CN105600260A - Self-service intelligent storage and retrieval device with communicating storage and retrieval trolley - Google Patents

Self-service intelligent storage and retrieval device with communicating storage and retrieval trolley Download PDF

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Publication number
CN105600260A
CN105600260A CN 201510678840 CN201510678840A CN105600260A CN 105600260 A CN105600260 A CN 105600260A CN 201510678840 CN201510678840 CN 201510678840 CN 201510678840 A CN201510678840 A CN 201510678840A CN 105600260 A CN105600260 A CN 105600260A
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access
storage
interworking
retrieval
device
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CN 201510678840
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Chinese (zh)
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CN105600260B (en )
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钟高锋
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钟高锋
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/137Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Abstract

The invention discloses a self-service intelligent storage and retrieval device with a communicating storage and retrieval trolley. The self-service intelligent storage and retrieval device comprises a cabinet body, a cabinet door and an automatic control system, wherein latticed storage cells are arranged in the cabinet body, turnover boxes which are corresponded one by one are arranged in the latticed storage cells, a storage and retrieval door is arranged on the cabinet door, the storage and retrieval trolley and a plane moving device are arranged between the cabinet body and the cabinet door, the storage and retrieval trolley is arranged on the plane moving device, and comprises an communicating shell, an outer opening is formed in one side, near the cabinet door, of the communicating shell, an inner opening is arranged in one side, far away from the cabinet door, of the communicating shell, an inner storage and retrieval cavity and an outer storage and retrieval cavity which are vertically communicating are arranged in the communicating shell, the inner storage and retrieval cavity is communicated with the inner opening, the outer storage and retrieval cavity is communicated with the outer opening, a retractor device and a lifting device are arranged in the inner storage and retrieval cavity, a weighing sensor is arranged on a lifting transmission, and the automatic control system is communicated with the internet. The self-service intelligent storage and retrieval device is reliable in working performance, high in volume ratio, high in compatibility, wide in range of application, low in cost of mechanism simplification, and high in the degree of automation.

Description

具有互通式存取小车的自助式智能存取装置 Self-access smart interchange trolley having access means

技术领域 FIELD

[0001]本发明涉及生活服务智慧机器人设备技术领域,尤其是涉及一种具有互通式存取小车的自助式智能存取装置。 [0001] The present invention relates to a robotic device intelligence service life technologies, and particularly relates to self-access device having a smart interchange access car.

背景技术 Background technique

[0002]自动售货机不受时间、地点的限制,能节省人力、方便交易的优点得到广泛的应用。 [0002] vending machine unlimited time, place, and can save manpower, the advantages of convenient transaction has been widely used. 随着科技的发展及人们生活水平的提高,自动售货机市场的发展越来越呈现出多元化及个性化的需求;目前市场上的常见自动售货机内部出货机构以螺旋推送、转盘方式、曲柄连杆传动、履带传送等方式为主,也有采用伺服装置进行自动控制的,然而这些出货结构要么容积率不够、要么兼容性差、要么机构复杂、要么可靠性不够等,这就增加了制造和维护成本;另外,物品配送柜也出现在人们日常生活中,但其也有容积率差、适用范围小、操作界面不够友好等缺点;因此,有必要研发一种新式的容积率高、兼容性强、机构简化、可靠性高、自动化程度高的出货机构。 With the improvement of technology development and people's living standards, more and more development of the vending machine market presents a diversified and personalized needs; current common vending machine inside the shipping agency market with an auger, rotary way, main crank connecting rod drive, tracked transmission, etc., there is also servo means for automatic control, however, these structures are either shipped volume ratio enough, or poor compatibility, or a complicated mechanism or the like not reliability, which increases the manufacturing and maintenance costs; in addition, goods distribution cabinet also appears in people's daily lives, but it also has a floor area ratio is poor, small scope, not friendly user interface and other shortcomings; therefore, it is necessary to develop a new type of high volume, compatibility strong, simplified mechanism, high reliability, high degree of automation of shipping agency.

