CN120817366B

CN120817366B - An automated storage and retrieval system

Info

Publication number: CN120817366B
Application number: CN202511330159.4A
Authority: CN
Inventors: 王贵卿; 冯艳艳
Original assignee: Cangzhou Dongsheng Plastic Co ltd
Current assignee: Cangzhou Dongsheng Plastic Co ltd
Priority date: 2025-09-17
Filing date: 2025-09-17
Publication date: 2025-11-18
Anticipated expiration: 2045-09-17
Also published as: CN120817366A

Abstract

The invention relates to the technical field of stereoscopic warehouses and discloses an automatic storage stereoscopic warehouse which comprises two warehouse frames symmetrically arranged, wherein a goods taking channel for a stacking robot to walk is reserved between the two warehouse frames, a plurality of sensors are integrated on a sealing cover, and when a lifting control unit drives a sealing cover to move, the sensors can be dynamically inserted into a turnover box to realize real-time parameter acquisition of each independent raw material unit. The data terminal receives and processes the sensor data in real time, and a 'one-box one-file' digital monitoring system is constructed, so that the problem of monitoring lag and data dispersion caused by the fact that a traditional warehouse relies on manual spot inspection or a fixed sensor is thoroughly solved. The sealing cover and the storage box form a relative sealing space, so that the environment interference such as external moisture, dust and the like is effectively isolated, and the sealing cover is particularly suitable for plastic raw materials such as PET granules, color master batches and the like which are easily affected by the environment.

Description

Automatic stereoscopic warehouse stores

Technical Field

The invention relates to the technical field of stereoscopic warehouses, in particular to a storage automatic stereoscopic warehouse.

Background

In the field of plastic bottle production, the storage quality and management efficiency of raw materials (such as PET granules, color master batches and the like) directly influence the production continuity and the product quality. At present, an automatic stereoscopic warehouse is adopted in the industry to realize large-scale storage of different types of raw materials, storage spaces are arranged through warehouse rack matrixes, and raw material transfer is completed in a reserved channel by matching with a palletizing robot, so that the space utilization rate and the operation automation level are improved. The existing stereoscopic warehouse is often focused on physical transportation and position management, has insufficient real-time monitoring capability on the state of raw materials (such as humidity, temperature, stock and the like), still needs manual intervention for unpacking inspection or relies on a fixed environment sensor, and cannot effectively monitor the interior of the raw materials, as disclosed in a paragraph 0105 of patent publication No. CN 222947438U-Chinese patent stereoscopic warehouse, each accommodating cavity can be provided with a temperature sensor, and the temperature sensor can detect the temperature in the current accommodating cavity and send detection results to a controller. Although a temperature sensor is arranged in the storage rack accommodating cavity, the detection object is a cavity environment rather than the raw material itself, similarly, another patent publication No. CN 215930253U-China patent publication discloses a warehouse body with a temperature and humidity control function, wherein a sensor group for monitoring humidity and temperature is arranged in each layer of storage column, and the sensor group comprises a temperature sensor and a humidity sensor for respectively measuring the temperature and the humidity in the warehouse body. The temperature and humidity sensor group is arranged on each layer of storage column, the temperature and humidity sensor group still belongs to space level monitoring, and the temperature and humidity sensor group cannot be embedded into raw materials for in-situ measurement, so that the actual state of the materials is difficult to truly reflect. In addition, the existing stereoscopic warehouse has certain limitation in the aspect of sealing performance, and particularly when plastic raw materials which are easy to influence by environment are stored, the simple cover body structure is difficult to effectively prevent moisture and dust, and the stability of the raw materials is influenced.

Disclosure of Invention

The invention mainly aims to provide a storage automatic stereoscopic warehouse, which aims to solve the problems that the existing automatic stereoscopic warehouse is often focused on physical transportation and position management, has insufficient real-time monitoring capability on the state of raw materials, still needs manual intervention for unpacking inspection or relies on a fixed environmental sensor, and cannot realize independent and accurate monitoring on the internal condition of each raw material turnover box.

