CN105292892A - Automatic storage system of industrial robot - Google Patents

Automatic storage system of industrial robot Download PDF

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Publication number
CN105292892A
CN105292892A CN201510765237.3A CN201510765237A CN105292892A CN 105292892 A CN105292892 A CN 105292892A CN 201510765237 A CN201510765237 A CN 201510765237A CN 105292892 A CN105292892 A CN 105292892A
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China
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described
robot
pallet
arranged
flat rubber
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CN201510765237.3A
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Chinese (zh)
Inventor
王振华
秦磊
禹鑫燚
龚理
郑振兴
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江苏汇博机器人技术有限公司
佛山市新鹏机器人技术有限公司
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Priority to CN201510765237.3A priority Critical patent/CN105292892A/en
Publication of CN105292892A publication Critical patent/CN105292892A/en

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Abstract

The invention discloses an automatic storage system of an industrial robot. The automatic storage system comprises a robot sorting area, a speed-fold chain, an AGV trolley, an intelligent three-dimensional warehouse and a central controller. The robot sorting area comprises a flat belt conveyor, a robot and a vision identification device. The flat belt conveyor receives a signal sent by the central controller and controls trays to move in the conveying direction of the flat belt conveyor. The vision identification device is installed on any side of the flat belt conveyor and located above the trays. A camera of the vision identification device is used for photographing the tray area below the camera, and the photographing area of the camera at least includes one tray. The vision identification device detects and identifies photos photographed by the camera, sends feature data obtained through identification to the central controller and sends a signal to the robot, and the robot receives the signal to transfer and put specified articles on the storage trays of the speed-fold chain to achieve sorting. According to the automatic storage system of the industrial robot, labor force of workers is liberated, and product detecting, sorting and storing efficiency is improved.

Description

A kind of industrial robot automated warehouse storage system

Technical field

The present invention relates to storage technique field, particularly relate to a kind of industrial robot automated warehouse storage system.

Background technology

Along with the development of modern logistics industry is rapid, the detection sorting warehouse entry management work of freight all kinds is heavy, and wherein goods is heavy, and kind is many, substantial amounts, and quality problems are major causes.These problems become increasingly conspicuous appear in logistic industry incessantly, and factory's manufacture is also faced with same situation; And no matter be in logistic industry or manufacture, the detection sorting stock management of product is all adopt traditional manual detection, manual sorting, manual assembly, a dead lift, artificial in-stockroom operation; Its inefficiency, Detection job DeGrain, labour intensity is greatly Problems existing always; Meanwhile, due to manual operation, the height of shelf is restricted, and low layer shelf space degree of utilization is low, and High Level Rack exists potential safety hazard again.Prior art generally adopts conveyer to coordinate manual work, although solve the transportation function of goods, reduces manual labor, and still existing needs manual detection, manual sorting, and the situation of manual assembly, artificial warehouse-in, its root problem does not solve.How to utilize modern industrial technology, liberation workman labour power, improve the subject matter that Product checking sorting warehouse-in efficiency is native system.

Summary of the invention

The object of the invention is to propose a kind of liberation workman labour power, improve the industrial robot automated warehouse storage system of Product checking sorting warehouse-in efficiency.

For reaching this object, the present invention by the following technical solutions:

A kind of industrial robot automated warehouse storage system, comprises robot off-sorting station, double-speed chain, AGV dolly, intelligent three-dimensional warehouse, magnetic conductance rail and central controller; Described magnetic conductance rail is arranged at ground, and an adjacent described double-speed chain in end of described magnetic conductance rail is arranged, and adjacent described intelligent three-dimensional warehouse, the other end is arranged;

Described robot off-sorting station comprises flat rubber belting conveyer, robot and device for visual identification, described flat rubber belting conveyer is placed with multiple pallet for loading object to be sorted, described flat rubber belting conveyer receives pallet described in signal control that described central controller sends along the movement on its direction of transfer, described device for visual identification is installed on the either side of described flat rubber belting conveyer, and be positioned at the top of described pallet, the camera of described device for visual identification is for taking the pallet area below it, and its image pickup scope is at least a pallet, the photo that camera is taken by described device for visual identification carries out detection and Identification, and will identify that the characteristic data obtained sends to described central controller, and send signal to described robot by it, what the article transfer of specifying was positioned over described double-speed chain by described robot Received signal strength deposits thing pallet,

After the object of specifying is placed, described double-speed chain sends signal to described central controller, and send AGV dolly startup described in signal control by described central controller, described AGV dolly detects described magnetic conductance rail by the sensor bottom it and produces the walking of electromagnetic induction signal realization guiding and moves, and can dock with described double-speed chain, make described double-speed chain transfer on described AGV dolly by described thing pallet of depositing, described in deposit thing pallet and shifted the bunching device being transported to described intelligent three-dimensional warehouse by described AGV dolly along described magnetic guide rail movement;

Described thing pallet of depositing carries transfer to prop up in corresponding tiered warehouse facility by described bunching device.

Further description, described robot off-sorting station also comprises waste recovery storehouse, described waste recovery storehouse is arranged at the either side of described flat rubber belting conveyer, and described robot receives the signal that described central controller sends and the nonconformity object detected sorting is positioned in described waste recovery storehouse.

Further description, described device for visual identification also comprises light source and the controller for controlling light source and camera, described light source is arranged at the bottom of pallet, described controller triggers the unlatching of light source and the shooting of described camera after receiving the information that described pallet puts in place successively, described camera adopts overall situation exposure screening-mode to take pictures, after shooting, send signal by described controller, received by described central controller and enter subsequent processing.

