CN105151626A - Warehouse-type automatic storing/taking equipment and storing/taking method - Google Patents
Warehouse-type automatic storing/taking equipment and storing/taking method Download PDFInfo
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- CN105151626A CN105151626A CN201510561655.0A CN201510561655A CN105151626A CN 105151626 A CN105151626 A CN 105151626A CN 201510561655 A CN201510561655 A CN 201510561655A CN 105151626 A CN105151626 A CN 105151626A
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Abstract
The invention discloses warehouse-type automatic storing/taking equipment and a storing/taking method. The warehouse-type automatic storing/taking equipment overcomes the defects that a conventional express storing/taking cabinet is low in space utilization rate, inconvenient to operate and high in requirements for placing environment. The automatic storage equipment disclosed by the invention is characterized by comprising the following steps: a robot for carrying objects is arranged in a case body, wherein the robot comprises a robot control system; a touch display screen comprises a storing/taking operation control system, and a storing/taking opening and the robot control system are connected with the storing/taking operation control system; after the storing/taking operation control system receives an instruction input through the touch display screen, the storing/taking opening is controlled to be opened or closed; besides, the movement of the robot is controlled by the robot control system, so that the objects can be carried to and fro between the storing/taking opening and a goods shelf. The storing/taking equipment disclosed by the invention has the advantages that the height of the storing/taking equipment is not limited, the space utilization rate can be effectively increased, and the requirements for the placing environment are reduced; besides, an operating surface occupies a small space, so that the objects are convenient to store and take.
Description
Technical field
The present invention relates to object access arrangement field, specifically a kind of warehouse style automation access arrangement and access method (AM).
Background technology
Ecommerce in recent years obtains the development of advancing by leaps and bounds, and in the middle of this process, mode for reforming and the technology innovation of logistics express delivery industry are performed meritorious deeds never to be obliterated, particularly the universal last one kilometer dispensing problem solving express delivery industry to a great extent of the self-service access cabinet of express mail.
Current access cabinet forms primarily of several unit cabinets not of uniform size.After service is selected by the side of depositing, the control center of access cabinet identifies empty unit cabinet and opens cabinet door, puts into express mail for the side of depositing; Subsequently, control center generates extraction code; Input extraction code to control center during the side's of getting pickup, specify cabinet door to open, complete pickup.
People's ordinary practice, in the unit cabinet using height at 0.5 ~ 1.5 meter, therefore, in order to serve most ordinary people, accessing the height-limited of cabinet, being usually arranged on less than 2 meters.Nonetheless, access too high or too low unit cabinet Occupation coefficient cashier's office in a shop still very low, cause space waste to a certain degree, and also there is waste to the idle space of place overhead room in indoor access cabinet top.On the other hand, user, when accessing article, generally for the height of engagement unit cabinet cabinet door, needs to stand on tiptoe or squat down, operation effort.In addition, this access cabinet needs the tiling of the cabinet door of all unit cabinets to show, so that user is for different units cabinet access express mail, the space that whole operating surface takies is very large, is only applicable to the ground such as the larger office building hall of area, high to the requirement of placing environment.
Summary of the invention
Technical matters to be solved by this invention is the defect overcoming the existence of above-mentioned prior art, a kind of warehouse style automation access arrangement and access method (AM) are provided, make the height of access arrangement no longer limited, effectively can improve space availability ratio, and the requirement reduced placing environment, meanwhile, the space that operating surface takies is little, is convenient to user and accesses object.
For this reason, the technical solution used in the present invention is as follows:
Warehouse style automation access arrangement, comprise casing and be arranged on the touch display screen on casing, technical characteristic is,
Described casing is provided with one for accessing the access port of object, arranges multiple shelf for depositing object in casing;
Be provided with one in described casing for carrying the robot of object, this robot comprises a robot control system, and described touch display screen comprises an access con trol system, and access port, robot control system are all connected with access con trol system;
After access con trol system receives the instruction via touch display screen input, control the keying of access port, simultaneously by the motion of robot control system control, realize the back and forth carrying of object between access port and shelf.