In order to achieve the above purpose, the invention provides a storage automatic stereoscopic warehouse, which comprises two warehouse frames symmetrically arranged, wherein a goods taking channel for a palletizing robot to walk is reserved between the two warehouse frames;

a plurality of rectangular storage boxes are fixedly arranged on each warehouse rack in a matrix manner, one side of each storage box is provided with an opening facing to the goods taking channel, a sealing cover for covering the turnover box is arranged in each storage box, and the sealing cover is connected with a control unit for driving the storage boxes to move and lift;

The sealing cover is provided with a plurality of sensors, and the sensors can be inserted in the turnover box through lifting of the sealing cover and are communicated with the data terminal.

Preferably, the data terminal is a PC computer.

In a preferred embodiment, the sensor is a fill level sensor or a humidity sensor or a temperature sensor.

The optimal scheme is that a scanning gun is arranged on the palletizing robot, a mounting plate is vertically and fixedly arranged on each storage box, a two-dimensional code or a bar code is attached to the mounting plate, and the scanning gun and the data terminal are communicated with each other.

In a preferred embodiment, the control unit comprises two symmetrically arranged control elements and a mobile plate;

The two control pieces are symmetrically arranged on the opposite inner side walls of the storage box and comprise a straight rail, a flat plate, a fixed plate, a lifting plate and two hinged plates;

The straight rails are fixedly arranged on the inner side walls of the storage box along the length direction of the storage box, two ends of the moving plate are movably inserted on the two straight rails, and a notch is formed in one side wall of the moving plate;

The bottom end of the fixed plate is fixedly connected with the movable plate, and the top end of the lifting plate is fixedly connected with one end of the sealing cover which is horizontally arranged;

Two hinged plates are arranged in parallel along the height direction of the storage box, and two ends of each hinged plate are hinged with the fixed plate and the lifting plate respectively;

the flat plate is fixedly arranged on the inner side wall of the storage box and provided with a Z-shaped groove, and the flat plate is positioned right above the straight rail;

a guide post is fixedly arranged on the upper hinged plate, one end of the guide post, which is far away from the hinged plate, is movably inserted into the Z-shaped groove, and is positioned at the middle upper part of the upper hinged plate;

the bottom wall of the storage box is provided with a notch which is communicated with the opening.

The top wall of the movable plate is fixedly provided with an L-shaped plate, one end of the L-shaped plate, which is far away from the movable plate, is positioned right above the notch, and two sides of the L-shaped plate form an inserting space, and the inserting space, the notch and the notch are sequentially communicated from top to bottom;

The stacking robot is fixedly provided with a lifting plate for lifting the turnover box, the lifting plate is fixedly provided with a pulling plate, and the pulling plate can sequentially pass through the notch, the notch and the inserting space;

the bottom wall of the moving plate is fixedly connected with the mounting plate;

the scanning gun is mounted on the lifting plate.

The sealed lid is the rectangular plate body, and the holding tank is seted up to the diapire of rectangular plate body, fills the flexible sheet in the holding tank, and the flexible sheet can be covered and establish on the turnover case.

In a preferred scheme, each storage box is further provided with a clamping unit, and the clamping unit comprises a screw rod, a guide rod and two clamping arms;

the lead screw and the guide rod are all arranged along the width direction of the storage box, the clamping arms are sleeved with the lead screw and the guide rod, the top ends of the two clamping arms are slidably arranged on the guide rod, and the two clamping arms are located on the storage box and between the opening and the control unit.

The both ends of lead screw are left rotatory section and right rotatory section respectively, and the top of two centre gripping arms is the spiro union cover respectively and is established on left rotatory section and right rotatory section, and the lead screw is changeed to establish and is depositing on the case set up both sides wall relatively, and one end wears out to deposit the case and connect and be used for driving its rotatory actuating mechanism, and the both ends of guide bar set firmly in depositing the case and set up the lateral wall relatively.