Further description, described robot comprises robot clamp, multiple-directional rotating axle, robot base and robot body, described robot clamp is installed on described robot body by described multiple-directional rotating axle, described robot body is installed on described robot base, and described robot is by the side of described robot base fixed placement in described flat rubber belting conveyer;

Described robot clamp is vacuum cup fixture.

Further description, described robot clamp comprises fixture chassis, the single sucking disc support, Double-sucker bracket and detection and location device, the end of described the single sucking disc support is provided with vacuum cup, two branches of the end of described Double-sucker bracket are symmetrically arranged with vacuum cup respectively, what described the single sucking disc support and described Double-sucker bracket were symmetrically distributed in described fixture chassis respectively appoints both sides, and both respective symmetrical axis are positioned at the same vertical centering control face on described fixture chassis;

Described detection and location device is arranged adjacent to described the single sucking disc support or described Double-sucker bracket, and the axis of described detection and location device is positioned at described vertical centering control face, and described detection and location device is for locating the object of specifying in described pallet;

Described fixture chassis is rotatably installed on the 6th axle of described robot clamp.

Further description, described AGV dolly comprises car body, loading attachment, dolly control housing, driven unit and at least two group cardan wheels, described loading attachment is arranged at the upper surface of described car body, the bottom of described dolly control housing is provided with pulley, the inside being arranged at described dolly that described dolly control housing adopts drawer type to extract out by the guide rail that described car interior is provided with, described driven unit is arranged at the bottom of described car body, described driven unit comprises drive motor and drive wheel, and described drive wheel is connected to the mouth of described drive motor; Described at least two groups, cardan wheel is installed on the bottom of the front-end and back-end of described car body respectively, and described AGV dolly is supported in ground by described cardan wheel and described drive wheel, and along the spacing guiding movement of described magnetic conductance rail.

Further description, described AGV dolly also comprises touch-screen, described touch-screen is arranged at the side of described loading attachment, and described touch-screen is connected to described dolly control housing, and its interface is provided with and controls described AGV dolly and start, stop and the instruction of running velocity.

Further description, described loading attachment comprises for loading the flat rubber belting transfer assembly transferring described pallet, the stopper and space sensor that limit is loaded for pallet limitation, described stopper is arranged at the bottom at the top of described flat rubber belting transfer assembly, described space sensor is arranged at intervals at the bottom of described flat rubber belting transfer assembly respectively by described width scales of depositing thing pallet, when described space sensor all senses that depositing thing pallet exists, described space sensor sends the transmission that signal stops described flat rubber belting transfer assembly, send signal to described stopper simultaneously, the flat rubber belting face making described stopper rise to described flat rubber belting transfer assembly stops prepare to enter described flat rubber belting transfer assembly deposit thing pallet.

Further description, described tiered warehouse facility comprises base, shelf, tray sensor and control system, described shelf are the tray support frame be welded to form in length and breadth respectively by metal rod, described tray support frame has multiple difference in length and breadth to the tray support chamber of arrangement design, each described tray support chamber is provided with independent tray sensor, whole described shelf are installed on described base, and described control system is grasped the storage situation of whole shelf and controlled the stacking motion of bunching device.

Further description, described bunching device comprises frame, tablet, light rail, traveling gear, lifting mechanism and telescopic objective table, the rectangular frame that described frame is made up of cross slide way and longitudinal column, described light rail parallels with described cross slide way, and be arranged at the bottom of described frame, described traveling gear drives its wheel to walk along described light rail by hoofing part assembly, described lifting mechanism is vertical is installed on described traveling gear, and described objective table is driven by described lifting mechanism and leads and realizes movement vertically;

Described tablet respectively transversely arranged distribution is arranged at the side of described light rail, and described tablet corresponds to longitudinal described metal rod and arranges, and the spacing of adjacent described tablet is the width in a described tray support chamber;

Be provided with one group of lateral pickup group in the region of described traveling gear corresponding immediately below described objective table, be at least provided with two lateral pickups in one group of lateral pickup group, and described lateral pickup and described tablet be oppositely arranged;

With the moving direction of described traveling gear for top, when first described lateral pickup passes laterally through the tablet that described control system specifies, described traveling gear reduces speed now movement, when last in described lateral pickup group is through described tablet of specifying, described traveling gear is decelerated to and stops moving, described lateral pickup group is between described tablet of specifying and the last tablet of described tablet of specifying, described objective table by described lifting mechanism vertically upward or move down, move to the dead ahead in the tray support chamber that described control system is specified.

Beneficial effect of the present invention: 1, system of the present invention adopts Robotics, utilizes computer information management, realizes modern automation storage function, solves the drawback that Traditional Man detects sorting, and liberation workman labour power, improves sorting warehouse-in efficiency; 2, realize the quick startup of traveling gear and steadily stop, improving stacking efficiency; 3, shelf and piler assembling rationally, effectively utilize space; 4, system overall or region can shift separately and lays use.

