CN107600856A

CN107600856A - Unmanned warehousing system

Info

Publication number: CN107600856A
Application number: CN201710824493.4A
Authority: CN
Inventors: 魏玉昊
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-09-14
Filing date: 2017-09-14
Publication date: 2018-01-19

Abstract

It is an object of the invention to provide a kind of novel unmanned warehousing system of structure, realizes from warehousing to the unmanned system participated in of the whole process of goods export.Goods is from porch, communicated band is sent on the shelf of comb formula structure, and the detection of size, and the information scanning to electronic tag are carried out to the goods, through robot be transported to the shelf area specified after and to store, and feed back the related data of the disengaging storehouse management system of goods.Also the scanning of goods information is carried out when goods is taken away, it is ensured that the accuracy that goods is carried.The optional code-disc of freedom positioning system of intelligent storage robot in the present invention adds gyroscope, laser radar, magnetic terrestrial reference etc..By its improved structure, pallet fork and shelf are all the comb structures used.The characteristics of unmanned warehousing system of the invention is：By combing the design of castor formula shelf and pallet fork, the scheduling of goods can be conveniently realized, and space can be saved.The design structure is novel, simple to operate, and traveling is convenient.

Description

Unmanned warehousing system

Technical field

The present invention relates to a kind of unmanned warehousing system, belongs to intelligent automation storage field.

Background technology

Storage, with the raising of Mechanization Level, in the sixties of twentieth century five, has been entered from initial artificial storage Turn to mechanization storage, the management stored in a warehouse by manipulator, hammock, piler and lift.Later, occur automatic The storage mode of change technology, it is managed by automatic storage machine device people, automatic identification sorting mode.Then, have integrated Automated warehousing, automatic taking stereo warehouse, computer integrated manufacturing system.Recently, with the arrival of industry 4.0, intelligence is certainly Dynamicization, which is stored in a warehouse, becomes the topic of focus, advances for example, the Kiva robots of Amazon can scan ground bar code, can be according to wireless Shelf where goods are carried to employee's treatment region by the order of instruction from warehouse.Its core thinking is that selection personnel are cancelled, Directly shelf are moved on the side of review packaging personnel, there are review packing personnel to complete selection, secondary sorting, packing review three Work, personnel are pressed onto displacement action that is minimum, while also eliminating original transmission line completion." unmanned storehouse " technology in Jingdone district is adopted Cooperateed with and coordinated with a large amount of Intelligent logistics robots, wisdom is imparted to conventional industrial robot, allows them to possess independently Judgement and behavior, adapt to different application scenarios.Based on this background, we design a kind of unmanned storage system of new structure System.

The content of the invention

In view of this, it is an object of the invention to provide a kind of novel unmanned warehousing system of structure, from goods warehouse entry arrival The whole process of thing export realizes unattended.Shelf are using comb structure, the end effector of intelligent storage robot Using lift comb structure.So it is easy to the occlusion of two structures, so as to be more beneficial for quickly taking cargo security Go out.And the structure of pallet fork, its width can be automated toed respond to according to the size of goods.Intelligent storage robot can be realized The large, medium and small three kinds of tactic patterns conversion of end effector.

In order to reach foregoing invention purpose, the invention provides a kind of unmanned warehousing system, it is characterised in that：The intelligent storehouse Storing up robot includes body installation, frame equipments for goods, information collecting device.Goods is from entrance warehouse entry, by sorting system to goods Size is classified, and tracks goods whereabouts, and after goods is placed into shelf, positional information and the relevant information of goods are fed back To unmanned warehousing system.When goods is taken away, in the information of outlet automatic checking goods, and goods export, goods information are existed Nullified in monitor system.

Body installation includes Forklift truck rack, driving wheel, omni-directional wheel, the freedom positioning system of frame interior, motor, goods Fork, synchronous pulley.Pallet fork is by the drive of synchronous pulley, to realize upper and lower translation.

Intelligent storage robot of the present invention can add gyroscope, laser radar, magnetic terrestrial reference or Quick Response Code terrestrial reference by code-disc, Magnetic stripe etc. realizes autonomous positioning.Passing through its improved structure so that the device more flexibly easily can walk in warehouse, And efficient goods scheduling is realized, and Duo Tai intelligent storages robot, cooperation can be placed in warehouse.

Information collecting device is to have disposed camera and laser radar, is respectively used to adopting for image information and cloud point data Collection, so as to perceive the environmental information of store interior.

The unmanned warehousing system, by the shelf of comb shape come bearing goods, while Stability Analysis of Structures is ensured, pallet fork Conveniently it can be engaged with shelf platform, so as to take out or place rapidly goods.