Preferably, the driving mechanism comprises a driving pulley, a rack and a belt;

The rack is fixedly arranged on the top wall of the movable plate along the length of the storage box, a rotating shaft is rotatably arranged on one side wall of the storage box, one end of the rotating shaft is fixedly sleeved with a spur gear, the spur gear is meshed with the rack, the other end of the rotating shaft penetrates out of the storage box to fixedly sleeve a driving leather wheel, one end of the screw rod is coaxially abutted to a connecting shaft, the connecting shaft is fixedly sleeved with a driven leather wheel, and the driving leather wheel and the driven leather wheel are sleeved with a belt.

The beneficial effects of the scheme are as follows:

The sealing cover is integrated with a plurality of sensors (such as humidity, temperature and material level sensors), and when the lifting control unit drives the sealing cover to move, the sensors can be dynamically inserted into the turnover box, so that real-time parameter acquisition of each independent raw material unit is realized. The data terminal receives and processes the sensor data in real time, and a 'one-box one-file' digital monitoring system is constructed, so that the problem of monitoring lag and data dispersion caused by the fact that a traditional warehouse relies on manual spot inspection or a fixed sensor is thoroughly solved. The sealing cover and the storage box form a relative sealing space, so that the environment interference such as external moisture, dust and the like is effectively isolated, and the sealing cover is particularly suitable for plastic raw materials such as PET granules, color master batches and the like which are easily affected by the environment. Compared with the traditional open type storage or simple cover body structure, the scheme has the advantages that the storage stability of raw materials is remarkably improved through the active sealing design, the problems of raw material oxidation, caking, color crosstalk and the like caused by environmental factors are reduced, and the quality consistency of products formed by subsequent blow molding is guaranteed. The data terminal, the sensor and the control unit form a closed-loop control system, and the raw material loss is reduced and the frequency of manual intervention is reduced through sealed storage and accurate monitoring.

Drawings

The invention will be described in further detail with reference to the drawings and the detailed description.

FIG. 1 is a schematic diagram of the front view of the present invention;

FIG. 2 is a schematic perspective view of a warehouse rack of the present invention;

FIG. 3 is a schematic perspective view of the storage case of the present invention;

FIG. 4 is a schematic perspective view of the storage case of the present invention in a first sectional view;

FIG. 5 is a schematic perspective view of a second sectional view of the storage case of the present invention;

FIG. 6 is a schematic perspective view of the storage bin plus lifting plate of the present invention in a first cross-sectional view;

FIG. 7 is a schematic perspective view of a second cross-sectional view of the storage bin plus lifting plate of the present invention;

fig. 8 is a communication diagram of the present invention.

Description of the reference numerals

1. Warehouse rack, 10, turnover box, 2, palletizing robot, 21, lifting plate, 22, pulling plate, 3, picking channel, 4, storage box, 40, opening, 41, opening, 5, sealing cover, 501, containing groove, 502, flexible plate, 51, control unit, 52, sensor, 53, control part, 54, moving plate, 55, L-shaped plate, 56, inserting space, 530, straight rail, 531, flat plate, 532, fixing plate, 533, lifting plate, 534, hinged plate, 541, notch, 5310, Z-shaped groove, 535, guide post, 6, data terminal, 7, scanning gun, 8, mounting plate, 81, two-dimensional code, 9, clamping unit, 91, screw, 92, guide rod, 93, clamping arm, 910, left rotating section, 911, right rotating section, 94, driving mechanism, 942, rack, 943, belt, 944, rotating shaft, 945, spur gear, 946, driving leather wheel, 947, connecting shaft, 948, driven leather wheel.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.

First embodiment:

As shown in fig. 1 to 8, the present embodiment provides a storage automation stereoscopic warehouse, which includes two warehouse racks 1 symmetrically arranged, and a pickup channel 3 for a palletizing robot 2 to walk is reserved between the two warehouse racks 1. A plurality of rectangular storage boxes 4 are fixedly arranged on each warehouse rack 1 in a matrix mode, an opening 40 facing the goods taking channel 3 is formed in one side of each storage box 4, a sealing cover 5 for covering the turnover box 10 is arranged in each storage box 4, and the sealing cover 5 is connected with a control unit 51 for driving the storage boxes to move and lift. The existing turnover box 10 is a rectangular box body with an opening at the top (i.e. the top of the rectangular turnover box is of an opening structure), as shown in fig. 7, wherein a plurality of sensors 52 are arranged on the sealing cover 5, and the sensors 52 are a material level sensor or a humidity sensor or a temperature sensor. The plurality of sensors 52 can be inserted into the turn-around box 10 by lifting up and down through the sealing cover 5, and the plurality of sensors 52 communicate with the data terminal 6. The data terminal 6 is a PC computer.