Accompanying drawing explanation

Fig. 1 is the structural representation of one embodiment of the present of invention;

Fig. 2 is the structural representation of the flat rubber belting conveyer of one embodiment of the present of invention;

Fig. 3 is the structural representation of the robot of one embodiment of the present of invention;

Fig. 4 is the partial enlargement structural representation of the robot of one embodiment of the present of invention;

Fig. 5 is the structural representation of the double-speed chain of one embodiment of the present of invention;

Fig. 6 is the rear side viewing structural representation of the AGV dolly of one embodiment of the present of invention;

Fig. 7 is the backsight structural representation of the AGV dolly of one embodiment of the present of invention;

Fig. 8 is the structural representation of the loading attachment of one embodiment of the present of invention;

Fig. 9 is the driven unit of one embodiment of the present of invention and the structural representation of shock absorption device;

Figure 10 is the structural representation that the intelligent stacker of one embodiment of the invention is arranged in conjunction with tiered warehouse facility;

Figure 11 is the partial enlargement structural representation of the intelligent stacker of one embodiment of the invention;

Figure 12 is the structural representation of the intelligent three-dimensional warehouse system using one embodiment of the invention;

Figure 13 is the structural representation of the tiered warehouse facility of one embodiment of the invention.

Wherein:

Robot off-sorting station 1, flat rubber belting conveyer 11, robot 12, device for visual identification 13, waste recovery storehouse 14, camera 131, robot clamp 121, multiple-directional rotating axle 122, robot base 123, robot body 124, fixture chassis 1211, planar bracket group 120, the single sucking disc support 1212, Double-sucker bracket 1213, detection and location device 1214, vacuum cup 1215, vertical centering control face 1216;

AGV dolly 3, car body 31, loading attachment 32, dolly control housing 33, driven unit 34, cardan wheel 35, touch-screen 36, shock absorption device 37, power supply 39, deposit thing pallet 02, guide rail 312, drive motor 341, drive wheel 342, flat rubber belting transfer assembly 321, stopper 322, magnetic stripe 38, side door 311, relay indicating light 30;

Intelligent three-dimensional warehouse 4, tiered warehouse facility 41, bunching device 42, base 411, shelf 412, tray sensor 413, control system 414, tray support chamber 410, frame 421, tablet 422, light rail 423, traveling gear 424, lifting mechanism 425, objective table 426, travel multiplier mechanisms 4261, cross slide way 4211, longitudinal column 4212, hoofing part assembly 4241, wheel 4242, lateral pickup 4243, longitudinal sensor 4244;

Double-speed chain 2, space sensor 22, magnetic conductance rail 5, central controller 6, pallet 01, guard rail 03.

Detailed description of the invention

Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.

As shown in Figure 1, a kind of industrial robot automated warehouse storage system, comprises robot off-sorting station 1, double-speed chain 2, AGV dolly 3, intelligent three-dimensional warehouse 4, magnetic conductance rail 5 and central controller 6; Described magnetic conductance rail 5 is arranged at ground, and an adjacent described double-speed chain 2 in end of described magnetic conductance rail 5 is arranged, and adjacent described intelligent three-dimensional warehouse 4, the other end is arranged;

As in Figure 2-4, described robot off-sorting station 1 comprises flat rubber belting conveyer 11, robot 12 and device for visual identification 13, described flat rubber belting conveyer 11 is placed with multiple pallet 01 for loading object to be sorted, described flat rubber belting conveyer 11 receives pallet 01 described in signal control that described central controller 6 sends along the movement on its direction of transfer, described device for visual identification 13 is installed on the either side of described flat rubber belting conveyer 11, and be positioned at the top of described pallet 01, the camera 131 of described device for visual identification 13 is for taking pallet 01 region below it, and its image pickup scope is at least a pallet 01, the photo that camera 131 is taken by described device for visual identification 13 carries out detection and Identification, and will identify that the characteristic data obtained sends to described central controller 6, and send signal to described robot 12 by it, what the article transfer of specifying was positioned over described double-speed chain 2 by described robot 12 Received signal strength deposits thing pallet 02,

After the object of specifying is placed, described double-speed chain 2 sends signal to described central controller 6, and send AGV dolly 3 described in signal control by described central controller 6 and start, described AGV dolly 3 coordinates by the magnetic stripe 38 bottom it and described magnetic conductance rail 5 are attracting the movement of walking that realizes leading, and can dock with described double-speed chain 2, make described double-speed chain 2 transfer on described AGV dolly 3 by described thing pallet 02 of depositing, described in deposit thing pallet 02 and be transported to the bunching device 42 in described intelligent three-dimensional warehouse 4 by described AGV dolly 3 along the transfer of moving of described magnetic conductance rail 5;

Described thing pallet 02 of depositing carries transfer to prop up in corresponding tiered warehouse facility 41 by described bunching device 42.

System of the present invention designs according to existing issue, realizes intelligent robot and detects sorting warehouse-in;

System equipment mainly comprises: guard rail 03, robot off-sorting station 1, double-speed chain 2, magnetic conductance rail 5, AGV dolly 3, intelligent three-dimensional warehouse 4, central controller 6, whole system adopts control based on network framework, based on intelligent plant and the Intelligent logistics design of Robotics, realize workpiece sensing and identify that (intelligent three-dimensional warehouse 4) a series of modernization industrial operations put in storage by sorting (machine vision), robot automatic sorting and assembling (6 axle robot), workpiece transport (AGV dolly 3), workpiece.

Preferably, robot off-sorting station 1 is positioned in guard rail 03 by system, improves safety; Flat rubber belting conveyer 11 is placed multiple pallet 01 filling different part, flat rubber belting conveyer 11 is configured with camera 131, camera 131 can observe flat rubber belting conveyer 11 region below it; Robot 12 can recognize the part on intermediate tray 01 by camera 131;

Pallets 01 all on it are moved to the left or move right by the signal that flat rubber belting conveyer 11 can send according to CS central controller 6, and ensure that at least one pallet 01 is in camera 131 within sweep of the eye; Part in device for visual identification 13 pairs of pallets 01 carries out defects detection and identification, and identifying that the characteristic data such as size, shape kind, position of part is sent to central controller 6, central controller 6 judges the quality of part according to the part data sent, and by ethernet communication mode control 12, robot 12 carries out part crawl according to system requirements.