The side of depositing and the side of getting are after touch display screen assigns instruction, all only need deposit at set access port or take object away, realize the transfer of object by the robot in casing and put in order, make the height of access arrangement, shape all no longer limited, effectively improve the degree of utilization in space, meanwhile, the space that operating surface takies is little, reduce access arrangement to the requirement of placing environment, be also convenient to user's operation.
As improvement, described robot control system comprises main control computer, shelf map module, for determining the position transduser of robot location and the infrared pickoff for detecting the object on shelf, shelf map module, position transduser, infrared pickoff are all connected with main control computer.This setting, robot location's information that position transduser can be measured by the main control computer in robot control system and shelf map module contrast, the more accurately stroke of control, command it to arrive assigned address; Infrared pickoff then for measuring on shelf assigned address whether have article, and can determine the subsequent operating state of robot according to result of a measurement.
As improvement, described access con trol system comprises man machine operation interface, for storing data bank and the communication module of daily record of work; Described man machine operation interface comprises storage module, extraction module and enquiry module.This setting, makes shelf location status, accessing operation daily record, robot controlling instruction and system cloud gray model daily record all can be stored in data bank, and information more comprehensively, accurately; Communication module is connected with robot control system, operates the instruction of depositing or extracting of man machine operation interface generation for transmitting user.
As improvement, described access port is provided with an auto door be connected with access con trol system, the open and close under the control of access con trol system of this auto door, thus realizes the keying of access port.This setting, makes access port safer, and access object is more convenient.
One as robot is improved, and described machine people is revolute robot, and it comprises some sections of connecting arms, arranges rotary joint between two sections of adjacent connecting arms.This setting, makes robot can capture object from any one direction neatly.
Another kind as robot improves, the artificial rail mounted robot of described machine; Be provided with some tracks in described casing, robot be provided with track with the use of sliding shoe, described sliding shoe can along tracks travel under the driving of motor; Described robot is also provided with the rotary components be convenient to robot and rotated.This setting, makes the action radius expanded of robot, the high-capacity access arrangement of convenient structure.
As improvement, described shelf are also provided with the temperature control district for placing the object to ambient temperature sensitivity, described temperature control district is provided with the electric partition door be connected with access con trol system.This setting, makes both can deposit common objects in access arrangement, also can by arranging the temperature control district of refrigeration, freezing, insulation etc., deposits the object to ambient temperature sensitivity such as fresh, medical.
As improvement, described access port arranges infradred sensor, weight sensor, size detection sensor and liquid detection sensor.This setting, whether access port can be detected by infradred sensor has object to put into, and then, come to object on measured weight by weight sensor, length equidimension is measured to object by size detection sensor, whether be liquid, thus carry out subregion to object and put in order and deposit if can also detect object by liquid detection sensor, make object putting in order in casing more reasonable.
As improvement, described access port arranges a camera.This setting, camera can be monitored, and the object turnover in access port is live, the true authority being placed into as object or taking out.
The access method (AM) of warehouse style automation access arrangement, it comprises the following steps:
1) side of depositing selects service by touch display screen in access con trol system, and access con trol system sends control signals to access port, opens access port; After the side of depositing puts into object, close access port;
2) access con trol system to robot control system send deposit instruction, robot control system control by Articles transfer on shelf, and to access con trol system send deposit complete signal;
3) access con trol system generates extraction code and is presented on touch display screen, and after the side of depositing confirms, access con trol system returns initial condition;
4) after the side of getting obtains object extraction code, by touch display screen selective extraction service in access con trol system;
5) access con trol systems inspection data bank, and send extract signal to robot control system, robot control system control by the Articles transfer on shelf to access port, and to access con trol system send extraction complete signal;
6) access con trol system sends signal to access port, and access port is opened; After the side of getting takes object away, close access port, access con trol system update data bank also restPoses.
The operation of this access method (AM) is compared convenient compared with prior art.