The sealing cover 5 is integrated with a plurality of sensors 52 (such as humidity, temperature and material level sensors), and when the lifting control unit 51 drives the sealing cover 5 to move, the sensors 52 can be dynamically inserted into the turnover box 10, so that real-time parameter acquisition of each independent raw material unit is realized. The data terminal 6 receives and processes the data of the sensor 52 in real time, and a 'one-box one-file' digital monitoring system is constructed, so that the problems of monitoring lag and data dispersion caused by the fact that a traditional warehouse relies on manual spot inspection or a fixed sensor 52 are thoroughly solved. The sealing cover 5 and the storage box 4 form a relative sealing space, so that the environment interference such as external moisture, dust and the like is effectively isolated, and the plastic material is particularly suitable for PET granules, color master batches and the like which are easily affected by the environment. Compared with the traditional open type storage or simple cover body structure, the scheme has the advantages that the storage stability of raw materials is remarkably improved through the active sealing design, the problems of raw material oxidation, caking, color crosstalk and the like caused by environmental factors are reduced, and the quality consistency of products formed by subsequent blow molding is guaranteed. The data terminal 6, the sensor 52 and the control unit 51 form a closed-loop control system, and the raw material loss is reduced and the frequency of manual intervention is reduced through sealed storage and accurate monitoring.

As shown in fig. 4 and 7, the palletizing robot 2 is provided with a scanning gun 7, each storage box 4 is vertically and fixedly provided with a mounting plate 8, the mounting plate 8 is attached with a two-dimensional code 81 or a bar code, and the scanning gun 7 and the data terminal 6 are communicated with each other. When the scanning gun 7 carried by the palletizing robot 2 moves in the goods taking channel 3, the two-dimensional code 81 on the mounting plate 8 of the storage box 4 can be scanned in real time, and the accurate positioning of one box and one code is realized. The data terminal 6 can rapidly verify the types (such as PET granules and color master batches), batches and storage states of the raw materials in the storage box 4 by comparing the scanning result with preset inventory information, so that the robot is prevented from taking or mixing materials by mistake, and the method is particularly suitable for strict control scenes of multi-color and multi-formula raw materials in plastic bottle production.

As shown in fig. 3 to 7, the control unit 51 includes two symmetrically disposed control members 53 and a moving plate 54. The two control members 53 are symmetrically disposed on opposite inner side walls of the storage case 4, and each control member 53 includes a straight rail 530, a flat plate 531, a fixing plate 532, a lifting plate 533, and two hinge plates 534. The straight rails 530 are fixedly arranged on the inner side walls of the storage box 4 along the length direction of the storage box 4, two ends of the moving plate 54 are movably inserted on the two straight rails 530, and a notch 541 is formed in one side wall of the moving plate 54. The bottom end of the fixing plate 532 is fixedly connected to the moving plate 54, and the top end of the elevating plate 533 is fixedly connected to one end of the horizontally disposed sealing cover 5. Two hinge plates 534 are arranged in parallel in the height direction of the storage box 4, and both ends of each hinge plate 534 are hinged with the fixing plate 532 and the elevating plate 533, respectively. The flat plate 531 is fixedly arranged on the inner side wall of the storage box 4, the flat plate 531 is provided with a Z-shaped groove 5310, and the flat plate 531 is positioned right above the straight rail 530. A guide post 535 is secured to the upper hinge plate 534, and an end of the guide post 535 remote from the hinge plate 534 is movably inserted into the Z-shaped slot 5310 with the guide post 535 located in the upper middle portion of the upper hinge plate 534. The bottom wall of the storage box 4 is provided with a notch 41, and the notch 41 is communicated with the opening 40. The sealed lid 5 is the rectangular plate body, and holding tank 501 is seted up to the diapire of rectangular plate body, fills flexible board 502 in the holding tank 501, and flexible board 502 can be covered and establish on turnover case 10. The design of the flexible plate 502 increases the tightness of the sealing cover 5.