发明内容 SUMMARY

[0003]本发明是为了解决现有售货机、物品配送柜容积率差、结构复杂成本高、适用范围小、操作界面不够友好等问题,提供一种新式的容积率高、兼容性强适用范围广、机构简化成本低、可靠性高、自动化程度高具有互通式存取小车的自助式智能存取装置。 [0003] The present invention is made to solve the conventional machines, the article was poor volume distribution cabinet, complex structure and high cost, small scope, not friendly user interface and other problems by providing a new type of high volume, high compatibility scope wide, low-cost simplified mechanism, high reliability, having a high degree of automation trolley interchange access intelligent self-access device.

[0004]为了实现上述目的,本发明采用以下技术方案:具有互通式存取小车的自助式智能存取装置,包括柜体、柜门、自动控制系统,所述的柜体内的侧面或面对柜门的一面设有网格状存储格,所述的网格状存储格内设有一一对应的周转盒,所述的柜门上设有存取门,所述柜体与柜门之间设有存取小车、平面移动装置,所述的存取小车设于平面移动装置上,所述存取小车包括互通外壳,所述的互通外壳贴近柜门一侧设有外敞口,所述互通外壳远离柜门一侧设有内敞口,所述互通外壳内设有上下互通的内存取腔、外存取腔,所述的内存取腔与内敞口互通,所述的外存取腔与外敞口互通,所述内存取腔内设有伸缩装置、升降装置,所述的伸缩装置包括连接的伸缩电机、伸缩传动装置、伸缩电磁铁,所述的升降装置包括连接的升降电机、升降传动装置、升降 [0004] To achieve the above object, the present invention employs the following technical solution: Self-intelligent access device having access interchange trolley, including cabinets, doors, automatic control system, said side facing the cabinet or grid-like side doors with storage compartment, the storage compartment of the grid-like features one to one-box, the access door is provided on the door, the door of the cabinet and room with access to the car, car access plane moving means, said moving means is provided in a plane, the access interworking trolley comprises a housing, said housing proximate interworking with the outer side of the door open, the door intercommunication said housing remote from the open side provided with a housing equipped with vertical interworking interworking vena memory, external access to the cavity, the cavity within memory fetch interworking open, the external memory interworking with external vena open, the chamber is provided with a telescopic device memory fetch, the lifting device, the telescopic means comprise a telescopic connection of the motor, the telescopic drive means, retractable electromagnet, said lifting means comprising a lifting connection motor, the lifting gear, the lifting 电磁铁,所述的升降传动装置上设有称重传感器,所述的自动控制系统与互联网连通。 An electromagnet provided on the load cell apparatus of the lift transmission, the automatic control system in communication with the Internet. 本方案在柜体内部贴着柜体设置若干存储格,呈网格状,除了与柜门相配的侧面,柜体内两个侧面或面对柜门的一面都可设置网格状存储格,可提高物品容积率,且各存储格内都设置周转盒,周转盒内可放置各种不同种类物品,提高了兼容性和适用范围,周转盒为铁盒,伸缩装置沟通存储格和内存取腔,通过伸缩电磁铁的移动和动作,可把周转盒从存储格内取出移动到内存取腔,升降装置沟通内存储腔和外存储腔,通过升降电磁铁的移动和动作,可把周转盒从内存取腔上升到外存取腔,并随存取小车移送至存取门处后取走,也可在存取门处放置物品到周转盒,物品在存取小车外存取腔下降到内存取腔,周转盒随存取小车被移送至相应存储格中,实现全自动存取货过程;存取门为自动开启或关闭;伸缩电磁铁和升降电磁铁利用磁性吸附铁质周转盒,升 In this embodiment the cabinet is provided inside the cabinet against several memory cells, a grid shape, in addition to matching with a side door, or the two sides of the cabinet can be disposed to face one side of the door storage compartment grid pattern, can be volume ratio to improve the article, and in each memory cell are set-box, box turnover items can be placed different kinds, and to improve the compatibility of the scope of tin-box, a telescopic means and memory communicate vena memory cell, and telescopically moving the electromagnet by the operation, the working cassette can be removed from the storage compartment is moved to the vena memory, communication means lifting the storage chamber and an outer storage chamber, and by the lifting movement of the electromagnet operation, the cartridge can be from the working memory access to the outer chamber rises to take cavity, and with access to the trolley is transferred to the rear access door removed, the article may be placed in the access door to the working cassette, the car outer article drop access memory fetch access to the chamber chamber, the cartridge with the working carriage is transferred to a respective access memory cell, the process to achieve automatic access to goods; access door to automatically open or close; telescopic lift solenoid electromagnet and a magnetic attraction using the iron-box, l 降传动装置上的称重传感器用以提供周转盒内是否有物品的信号给自动控制系统;自动控制系统对各种移动装置实施控制,在收到指令后可完成自动存货和自动取货,自动控制系统与互联网连通。 Load cell means for providing a drop gear box signal if there are items of working to the automatic control system; automatic control system for controlling the various embodiments the mobile device, after receiving the instruction to be completed automatically pick the inventory and automatic, automatic the control system in communication with the Internet.