Measured for matter part, according to the judgement of system, is positioned over depositing thing pallet 02 and carrying out Assembly of the parts according to system requirements on double-speed chain 2 and puts by robot 12.Preferably, double-speed chain 2 arranges sky and deposits thing tray library, deposits thing pallet 03 and is first positioned on double-speed chain 2 by robot 12 crawl; And positioned by the stopper on double-speed chain 2.Preferably, accompany the bottom fast chain 2 is also provided with between space sensor 22 is arranged at intervals at double-speed chain 2 respectively belt conveyor by described width scales of depositing thing pallet 02, when described space sensor 22 all senses that depositing thing pallet 02 exists, described space sensor 22 sends the transmission that signal stops belt conveyor, send signal to stopper simultaneously, the transmission plane making described stopper rise to belt conveyor stops prepare to enter belt conveyor deposit thing pallet 02.

After part is placed, the sensor on double-speed chain 2 sends signal to central controller 6, and system is started by wireless WIFI control AGV dolly 3.The loading attachment 32 of AGV dolly 3 on it is belt conveyor, and carries out walking motion by magnetic conductance rail 5 on the ground, and finally dock with double-speed chain 2, double-speed chain 2 will be deposited thing pallet 02 and be transported on AGV dolly 3.

Finally, led by magnetic conductance rail 5, AGV dolly 3 will deposit thing pallet 02 and part is transported to tiered warehouse facility 41 region, it senses IC-card and stops walking, and meanwhile, central controller 6 sends actuation signal, for depositing the position coordinate that thing pallet 02 need be placed, performed an action by bunching device 42, dock with AGV dolly 3, thing pallet 02 will be deposited and deliver in tiered warehouse facility 41.

System, by each several part coordination, completes the automatic sorting input work of part; Its process does not need the participation of people, and degree of automation is high.

Further description, described robot off-sorting station 1 also comprises waste recovery storehouse 14, described waste recovery storehouse 14 is arranged at the either side of described flat rubber belting conveyer 11, and described robot 12 receives the signal that described central controller 6 sends and inferior-quality for detection object sorting is positioned in described waste recovery storehouse 14.

Defective part, according to the judgement of system, is positioned in waste recovery storehouse 14 by robot 12, defective part is carried out to the operation of other reprocessing, avoids waste.

Further description, described device for visual identification 13 also comprises light source and the controller for controlling light source and camera 131, described light source is arranged at the bottom of pallet, described controller triggers the unlatching of light source and the shooting of described camera 131 after receiving the information that described pallet puts in place successively, described camera 131 adopts overall situation exposure screening-mode to take pictures, after shooting, send signal by described controller, received by described central controller 6 and entered subsequent processing.

Signal is sent when pallet arrives when workpiece position meets the condition of taking pictures, received by controller, the controller camera 131 triggered successively above the light source of tray bottom and pallet carries out the shooting of overall situation exposure, object in pallet can be known and clearly demarcated shooting enters sheet, the pattern of overall situation exposure can obtain clear photograph, be conducive to color or the shape recognition of object in follow-up photo, the accurate identification of number of different types object can be had.

Further description, as shown in Figure 3-4, described robot 12 comprises robot clamp 121, multiple-directional rotating axle 122, robot base 123 and robot body 124, described robot clamp 121 is installed on described robot body 124 by described multiple-directional rotating axle 122, described robot body 124 is installed on described robot base 123, and described robot 12 is fixedly installed on the side of described flat rubber belting conveyer 11 by described robot base 123;

Described robot clamp 121 is vacuum cup fixture.

Further description, described robot clamp 121 comprises fixture chassis 1211, the single sucking disc support 1212, Double-sucker bracket 1213 and detection and location device 1214, the end of described the single sucking disc support 1212 is provided with vacuum cup 1215, two branches of the end of described Double-sucker bracket 1213 are symmetrically arranged with vacuum cup 1215 respectively, what described the single sucking disc support 1212 and described Double-sucker bracket 1213 were symmetrically distributed in described fixture chassis 1211 respectively appoints both sides, and both respective symmetrical axis are positioned at the same vertical centering control face 1216 on described fixture chassis 1211;

Described detection and location device 1214 is arranged adjacent to described the single sucking disc support 1212 or described Double-sucker bracket 1213, and the axis of described detection and location device 1214 is positioned at described vertical centering control face 1216, described detection and location device 1214 is for locating the object of specifying in described pallet 01;

Described fixture chassis 1211 is rotatably installed on the 6th axle of described robot clamp 121.

The rotation that can realize the single sucking disc support 1212 and Double-sucker bracket 1213 is rotated by the 6th axle of robot clamp 121, the single vacuum cup 1215 of the single sucking disc support 1212 can be used for the object of clamping small volume, the double vacuum sucker 1215 of Double-sucker bracket 1213 can be used for the larger object of clamping volume, its clamping is made to have more pulsation-free effect, the symmetric design of its single sucking disc support 1212 and Double-sucker bracket 1213 in addition, its detection and location device 1214 is made to be provided with the positioning process that can meet the single sucking disc and Double-sucker fixture, if detection and location device 1214 is arranged adjacent to the single sucking disc support 1212, when using Double-sucker to draw object, first can carry out detection and positioning with the detection and location device 1214 on the single sucking disc support 1212 to appointment object, after completing location, rotated by the 6th axle and symmetrically arranged Double-sucker bracket 1213 is exchanged with the position of the single sucking disc support 1212, without the need to reorientating, improve the efficiency drawn.