An L-shaped plate 55 is fixedly arranged on the top wall of the movable plate 54, one end of the L-shaped plate 55, which is far away from the movable plate 54, is positioned right above the notch 541, and inserting spaces 56 are formed on two sides of the L-shaped plate 55, and the inserting spaces 56, the notch 541 and the notch 41 are sequentially communicated from top to bottom. The stacking robot 2 is fixedly provided with a lifting plate 21 for lifting the turnover box 10, the lifting plate 21 is fixedly provided with a pulling plate 22, and the pulling plate 22 can sequentially pass through the notch 41, the notch 541 and the inserting space 56. The bottom wall of the moving plate 54 is fixedly connected with the mounting plate 8. The scanning gun 7 is mounted on a lift plate 21.

The initial position moving plate 54 is positioned at the open end of the storage box 4 and the guide posts 535 are positioned at the horizontal beginning of the Z-shaped slot 5310 of the plate 531 (i.e., near the open end of the storage box 4). At this time, the lifting plate 533 is located at the highest point, and the sealing cover 5 is located at a high position in the storage box 4, so that a space is reserved for storing the turnover box 10. The palletizing robot 2 carries the turnover box 10 to the opening of the storage box 4, and accurately positions the turnover box 10 above the notch 541 of the moving plate 54, so as to ensure that the turnover box 10 abuts against one end of the L-shaped plate 55. The palletizing robot 2 continues to push the turnover box 10 into the storage box 4, and friction force is generated between the bottom of the turnover box 10 and the moving plate 54 to drive the moving plate 54 to translate along the straight rails 530 on two sides into the storage box 4. Both ends of the moving plate 54 are guided by the straight rails 530 to maintain horizontal rectilinear motion, avoiding offset. When the moving plate 54 translates, the fixed plate 532 fixed at the bottom translates synchronously with the moving plate 54, and the fixed plate 532 forms a four-bar mechanism with the lifting plate 533 through the two hinge plates 534. At this point, the guide posts 535 of the upper hinge plate 534 begin to disengage from the horizontal beginning section of the Z-slot 5310 and enter the angled slot section. The guide posts 535 move along the inclined section of the Z-shaped slot 5310 and the lifting plate 533 descends, and the guide posts 535 slide obliquely downwards in the inclined section of the Z-shaped slot 5310, forcing the upper hinge plate 534 to rotate about its hinge points with the fixed plate 532 and the lifting plate 533. The lifting plate 533 starts to vertically descend. At this time, the sealing cover 5 moves down synchronously with the lifting plate 533 and gradually approaches the top opening of the turnover box 10. When the guide posts 535 slide to the end of the angled section of the Z-shaped slot 5310 and enter the horizontal terminating section, the lifting plate 533 bottoms out. At this time, the sealing cover 5 just completely covers the top opening of the turnover box 10, so as to form a sealing space. Through the ingenious combination of the four hinging rods and the Z-shaped groove 5310, the structure control unit 51 automatically and reliably converts the horizontal pushing action of the turnover box 10 into the vertical descending sealing action of the sealing cover 5, and an additional independent driving source is not needed, so that the structure is compact, and the action is smooth.