The beneficial effect that the present invention has is: the first, and the side of depositing and the side of getting, after touch display screen assigns instruction, all only need deposit at set access port or take object away, easy to operate, without the need to bending in order to the height of engagement unit cabinet, squatting down or feet; Realize the transfer of object by the robot in casing and put in order, making the height of access arrangement, shape all no longer limited, effectively improve the degree of utilization in space, meanwhile, the space that operating surface takies is little, reduces access arrangement to the requirement of placing environment.
Accompanying drawing explanation
Fig. 1 is diagram of circuit of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Warehouse style automation access arrangement, comprises casing and is arranged on the touch display screen on casing.Described casing is provided with one for accessing the access port of object, arranges multiple shelf for depositing object in casing.
Be provided with one in described casing for carrying the robot of object, this robot comprises a robot control system, and described touch display screen comprises an access con trol system, and access port, robot control system are all connected with access con trol system.After access con trol system receives the instruction via touch display screen input, control the keying of access port, simultaneously by the motion of robot control system control, realize the back and forth carrying of object between access port and shelf.
Described robot control system comprises main control computer, shelf map module, for determining the position transduser of robot location and the infrared pickoff for detecting the object on shelf, shelf map module, position transduser, infrared pickoff are all connected with main control computer.Robot location's information that position transduser can be measured by the main control computer in robot control system and shelf map module contrast, the more accurately stroke of control, command it to arrive assigned address; Infrared pickoff then for measuring on shelf assigned address whether have object, and can determine the subsequent operating state of robot according to result of a measurement.
Described access con trol system comprises man machine operation interface, for storing data bank and the communication module of daily record of work; Described man machine operation interface comprises storage module, extraction module and enquiry module.Shelf location status, accessing operation daily record, robot controlling instruction and system cloud gray model daily record all can be stored in data bank, and information more comprehensively, accurately; Communication module is connected with robot control system, operates the instruction of depositing or extracting of man machine operation interface generation for transmitting user.
Described access port is provided with an auto door be connected with access con trol system, the open and close under the control of access con trol system of this auto door, thus realizes the keying of access port.
Described robot can be revolute robot, and it comprises some sections of connecting arms, arranges rotary joint between two sections of adjacent connecting arms.Described robot also can be rail mounted robot; Be provided with some tracks in described casing, robot be provided with track with the use of sliding shoe, described sliding shoe can along tracks travel under the driving of motor; Described robot is also provided with the rotary components be convenient to robot and rotated.
Described shelf are also provided with the temperature control district for placing the object to ambient temperature sensitivity, described temperature control district is provided with the electric partition door be connected with access con trol system.By arranging the temperature control district of refrigeration, freezing, insulation etc., deposit the object to ambient temperature sensitivity such as fresh, medical.
Described access port arranges infradred sensor, weight sensor, size detection sensor and liquid detection sensor.Whether access port can be detected by infradred sensor has article to put into, and then, come to object on measured weight by weight sensor, length equidimension is measured to object by size detection sensor, whether be liquid, thus carry out subregion to object and put in order and deposit if can also detect object by liquid detection sensor.Described access port arranges a camera.
The access method (AM) of above-mentioned warehouse style automation access arrangement, comprises the following steps:
1) side of depositing selects service by touch display screen in access con trol system, and access con trol system sends control signals to access port, opens access port; After the side of depositing puts into object, close access port;
2) weight of access con trol systematic survey object and size, checks data bank and the target location calculated on shelf, then sends to robot control system and deposit instruction; Robot control system control by Articles transfer to the target location on shelf, and to access con trol system send deposit complete signal;
3) access con trol system generates extraction code and is presented on touch display screen, and after the side of depositing confirms, access con trol system returns initial condition;
4) after the side of getting obtains object extraction code, by touch display screen selective extraction service in access con trol system;
5) access con trol systems inspection data bank, and send extract signal to robot control system, robot control system control by the Articles transfer on shelf to access port, and to access con trol system send extraction complete signal;
6) access con trol system sends signal to access port, and access port is opened; After the side of getting takes object away, close access port, access con trol system update data bank also restPoses.