The characteristics of unmanned warehousing system of the invention is：, can be conveniently by the design of comb shape shelf and pallet fork The scheduling of goods is realized, and space can be saved.The design structure is novel, simple to operate, and traveling is convenient.

Brief description of the drawings

Fig. 1 is the global schematic diagram of the unmanned warehousing system of the present invention.

Fig. 2 is the schematic diagram of the unmanned warehousing system of the present invention.

Fig. 3 is the schematic diagram of the intelligent storage robot of the unmanned warehousing system of the present invention.

Fig. 4 is that the code-disc of the unmanned warehousing system of the present invention adds gyroscope scheme of installation.

Fig. 5 is the shelf structure figure of the unmanned warehousing system of the present invention.

Fig. 6 is the width pallet fork structure figure of the unmanned warehousing system of the present invention.

Fig. 7 is the narrow space pallet fork structure figure of the unmanned warehousing system of the present invention.

Fig. 8 is the operation logic block diagram of the unmanned warehousing system of the present invention.

Symbol description

1 pallet fork, 2 information acquisition devices, 3 omni-directional wheels, 4 bottom plates, 5 synchronous pulleys, 6 alignment systems

Embodiment

To make the object, technical solutions and advantages of the present invention clearer, with reference to the accompanying drawings and examples to the present invention It is described in further detail.

The overall structure that the unmanned warehousing system of the present invention is introduced referring to Fig. 1~Fig. 2 forms：The unmanned warehousing system include from Warehouse entry realizes that its main device includes body installation, frame equipments for goods, information collecting device, says separately below to the entirety of export It is bright it：

Body installation includes Forklift truck rack, driving wheel, omni-directional wheel, the freedom positioning system of frame interior, motor, goods Fork, synchronous pulley.Frame equipments for goods is using the shelf platform of comb structure, and using structure changes comb shape, it can lead to pallet fork Cross to stretch and realize large, medium and small three kinds of tactic patterns.So corresponding pallet fork adjustment can be carried out according to the subregion of goods size.

Referring to Fig. 4, the figure is the alignment system scheme of installation of unmanned warehousing system.Optional code-disc adds gyroscope, laser Radar, magnetic terrestrial reference or Quick Response Code terrestrial reference, magnetic stripe etc..

The comb castor structure used referring to Fig. 3 fork truck overall structure figure, pallet fork, pass through turning for motor driven synchronous pulley It is dynamic, realize the upper and lower translation of pallet fork.And camera and laser radar are disposed in body structure, has gathered image and cloud point respectively Data message.

Referring to Fig. 6 and Fig. 7, the pallet fork comb structure of intelligent storage robot, and Trapezoidal can be realized, so as to convenient Carry various sizes of goods.

It is worth noting that, the foregoing is only presently preferred embodiments of the present invention, the patent of the present invention is not thereby limited Protection domain, the present invention can also carry out equivalent improvement to the structure of above-mentioned various parts.Therefore all saying with the present invention The equivalent structure change that bright book and diagramatic content are made, or directly or indirectly apply to other correlative technology fields and similarly all wrap It is contained in the range of of the invention cover.

Claims

1. a kind of complete unmanned warehousing system, it is to realize to be from warehousing to the unmanned participation of the whole process of goods export System.From porch, communicated band is sent on the shelf of comb castor formula structure goods, and the detection of size is carried out to the goods, and right The information scanning of electronic tag, and after through robot be transported to the shelf area specified and store, and that feeds back goods enters export The related data of management system.Also the scanning of goods information is carried out when goods is taken away, it is ensured that the accuracy that goods is carried, and The relevant information processing of goods export.Its agent structure includes body installation, frame equipments for goods, information collecting device, and its feature exists In：

The end effector of transfer robot has multiple frees degree.It the advantage is that：

The shelf and the pallet fork of transfer robot for combing castor formula structure are staggered, and such pallet fork can be to be directly protruding into goods bottom Layer, goes out shelf by cargo translating.And pallet fork can be adjusted correspondingly according to different size cargo area, can be achieved large, medium and small Three kinds of variable pallet forks, big-and-middle small size goods is corresponded to respectively.

2. unmanned warehousing system according to claim 1, body installation is including in Forklift truck rack, driving wheel, omni-directional wheel, vehicle frame The freedom positioning system in portion, motor, pallet fork etc.；

Shelf are using comb formula structure, and whole warehouse is according to the different shelf area of goods size point；

Information collecting device is to have disposed camera and laser radar, is respectively used to be easy to adopting for image information and cloud point data Collection, so as to perceive the environmental information of surrounding.

3. unmanned warehousing system according to claim 1, wherein, the intelligent storage robot is by autonomous positioning system (optional code-disc adds gyroscope, laser radar, magnetic terrestrial reference or Quick Response Code terrestrial reference, magnetic stripe etc.) is united to track the position of robot Put.