The scanning gun 7 on the lifting plate 21 on the palletizing robot is first aligned with the mounting plate 8 fixed on the target storage box 4, and scans the two-dimensional code 81 thereon. The scanning data are transmitted to the data terminal 6 in real time for secondary verification, and the raw material information in the current storage box 4 is confirmed to be consistent with the instruction requirement. After verification, the palletizing robot executes the next step. The robot controls the lifting plate 21 to rise, so that the pulling plate 22 fixedly arranged on the lifting plate 21 is accurately aligned with the notch 41 of the bottom wall of the storage box 4, and the pulling plate 22 sequentially passes through the notch 41 and the notch and finally enters the insertion space 56 formed by the L-shaped plate 55 and the top wall of the movable plate 54. The lifting plate 21 of the palletizing robot starts to move backward. Since the pulling plate 22 has been inserted in the insertion space 56, the pulling force of the lifting plate 21 of the palletizer robot to retreat is transmitted to the moving plate 54 through the pulling plate 22. The moving plate 54 is translated from the inside of the storage box 4 to the opening direction along the straight rails 530 on both sides by the tensile force. Translation of the moving plate 54, through a four bar linkage consisting of the fixed plate 532, the hinged plate 534 and the lifting plate 533, drives the guide posts 535 to slide back into the flat starting section from the horizontal ending section through the inclined section in the Z-shaped slot 5310 of the flat plate 531. The lifting plate 533 is lifted, and the sealing cover 5 fixed with the lifting plate is lifted stably, and is separated from the top of the turnover box 10, so that the top opening of the turnover box 10 is opened for taking out. The transfer case 10 carried by the moving plate 54 is also pulled toward the opening of the storage case 4 together with the moving plate 54. When the moving plate 54 is pulled back completely to the initial position, the sealing cover 5 is raised to the highest point, and the transfer box 10 is also brought completely to a position where it is convenient to grasp. The palletizing robot controls the lifting plate 21 to descend, so that the bottom of the turnover box 10 completely falls on the lifting plate 21, and bearing is realized. The palletizing robot 2 carries the taken-out turnover box 10, drives out of the goods taking channel 3 and goes to the next destination (such as a feeding point of a production line) to finish the goods taking task. The lifting action of the sealing cover depends on the movement of the turnover box, so that no extra electric energy or compressed air is consumed, and the cost is reduced. Particularly in a large-scale storage scene, the whole energy consumption can be obviously reduced by long-term operation, and the operation cost of enterprises is reduced.

Second embodiment:

As shown in fig. 5 and 6, a clamping unit 9 is further provided on each storage box 4, and the clamping unit 9 includes a screw 91, a guide rod 92, and two clamping arms 93. The lead screw 91 and the guide rod 92 are arranged along the width direction of the storage box 4, the clamping arms 93 are sleeved with the lead screw 91 and the guide rod 92, the top ends of the two clamping arms 93 are slidably arranged on the guide rod 92, and the two clamping arms 93 are positioned on the storage box 4 and between the opening and the control unit 51. The both ends of lead screw 91 are left rotatory section 910 and right rotatory section 911 respectively, and the top of two centre gripping arms 93 spiro union cover is established on left rotatory section 910 and right rotatory section 911 respectively, and lead screw 91 changes to be established on depositing case 4 relatively sets up both sides wall, and the one end of lead screw 91 wears out to deposit case 4 and connects and be used for driving its rotatory actuating mechanism 94, and the both ends of guide bar 92 set firmly at depositing case 4 relatively sets up the lateral wall. The drive mechanism 94 includes a drive pulley 946, a rack 942, and a belt 943. The rack 942 is fixedly arranged on the top wall of the movable plate 54 along the length of the storage box 4, a rotating shaft 944 is rotatably arranged on one side wall of the storage box 4, one end of the rotating shaft 944 is fixedly sleeved with a spur gear 945, the spur gear 945 is meshed with the rack 942, the other end of the rotating shaft 944 penetrates out of the storage box to fixedly sleeve a driving leather wheel 946, one end of the screw 91 is coaxially abutted to a connecting shaft 947, the connecting shaft 947 is fixedly sleeved with a driven leather wheel 948, and the driving leather wheel 946 and the driven leather wheel 948 are sleeved with a belt 943.