More excellent, the described the single sucking disc support 1212 of this symmetry and described Double-sucker bracket 1213 is made to be one group of planar bracket group 120, preferably be provided with planar bracket group 120 described in two groups, the vertical centering control face 1216 at the respective place of its two groups of planar bracket groups 120 is mutually vertical, namely the angle between 4 supports is 90 °, and its structure is comparatively reasonable.The quantity of planar bracket group 120 can be set according to the size of required transfer workpiece.

Further description, as shown in figures 5-9, described AGV dolly 3 comprises car body 31, loading attachment 32, dolly control housing 33, driven unit 34 and at least two group cardan wheels 35, described loading attachment 32 is arranged at the upper surface of described car body 31, the bottom of described dolly control housing 33 is provided with pulley, the inside being arranged at described dolly that described dolly control housing 33 adopts drawer type to extract out by the guide rail 312 that described car interior is provided with, described driven unit 34 is arranged at the bottom of described car body 31, described driven unit 34 comprises drive motor 341 and drive wheel 342, described drive wheel 342 is connected to the mouth of described drive motor 341, cardan wheel 35 described at least two groups is installed on the bottom of the front-end and back-end of described car body 31 respectively, and described AGV dolly 3 is supported in ground by described cardan wheel 35 and described drive wheel 342, and along the spacing guiding movement of described magnetic conductance rail 5.

AGV dolly is provided with the transhipment that loading attachment 32 realizes depositing thing pallet 02, replace artificial transfer carrying, realized the transfer conveying of different azimuth by the flexible walking of AGV dolly, transport efficacy improves greatly, the transhipment of AGV dolly simultaneously also can realize remote transhipment, liberation labour power.

More excellent, setting installed by the guide rail 312 that the pulley of dolly control housing 33 coordinates dolly built-in, make dolly control housing 33 that drawer type can be adopted to be installed on the below of loading attachment 32, its dolly control housing 33 adopts drawer structure to install, dolly control housing 33 comprises electronic box, is convenient to the inspection of workman to electronic box state, when changing electronic box or keep in repair, without the need to dismantling or overturning dolly in addition, reduce the labour intensity of workman.Preferably, pulley is arranged at both sides and the middle part of the bottom of dolly control housing 33 respectively; More excellent, dolly control housing 33 is provided with locked component, and locked component can for being fastened on the fastening lock of car body 31, and dolly is in operational process, need dolly control housing 33 to be locked in car body 31 by this fastening, avoid it be subject to external force or inertia effects and skid off.

Further description, described AGV dolly 3 also comprises touch-screen 36, described touch-screen 36 is arranged at the side of described loading attachment 32, and described touch-screen 36 is connected to described dolly control housing 33, and its interface is provided with and controls described AGV dolly 3 and start, stop and the instruction of running velocity.Control dolly by touch-screen 36 and start stopping, running velocity, has adjustability.

Preferably, described driven unit 34 is by the bottom being connected in described car body 31 of shock absorption device 37, avoid the steady placement of AGV dolly 3 object that can have influence in pallet that jolts when walking, avoid object to depart from the position of former placement in lower easy vibration of jolting.Preferably, AGV dolly 3 also comprises power supply 39, and described power supply 39 is built-in is installed on described car body 31, the sidewall of described car body 31 is provided with side door 311, described power supply 39 is detachable or be installed on described car body 31 by described side door 311, and power supply 39 is detachable in car body 31, and power supply 39 is changed convenient.Car body 31 integral structure can be welded by swage material, and builds framework with aluminium section bar and panel beating, above framework, install stay bearing plate.

Further description, also comprises relay indicating light 30, and described relay indicating light 30 is three look display lamps, and described relay indicating light 30 is connected to described dolly control housing 33, and described relay indicating light 30 is installed on the outside of described car body 31.When dolly is in travel operation state, relay indicating light 30 is red Warning light, when dolly is in non-starting state, relay indicating light 30 is green indicating lamp, when dolly should be in startup or mode of operation, relay indicating light 30 is yellow warning lamp, and actv. informs the mode of operation of workman's dolly, avoid the generation of accident, warning light yellow in addition can also notify that workman's dolly breaks down.

Further description, as shown in Figure 8, described loading attachment 32 comprises for loading the flat rubber belting transfer assembly 321 transferring described pallet, the stopper 322 and space sensor that limit is loaded for pallet limitation, described stopper 322 is arranged at the bottom at the top of described flat rubber belting transfer assembly 321, described space sensor is arranged at intervals at the bottom of described flat rubber belting transfer assembly 321 respectively by described width scales of depositing thing pallet 02, when described space sensor all senses that depositing thing pallet 02 exists, described space sensor sends the transmission that signal stops described flat rubber belting transfer assembly 321, send signal to described stopper 322 simultaneously, the flat rubber belting face making described stopper 322 rise to described flat rubber belting transfer assembly 321 stops prepare to enter described flat rubber belting transfer assembly 321 deposit thing pallet 02.

Be provided with the cooperation of space sensor and stopper 322, the thing pallet 02 of depositing realized on loading attachment 32 loads, when on loading attachment 32 load deposit thing pallet 02 quantity meet default time, stopper 322 can rise and deposit outside thing pallet 02 is blocked in by upper to flat rubber belting transmission, guarantee the steady placement of depositing thing pallet 02 that flat rubber belting transmits and transfer, realize the transfer of automation.

