according to claim 7, characterized in that the warehouse-in operation center (5) comprises:
An ex-warehouse roller conveyor line (61) which is in butt joint with the warehouse-in roller conveyor line (51) and is used for conveying goods to be ex-warehouse on the warehouse-in roller conveyor line (51) to an ex-warehouse port;
a fourth shape detection device (62) which is arranged at the feed inlet of the delivery roller conveying line (61) and is used for detecting the shape and weight of the goods to be delivered;
a fourth automatic code scanner (63) which is arranged on the delivery roller conveying line (61) and is used for identifying the code scanning of the fourth shape detection device (62) and transmitting the identified information to the control center (7); the stacking manipulator (64) is arranged at the delivery port of the delivery roller conveying line (61) and is used for performing stacking operation on goods to be delivered;
The automatic warehouse-out machine comprises a warehouse-out roller conveying line (61), a manual operation table (65) which is arranged on the warehouse-out roller conveying line (61) and is positioned between the stacking manipulator (64) and the fourth automatic code scanner (63) and used for carrying out warehouse-out operation by workers, and a warehouse-out rotary turntable (66) which is arranged on the warehouse-out roller conveying line (61) and corresponds to the manual operation table (65) and used for changing the cargo conveying direction.
9. The intelligent stereoscopic warehouse for clamping and holding type access to finished PCB products according to claim 8, characterized in that the belt conveyor line (58) is a double-layer conveyor line, and an upper layer conveyor line of the double-layer conveyor line is used for feeding materials into the cache warehouse rack (12), and when the number of the output mantissas exist, a lower layer conveyor line of the double-layer conveyor line is used for outputting mantissa boxes on the cache warehouse rack (12).
10. A warehousing method based on the intelligent stereoscopic warehouse of claim 9, comprising the steps of:
S1, placing a PCB finished product into a warehouse-in operation center (5), and conveying the PCB finished product to a position corresponding to the goods shelf (1) by the warehouse-in operation center (5) so as to facilitate the operation of the clamping type mechanical arm (4);
S2, a control center (7) controls the clamping type mechanical arm (4) to convey the PCB finished goods sorted and conveyed by the warehouse-in operation center (5) to the corresponding storage positions of the corresponding shelves (1) for storing the PCB finished goods;
S3, inputting order information to the control center (7), so that the control center (7) controls the ex-warehouse operation center (6) to sort cargoes in the order information according to the order information and perform stacking operation;
S4, conveying the stacked clamping plates and materials to the clamping plate buffer storage frame (2) for buffering through the clamping plate lifting device (3), so that goods taking staff can take goods by means of codes.
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| CN112340417B (en) * | 2020-09-17 | 2022-12-09 | 江苏茂屹科技发展有限公司 | Speed chain system and logistics distribution method |
| CN112224735B (en) * | 2020-11-10 | 2025-05-02 | 赛特环球机械（青岛）有限公司 | An intelligent three-dimensional storage and cotton conveying system |
| CN112374016A (en) * | 2020-11-17 | 2021-02-19 | 蓓安科仪（北京）技术有限公司 | Intelligent warehouse goods management method and system |
| CN113184426B (en) * | 2021-04-13 | 2023-02-28 | 浙江亚厦装饰股份有限公司 | Intelligent warehousing management system for assembled built-in products |
| CN113525991B (en) * | 2021-08-03 | 2023-08-08 | 山东科技职业学院 | Three-dimensional intelligent storage conveying equipment and conveying method thereof |
| CN113493084A (en) * | 2021-08-09 | 2021-10-12 | 广东易库智能仓储设备科技有限公司 | Intelligent file cabinet and use method thereof |
| CN114313727B (en) * | 2021-12-20 | 2024-09-27 | 珠海格力智能装备有限公司 | Intelligent warehouse among production processes and control method thereof |
| CN115783809B (en) * | 2022-11-30 | 2024-11-29 | 厦门艾思欧标准砂有限公司 | A buffer conveying device and method based on stacking and depalletizing |
| CN117654903B (en) * | 2024-01-31 | 2024-04-02 | 北京城建集团有限责任公司 | Building material receiving and transmitting system, device and method based on two-dimension code identification |
| CN119660216B (en) * | 2024-12-18 | 2026-01-06 | 史达克智能自动化装备(苏州)有限公司 | A roll material handling system and method |
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