The working flow of the embodiment is that the palletizing robot 2 pushes the turnover box 10 into the storage box 4, the turnover box 10 abuts against the L-shaped plate 55 to move, and the moving plate 54 is driven to translate along the straight rail 530 into the storage box 4. As the moving plate 54 moves inward, the rack 942 fixed to the top wall thereof moves synchronously therewith. The rack 942 engages the spur gear 945, which rotates the spur gear 945. Rotation of the spur gear 945 is transmitted to the driving pulley 946 at the other end through the rotation shaft 944. The driving pulley 946 transmits the rotational movement to the driven pulley 948 via the belt 943, thereby driving the connecting shaft 947 to rotate with the screw 91. The screw 91 is designed to have opposite threaded sections (i.e., left and right rotational sections 910 and 911) at both ends. The top ends of the two clamping arms 93 are respectively screwed on the two sections of threads, and the top ends of the two clamping arms are simultaneously sleeved on the guide rod 92 in a sliding manner, and the guide rod 92 ensures that the clamping arms 93 can only move linearly and cannot rotate along with the screw rod 91. When the screw 91 is rotated, the two clamping arms 93 screwed thereto move simultaneously toward the middle along the guide bar 92 due to the opposite directions of the threads at both ends. At this stage, the rotational direction of the screw 91 is designed to drive the two clamp arms 93 toward the middle. At this time, the transfer case 10 is being pushed in, and the two holding arms 93 are just drawn together from both sides simultaneously, and hold the upper middle portion or the predetermined holding portion of the transfer case 10 stably. When the moving plate 54 reaches the innermost position and the sealing cover 5 is completely covered, the clamping arms 93 also reach the end point of the clamping stroke, the turnover box 10 is accurately fixed on the central position of the width of the storage box 4, and the turnover box is clamped by the two clamping arms, so that the purpose of fixing the turnover box is realized.

When palletizer robot 2 needs to pick, it pulls plate 22 to hook moving plate 54 and pull it outwards. The component reverse movement shifting plate 54 moves outwards, driving the rack 942 to move in reverse, which in turn drives all of the spur gear 945, the spindle 944, the driving pulley 946, the belt 943, the driven pulley 948 and the lead screw 91 to rotate in reverse. When the movable plate 54 is completely reset, the clamping arms 93 are also completely opened to the maximum position by synchronously releasing the clamping arms 93, so that space is reserved for taking out the turnover box 10, and no interference is generated. Since the clamping action is entirely dependent on the kinetic energy of movement of the moving plate 54, no additional electric energy or compressed air is consumed, and the cost is reduced. Particularly in a large-scale storage scene, the whole energy consumption can be obviously reduced by long-term operation, and the operation cost of enterprises is reduced. The stable clamping of the upper part or the preset part of the turnover box 10 by the clamping arm 93 can counteract multiple interference factors, namely, slight vibration (such as the passing of other robots and the running of equipment) in the warehouse environment and slight pressure when the sealing cover 5 descends. If the transfer container 10 is deviated due to such disturbances, gaps are likely to occur between the seal cover 5 and the top opening of the transfer container 10, and external moisture and dust invasion (particularly, for raw materials such as PET pellets and color concentrates which are susceptible to environmental influences) are further caused. The clamping and fixing ensures that the box body is always aligned with the sealing cover 5 accurately, the risk of sealing failure is thoroughly eliminated, and the storage stability of raw materials is ensured.

Other embodiments:

Each sensor 52 is fixedly mounted by a carrier rod perpendicular to the sealing cap 5, the detection end of which is located at the end of the carrier rod. In each storage compartment 4, an infrared generator is mounted at the end of an optional carrier bar, which infrared generator is in communication with the data terminal 6.

When the sealing cover 5 descends so that the infrared ray generator enters the inside of the circulation box 10, the infrared ray beam emitted by the infrared ray generator is blocked by the wall of the circulation box 10 or the raw material. This blocked state is detected by the infrared generator and immediately a trigger signal is sent to the data terminal 6. After receiving this signal, the data terminal 6 determines that the set of sensors 52 has arrived correctly at the operating position, and then sends an instruction to all the sensors 52 in the storage box 4 to start the detection operation thereof.

In addition, all the sensors 52 are driven by the sealing cover 5, and the movement track of the sensors is inclined straight downward. This unique pattern of motion allows the sensor 52 to traverse different spatial levels within the transfer case 10 during descent, thereby allowing for efficient detection of parameters at multiple different locations within the sensor, and improving the comprehensiveness and representativeness of the measurement.