411, shelf 412, tray sensor 413 and control system 414, described shelf 412 are the tray support frame be welded to form in length and breadth respectively by metal rod, described tray support frame has multiple difference in length and breadth to the tray support chamber 410 of arrangement design, each described tray support chamber 410 is provided with independent tray sensor 413, whole described shelf 412 are installed on described base 411, and described control system 414 is grasped the storage situation of whole shelf 412 and controlled the stacking motion of bunching device 42.

Shelf 412 are installed on base 411, facilitate removing and installing and transport of warehousing system, and tray support frame adopts High Level Rack 412 form to have multiple difference in length and breadth to the tray support chamber 410 of arrangement design, improves space availability ratio.

Further description, as shown in Figure 10 or Figure 11, described bunching device 42 comprises frame 421, tablet 422, light rail 423, traveling gear 424, lifting mechanism 425 and telescopic objective table 426, the rectangular frame that described frame 421 is made up of cross slide way 4211 and longitudinal column 4212, described light rail 423 parallels with described cross slide way 4211, and be arranged at the bottom of described frame 421, described traveling gear 424 drives its wheel 4242 to walk along described light rail 423 by hoofing part assembly 4241, described lifting mechanism 425 is vertical is installed on described traveling gear 424, described objective table 426 is driven by described lifting mechanism 425 and leads and realizes movement vertically,

Described tablet 422 respectively transversely arranged distribution is arranged at the side of described light rail 423, and described tablet 422 corresponds to longitudinal described metal rod and arranges, and the spacing of adjacent described tablet 422 is the width in a described tray support chamber 410;

One group of lateral pickup group is provided with in the region of described traveling gear 424 corresponding immediately below described objective table 426, at least be provided with two lateral pickups 4243 in one group of lateral pickup group, and described lateral pickup 4243 and described tablet 422 are oppositely arranged;

With the moving direction of described traveling gear 424 for top, when first described lateral pickup 4243 passes laterally through the tablet 422 that described control system 414 specifies, described traveling gear 424 reduces speed now movement, when last in described lateral pickup group is through described tablet 422 of specifying, described traveling gear 424 is decelerated to and stops moving, described lateral pickup group is between described tablet 422 of specifying and the last tablet 422 of described tablet 422 of specifying, described objective table 426 by described lifting mechanism 425 vertically upward or move down, move to the dead ahead in the tray support chamber 410 that described control system 414 is specified.

The moving velocity of traveling gear 424 is controlled by the relative induction of lateral pickup 4243 and tablet 422, the control of servomotor is replaced to drive, reduce costs greatly, also can realize the quick startup of traveling gear 424 and steadily stop, preferably, one group of lateral pickup group is provided with three lateral pickups 4243, tentatively can slow down to traveling gear 424, slow down and be finally decelerated to the Discrete control of stopping in middle part, realize pulsation-free more to stop, weaken the inertia effects of traveling gear 424, guarantee that objective table 426 can be transplanted on the dead ahead in the tray support chamber 410 of specifying accurately.

The bottom of described objective table 426 is provided with travel multiplier mechanisms 4261, and described travel multiplier mechanisms 4261 moves forward and backward degree for the Z-direction of the described objective table that doubles.Being provided with travel multiplier mechanisms 4261 makes the elongation quantitative change of the front and back of objective table 426 large, deposit thing pallet 02 can steadily bear in tray support chamber 410, existing pushing away is avoided to put, avoid the skew of depositing thing pallet 02, in addition, also make the movable driving volume of objective table 426 reduce greatly, it is more convenient to shift.

Further description, described lifting mechanism 425 comprises movable stand 4251, vertical guide rail 4252 and lifting motor assembly 4253, described movable stand 4251 is spacing and be slidably installed on described vertical guide rail 4252 by inhibiting device, and described movable stand 4251 is controlled to move up and down along described vertical guide rail 4252 by described lifting motor assembly 4253;

Described objective table is fixedly installed in the outside of described movable stand 4251, and described objective table is horizontally disposed with.

Objective table is installed on lifting mechanism by movable stand 4251, objective table detachably make it install or to change different extending apparatus, make objective table have the motion of fore-and-aft direction, realize steadily propping up of pallet, adapt to the requirement of different size shelf, and its installation also facilitates.

Further description, described lifting motor assembly 4253 comprises variable-frequency motor reducer arrangement 531, sprocket wheel 532 and chain 533, the mouth of described variable-frequency motor reducer arrangement 531 is connected to described sprocket wheel 532, and described chain 533 cooperation is installed on described sprocket wheel 532.

Be with movable sprocket 532 by variable-frequency motor reducer arrangement 531, and chain drive-belt 533 drags movable stand 4251 is elevated, realize the lifting of objective table 426, lifting steadily.

Further description, described tablet 422 in the vertical direction also spread configuration in described lifting mechanism 425, and relative with the spacer portion in each described tray support chamber 410, the side of described movable stand 4251 is provided with the longitudinal sensor 4244 relative with described tablet 422.

Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.