Below only just preferred embodiment of the present invention is described, but can not be interpreted as it is limitations on claims.The present invention is not only confined to above embodiment, and its concrete structure and step allow to change.All various changes done in the protection domain of independent claims of the present invention are all in protection scope of the present invention.
Claims (10)
1. warehouse style automation access arrangement, comprises casing and is arranged on the touch display screen on casing, it is characterized in that:
Described casing is provided with one for accessing the access port of object, arranges multiple shelf for depositing object in casing;
Be provided with one in described casing for carrying the robot of object, this robot comprises a robot control system, and described touch display screen comprises an access con trol system, and access port, robot control system are all connected with access con trol system;
After access con trol system receives the instruction via touch display screen input, control the keying of access port, simultaneously by the motion of robot control system control, realize the back and forth carrying of object between access port and shelf.
2. warehouse style automation access arrangement according to claim 1, it is characterized in that: described robot control system comprises main control computer, shelf map module, for determining the position transduser of robot location and the infrared pickoff for detecting the object on shelf, shelf map module, position transduser, infrared pickoff are all connected with main control computer.
3. warehouse style automation access arrangement according to claim 1, is characterized in that: described access con trol system comprises man machine operation interface, for storing data bank and the communication module of daily record of work; Described man machine operation interface comprises storage module, extraction module and enquiry module.
4. warehouse style automation access arrangement according to claim 1, it is characterized in that: described access port is provided with an auto door be connected with access con trol system, the open and close under the control of access con trol system of this auto door, thus realize the keying of access port.
5. warehouse style automation access arrangement according to claim 1, is characterized in that: described machine people is revolute robot, and it comprises some sections of connecting arms, arranges rotary joint between two sections of adjacent connecting arms.
6. warehouse style automation access arrangement according to claim 1, is characterized in that: the artificial rail mounted robot of described machine; Be provided with some tracks in described casing, robot be provided with track with the use of sliding shoe, described sliding shoe can along tracks travel under the driving of motor; Described robot is also provided with the rotary components be convenient to robot and rotated.
7. warehouse style automation access arrangement according to claim 1, it is characterized in that: described shelf are also provided with the temperature control district for placing the object to ambient temperature sensitivity, described temperature control district is provided with the electric partition door be connected with access con trol system.
8. warehouse style automation access arrangement according to claim 1, is characterized in that: described access port arranges infradred sensor, weight sensor, size detection sensor and liquid detection sensor.
9. warehouse style automation access arrangement according to claim 1, is characterized in that: described access port arranges a camera.
10. the access method (AM) of the warehouse style automation access arrangement of claim 1, it comprises the following steps:
1) side of depositing selects service by touch display screen in access con trol system, and access con trol system sends control signals to access port, opens access port; After the side of depositing puts into object, close access port;
2) access con trol system to robot control system send deposit instruction, robot control system control by Articles transfer on shelf, and to access con trol system send deposit complete signal;
3) access con trol system generates extraction code and is presented on touch display screen, and after the side of depositing confirms, access con trol system returns initial condition;
4) after the side of getting obtains object extraction code, by touch display screen selective extraction service in access con trol system;
5) access con trol systems inspection data bank, and send extract signal to robot control system, robot control system control by the Articles transfer on shelf to access port, and to access con trol system send extraction complete signal;
6) access con trol system sends signal to access port, and access port is opened; After the side of getting takes object away, close access port, access con trol system update data bank also restPoses.