It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Claims

1. The automatic storage stereoscopic warehouse is characterized by comprising two warehouse frames which are symmetrically arranged, wherein a goods taking channel for a palletizing robot to walk is reserved between the two warehouse frames;

A plurality of rectangular storage boxes are fixedly arranged on each warehouse rack in a matrix manner, one side of each storage box is provided with an opening facing the goods taking channel, a sealing cover used for covering the turnover box is arranged in each storage box, and the sealing cover is connected with a control unit used for driving the storage boxes to move and lift;

The sealing cover is provided with a plurality of sensors, and the sensors can be inserted into the turnover box through lifting of the sealing cover and are communicated with the data terminal;

the stacking robot is provided with a scanning gun, each storage box is vertically and fixedly provided with a mounting plate, two-dimensional codes or bar codes are attached to the mounting plates, and the scanning gun is communicated with the data terminal;

the control unit arranged on the storage box comprises two control pieces and a moving plate which are symmetrically arranged;

the two control pieces are symmetrically arranged on the opposite inner side walls of the storage box and comprise straight rails, flat plates, fixed plates, lifting plates and two hinged plates;

the straight rails are fixedly arranged on the inner side walls of the storage box along the length direction of the storage box, two ends of the moving plate are movably inserted on the two straight rails, and a notch is formed in one side of the moving plate;

The two hinged plates are arranged in parallel along the height direction of the storage box, and two ends of each hinged plate are hinged with the fixing plate and the lifting plate respectively;

The bottom wall of the storage box is provided with a notch, and the notch is communicated with the opening.

2. A storage automated stereoscopic warehouse according to claim 1, wherein the data terminal is a PC computer.

3. A storage automated stereoscopic warehouse according to claim 1, wherein the sensor is a level sensor or a humidity sensor or a temperature sensor.

4. The automated stereoscopic warehouse for storage according to claim 1, wherein an L-shaped plate is fixedly arranged on the top wall of the movable plate, one end of the L-shaped plate, which is far away from the movable plate, is positioned right above the notch, and insertion spaces are formed on two sides of the L-shaped plate, and the insertion spaces, the notch and the notch are sequentially communicated from top to bottom;

the scanning gun is mounted on the lifting plate.

5. The automated stereoscopic warehouse according to claim 1, wherein the sealing cover is a rectangular plate body, the bottom wall of the rectangular plate body is provided with a containing groove, a flexible plate is filled in the containing groove, and the flexible plate can be covered on the turnover box.

6. The automated stereoscopic warehouse according to claim 1, wherein each storage bin is further provided with a clamping unit comprising a screw, a guide bar and two clamping arms;

The lead screw and the guide rod are arranged along the width direction of the storage box, the two guide rods are sleeved with clamping arms, the top ends of the two clamping arms are arranged on the guide rod in a sliding mode, and the two clamping arms are positioned on the storage box and between the opening and the control unit;

The two ends of the screw rod are respectively a left rotating section and a right rotating section, the top ends of the clamping arms are respectively sleeved on the left rotating section and the right rotating section in a threaded manner, the screw rod is rotatably arranged on two opposite side walls of the storage box, one end of the screw rod penetrates out of the storage box to be connected with a driving mechanism for driving the storage box to rotate, and two ends of the guide rod are fixedly arranged on the opposite side walls of the storage box.

7. The storage automated stereoscopic warehouse of claim 6, wherein the drive mechanism comprises a drive pulley, a rack, and a belt;

the rack is fixedly arranged on the top wall of the movable plate along the length of the storage box, a rotating shaft is rotatably arranged on one side wall of the storage box, a spur gear is fixedly sleeved at one end of the rotating shaft and meshed with the rack, the other end of the rotating shaft penetrates out of the storage box and is fixedly sleeved with the driving leather wheel, one end of the screw rod is coaxially abutted to a connecting shaft, the connecting shaft is fixedly sleeved with the driven leather wheel, and the driving leather wheel and the driven leather wheel are sleeved with the belt.