Claims (10)

1. an industrial robot automated warehouse storage system, is characterized in that: comprise robot off-sorting station, double-speed chain, AGV dolly, intelligent three-dimensional warehouse, magnetic conductance rail and central controller; Described magnetic conductance rail is arranged at ground, and an adjacent described double-speed chain in end of described magnetic conductance rail is arranged, and adjacent described intelligent three-dimensional warehouse, the other end is arranged;
Described robot off-sorting station comprises flat rubber belting conveyer, robot and device for visual identification, described flat rubber belting conveyer is placed with multiple pallet for loading object to be sorted, described flat rubber belting conveyer receives signal that described central controller sends and controls described pallet along the movement on its direction of transfer, described device for visual identification is installed on the either side of described flat rubber belting conveyer, and be positioned at the top of described pallet, the camera of described device for visual identification is for taking the pallet area below it, and its image pickup scope is at least a pallet, the photo that camera is taken by described device for visual identification carries out detection and Identification, and will identify that the characteristic data obtained sends to described central controller, and send signal to described robot by it, what the article transfer of specifying was positioned over described double-speed chain by described robot Received signal strength deposits thing pallet,
After the object of specifying is placed, described double-speed chain sends signal to described central controller, and send AGV dolly startup described in signal control by described central controller, described AGV dolly detects described magnetic conductance rail by the sensor bottom it, and it is mobile along described magnetic conductance rail walking to produce electromagnetic induction signal, and can dock with described double-speed chain, make described double-speed chain transfer on described AGV dolly by described thing pallet of depositing, described in deposit thing pallet and shifted the bunching device being transported to described intelligent three-dimensional warehouse by described AGV dolly along described magnetic guide rail movement;
Described thing pallet of depositing carries transfer to prop up in the tray support chamber of corresponding tiered warehouse facility by described bunching device.
2. a kind of industrial robot automated warehouse storage system according to claim 1, it is characterized in that: described robot off-sorting station also comprises waste recovery storehouse, described waste recovery storehouse is arranged at the either side of described flat rubber belting conveyer, is sorted by the nonconformity object detected and be positioned in described waste recovery storehouse after described robot receives the signal that described central controller sends.
3. a kind of industrial robot automated warehouse storage system according to claim 1, it is characterized in that: described device for visual identification also comprises light source and the controller for controlling light source and camera, described light source is arranged at the bottom of pallet, described controller triggers the unlatching of light source and the shooting of described camera after receiving the information that described pallet puts in place successively, described camera adopts overall situation exposure screening-mode to take pictures, after shooting, send signal by described controller, received by described central controller and enter subsequent processing.
4. a kind of industrial robot automated warehouse storage system according to claim 1, it is characterized in that: described robot comprises robot clamp, multiple-directional rotating axle, robot base and robot body, described robot clamp is installed on described robot body by described multiple-directional rotating axle, described robot body is installed on described robot base, and described robot is fixed by described robot base and is positioned over the side of described flat rubber belting conveyer;
Described robot clamp is vacuum cup fixture.
5. a kind of industrial robot automated warehouse storage system according to claim 4, it is characterized in that: described robot clamp comprises fixture chassis, the single sucking disc support, Double-sucker bracket and detection and location device, the end of described the single sucking disc support is provided with vacuum cup, two branches of the end of described Double-sucker bracket are symmetrically arranged with vacuum cup respectively, what described the single sucking disc support and described Double-sucker bracket were symmetrically distributed in described fixture chassis respectively appoints both sides, and both respective symmetrical axis are positioned at the same vertical centering control face on described fixture chassis;
Described detection and location device is arranged adjacent to described the single sucking disc support or described Double-sucker bracket, and the axis of described detection and location device is positioned at described vertical centering control face, and described detection and location device is for locating the object of specifying in described pallet;
Described fixture chassis is rotatably installed on the 6th axle of described robot clamp.
6. a kind of industrial robot automated warehouse storage system according to claim 1, it is characterized in that: described AGV dolly comprises car body, loading attachment, dolly control housing, driven unit and at least two group cardan wheels, described loading attachment is arranged at the upper surface of described car body, the bottom of described dolly control housing is provided with pulley, described dolly control housing adopts drawer type can be arranged at the inside of described dolly with extracting out by the guide rail that described car interior is provided with, described driven unit is arranged at the bottom of described car body, described driven unit comprises drive motor and drive wheel, described drive wheel is connected to the mouth of described drive motor, described at least two groups, cardan wheel is installed on the bottom of the front-end and back-end of described car body respectively, and described AGV dolly is supported in ground by described cardan wheel and described drive wheel, and along the spacing guiding movement of described magnetic conductance rail.
7. a kind of industrial robot automated warehouse storage system according to claim 6, it is characterized in that: described AGV dolly also comprises touch-screen, described touch-screen is arranged at the side of described loading attachment, described touch-screen is connected to described dolly control housing, and its interface is provided with and controls described AGV dolly and start, stop and the instruction of running velocity.
8. a kind of industrial robot automated warehouse storage system according to claim 6, it is characterized in that: described loading attachment comprises for loading the flat rubber belting transfer assembly transferring described pallet, the stopper and space sensor that limit is loaded for pallet limitation, described stopper is arranged at the bottom at the top of described flat rubber belting transfer assembly, described space sensor is arranged at intervals at the bottom of described flat rubber belting transfer assembly respectively by described width scales of depositing thing pallet, when described space sensor all senses that depositing thing pallet exists, described space sensor sends the transmission that signal stops described flat rubber belting transfer assembly, send signal to described stopper simultaneously, the flat rubber belting face making described stopper rise to described flat rubber belting transfer assembly stops prepare to enter described flat rubber belting transfer assembly deposit thing pallet.
9. a kind of industrial robot automated warehouse storage system according to claim 1, it is characterized in that: described tiered warehouse facility comprises base, shelf, tray sensor and control system, described shelf are the tray support frame be welded to form in length and breadth respectively by metal rod, described tray support frame has multiple difference in length and breadth to the tray support chamber of arrangement design, described tray support chamber is provided with independent tray sensor, whole described shelf are installed on described base, and described control system is grasped the storage situation of whole shelf and controlled the stacking motion of bunching device.
10. a kind of industrial robot automated warehouse storage system according to claim 9, it is characterized in that: described bunching device comprises frame, tablet, light rail, traveling gear, lifting mechanism and telescopic objective table, the rectangular frame that described frame is made up of cross slide way and longitudinal column, described light rail parallels with described cross slide way, and be arranged at the bottom of described frame, described traveling gear drives its wheel to walk along described light rail by hoofing part assembly, described lifting mechanism is vertical is installed on described traveling gear, described objective table is driven by described lifting mechanism and leads and realizes movement vertically,
Described tablet respectively transversely arranged distribution is arranged at the side of described light rail, and described tablet corresponds to longitudinal described metal rod and arranges, and the spacing of adjacent described tablet is the width in a described tray support chamber;
Be provided with one group of lateral pickup group in the region of described traveling gear corresponding immediately below described objective table, be at least provided with two lateral pickups in one group of lateral pickup group, and described lateral pickup and described tablet be oppositely arranged;
With the moving direction of described traveling gear for top, when first described lateral pickup passes laterally through the tablet that described control system specifies, described traveling gear reduces speed now movement, when last in described lateral pickup group is through described tablet of specifying, described traveling gear is decelerated to and stops moving, described lateral pickup group is between described tablet of specifying and the last tablet of described tablet of specifying, described objective table by described lifting mechanism vertically upward or move down, move to the dead ahead in the tray support chamber that described control system is specified.
CN201510765237.3A 2015-11-11 2015-11-11 Automatic storage system of industrial robot CN105292892A (en)