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| CN106072757A (en) * | 2016-08-02 | 2016-11-09 | 安徽宜桐机械有限公司 | A kind of tobacco shred recycling device in tobacco leaf filament cutter dust pelletizing system |
| CN106115151A (en) * | 2016-08-27 | 2016-11-16 | 杭州东城电子有限公司 | Warehouse style automatization access arrangement |
| CN106241167A (en) * | 2016-08-08 | 2016-12-21 | 杭州东城电子有限公司 | Flexible deposit method for warehouse style access arrangement |
| CN106553859A (en) * | 2017-01-22 | 2017-04-05 | 重庆君峰科技有限公司 | A kind of warehouse automatic access method and system |
| CN106682418A (en) * | 2016-12-27 | 2017-05-17 | Tcl集团股份有限公司 | Intelligent access system and access method on basis of robot |
| CN107065861A (en) * | 2017-02-24 | 2017-08-18 | 珠海金萝卜智动科技有限公司 | Robot collection intelligence is carried, is loaded and unloaded on integral method and apparatus |
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| CN108100547A (en) * | 2017-04-24 | 2018-06-01 | 郭氢 | Automation access freight house storehouse safeguard system available for mail, package and Individual Items |
| CN108806115A (en) * | 2018-08-21 | 2018-11-13 | 北京极智嘉科技有限公司 | Nobody self-service operating system, method and operation door |
| CN109896215A (en) * | 2019-01-08 | 2019-06-18 | 博拉网络股份有限公司 | A kind of logistic dispatch platform and method for Automatic article depositing-withdrawimachine |
| CN111730603A (en) * | 2019-01-14 | 2020-10-02 | 牧今科技 | Control device and control method for robot system |
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| CN105600262B (en) * | 2016-02-16 | 2019-04-26 | 深圳市华星光电技术有限公司 | Automated warehouse storage system |
| CN105600262A (en) * | 2016-02-16 | 2016-05-25 | 深圳市华星光电技术有限公司 | Automatic warehousing system |
| WO2017219681A1 (en) * | 2016-06-24 | 2017-12-28 | 深圳市前海康启源科技有限公司 | Domestic robot control system and method |
| CN106072757A (en) * | 2016-08-02 | 2016-11-09 | 安徽宜桐机械有限公司 | A kind of tobacco shred recycling device in tobacco leaf filament cutter dust pelletizing system |
| CN106241167A (en) * | 2016-08-08 | 2016-12-21 | 杭州东城电子有限公司 | Flexible deposit method for warehouse style access arrangement |
| CN106115151A (en) * | 2016-08-27 | 2016-11-16 | 杭州东城电子有限公司 | Warehouse style automatization access arrangement |
| CN106115151B (en) * | 2016-08-27 | 2018-05-22 | 杭州东城电子有限公司 | Warehouse style automation access arrangement |
| CN107993364A (en) * | 2016-10-26 | 2018-05-04 | 深圳市祈飞科技有限公司 | A kind of method and system of intelligent storage article |
| CN106682418A (en) * | 2016-12-27 | 2017-05-17 | Tcl集团股份有限公司 | Intelligent access system and access method on basis of robot |
| CN106682418B (en) * | 2016-12-27 | 2021-08-10 | Tcl科技集团股份有限公司 | Intelligent access system based on robot and access method thereof |
| CN106553859A (en) * | 2017-01-22 | 2017-04-05 | 重庆君峰科技有限公司 | A kind of warehouse automatic access method and system |
| CN107065861A (en) * | 2017-02-24 | 2017-08-18 | 珠海金萝卜智动科技有限公司 | Robot collection intelligence is carried, is loaded and unloaded on integral method and apparatus |
| WO2018196574A1 (en) * | 2017-04-24 | 2018-11-01 | 郭氢 | Automated storage and retrieval system of warehouse custody for mails, packages and single-piece items |
| CN108100547A (en) * | 2017-04-24 | 2018-06-01 | 郭氢 | Automation access freight house storehouse safeguard system available for mail, package and Individual Items |
| CN108806115A (en) * | 2018-08-21 | 2018-11-13 | 北京极智嘉科技有限公司 | Nobody self-service operating system, method and operation door |
| CN109896215A (en) * | 2019-01-08 | 2019-06-18 | 博拉网络股份有限公司 | A kind of logistic dispatch platform and method for Automatic article depositing-withdrawimachine |
| CN111730603A (en) * | 2019-01-14 | 2020-10-02 | 牧今科技 | Control device and control method for robot system |
| CN111730603B (en) * | 2019-01-14 | 2022-05-24 | 牧今科技 | Control device and control method for robot system |
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Application publication date: 20151216 |