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CN105728328A (en) * 2016-05-13 2016-07-06 杭州亚美利嘉科技有限公司 Goods sorting system and method
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CN106354131A (en) * 2016-08-25 2017-01-25 苏州市艾信物联网技术有限公司 Medical connection robot
CN106379685A (en) * 2016-11-16 2017-02-08 杭州电子科技大学 Automatic goods taking and unloading equipment based on unmanned carrier
CN106516530A (en) * 2016-12-21 2017-03-22 锥能机器人(上海)有限公司 Automatic warehousing sorting station and sorting method thereof
CN106741314A (en) * 2016-12-27 2017-05-31 格林美(天津)城市矿产循环产业发展有限公司 A kind of abandoned car intelligent grabbing system
CN106743014A (en) * 2016-12-29 2017-05-31 云南卓沛科技有限公司 The warehousing system and storage, warehouse-out method of loading small handcart are transported based on AGV
CN107168232A (en) * 2017-06-20 2017-09-15 天海欧康科技信息(厦门)有限公司 A kind of rail mounted picker control system
CN107992061A (en) * 2018-01-23 2018-05-04 中南大学 A kind of the wisdom laboratory machine people means of delivery and system
CN108128586A (en) * 2017-12-30 2018-06-08 岑罗琼 A kind of intelligent storage robot device
CN108502428A (en) * 2018-03-17 2018-09-07 宋铃钰 A kind of warehouse logistics manage system with goods automation control
CN108597290A (en) * 2018-05-04 2018-09-28 冯敬新 Intelligence manufacture training platform
WO2018218543A1 (en) * 2017-05-31 2018-12-06 真玫智能科技(深圳)有限公司 Warehousing system, and control system and control method for warehousing system

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CN105540125A (en) * 2016-02-04 2016-05-04 杭州南江机器人股份有限公司 Automatic circulation system for storage
CN105540125B (en) * 2016-02-04 2019-04-23 杭州南江机器人股份有限公司 A kind of storage automatic flow system
CN105728328A (en) * 2016-05-13 2016-07-06 杭州亚美利嘉科技有限公司 Goods sorting system and method
CN105923316A (en) * 2016-07-10 2016-09-07 柴永朋 AGV dispatching system for intelligent warehousing
CN106354131A (en) * 2016-08-25 2017-01-25 苏州市艾信物联网技术有限公司 Medical connection robot
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CN106379685A (en) * 2016-11-16 2017-02-08 杭州电子科技大学 Automatic goods taking and unloading equipment based on unmanned carrier
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CN106741314A (en) * 2016-12-27 2017-05-31 格林美(天津)城市矿产循环产业发展有限公司 A kind of abandoned car intelligent grabbing system
CN106741314B (en) * 2016-12-27 2019-04-19 格林美(天津)城市矿产循环产业发展有限公司 A kind of abandoned car intelligent grabbing system
CN106743014A (en) * 2016-12-29 2017-05-31 云南卓沛科技有限公司 The warehousing system and storage, warehouse-out method of loading small handcart are transported based on AGV
CN106743014B (en) * 2016-12-29 2019-03-08 云南卓沛科技有限公司 The warehousing system and storage, warehouse-out method of loading small handcart are transported based on AGV
WO2018218543A1 (en) * 2017-05-31 2018-12-06 真玫智能科技(深圳)有限公司 Warehousing system, and control system and control method for warehousing system
CN107168232A (en) * 2017-06-20 2017-09-15 天海欧康科技信息(厦门)有限公司 A kind of rail mounted picker control system
CN108128586A (en) * 2017-12-30 2018-06-08 岑罗琼 A kind of intelligent storage robot device
CN107992061A (en) * 2018-01-23 2018-05-04 中南大学 A kind of the wisdom laboratory machine people means of delivery and system
CN108502428A (en) * 2018-03-17 2018-09-07 宋铃钰 A kind of warehouse logistics manage system with goods automation control
CN108597290A (en) * 2018-05-04 2018-09-28 冯敬新 Intelligence manufacture training platform

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Application publication date: 20160203