[0005]作为优选,所述的伸缩传动装置、升降传动装置分别为同步带传动、链轮链条传动、丝杆传动、齿轮齿条传动中的一种。 [0005] Advantageously, said telescopic drive means, respectively lifting gear belt drive sprocket chain drive, screw drive, rack and pinion of one. 本方案存取小车通过平面移动装置在一个平面内移动位置,和存取小车内伸缩、升降的直线运动叠加完成物品存取的三维立体动作,采用的结构简单有效,平面移动、小车内伸缩和升降的直线运动可采用一种传动方式,也可几种混合使用,灵活机动。 The program access by moving the carriage means moves the position of the plane in a plane, and access to the cart stretching, the linear movement of the lifting operation is superimposed to complete the three-dimensional article accessible, simple and effective structure employed, the movement plane, and stretching the cart down linear motion can be one kind of transmission mode, may be a mixture of several, flexible.

[0006]作为优选,所述的平面移动装置包括水平移动装置、竖直移动装置,所述的存取小车互通外壳与竖直移动装置可移动连接。 [0006] Advantageously, said apparatus comprising a planar horizontal movement means for moving, vertical moving means, said access housing with the vertical trolley interworking mobile device movable connector. 本方案的水平移动装置包括水平移动电机、水平传动装置、两根水平移动导轨,两根水平移动导轨分别设于柜体内顶部与底部,水平传动装置包括同步带、同步轮、编码器,本方案的竖直移动装置包括竖直移动电机、竖直传动装置、两根竖直移动导轨,竖直移动装置可移动连接在两根水平移动导轨上,竖直传动装置包括同步带、同步轮、编码器; A horizontal movement device of the present embodiment comprises a horizontal movement motor, horizontal drive means, two horizontal shift rail movement two horizontal rails are provided on top and bottom of the cabinet, horizontal drive means comprises a timing belt, timing pulley, the encoder, the present embodiment vertical moving means comprises a vertical movement motor vertically drives, two vertically movable rail is movable vertically moving means connected to the two horizontal shift rail, the vertical drive comprises a timing belt, timing pulley, the coding device;

[0007]水平移动导轨与柜体固定,而竖直移动导轨则可沿着水平移动导轨移动,上下两套水平传动装置分别拉动竖直移动导轨两端,均采用同步带传动方式,为保证上下两套水平传动装置为同步运动,可设置上下校正同步轮,上下校正同步轮分别与上下水平传动装置中的一个同步轮保持同轴,上下校正同步轮以校正同步带连接,编码器检测同步轮转数并发信号给自动控制系统,提供控制参数; [0007] The horizontal movement guide rail and the cabinet is fixed, and the vertical movement of the guide rail can be moved horizontally along the guide rail, two sets of upper and lower horizontal drive means are moved vertically to pull both ends of the guide rails, are used in belt drive mode, in order to ensure the vertical horizontal drive means for the two synchronous movement, wheels may be provided vertically corrects the synchronization, correcting the vertical synchronizing wheels are held coaxial with the upper and lower horizontal synchronizing the transmission of a wheel, the vertical synchronization correction to correct the timing belt wheel connected to the synchronous detection rotary encoder concurrent signal to the automatic control system, provides control parameters;

[0008]竖直移动装置可移动连接上下水平传动装置,可带动整体移动,两根竖直移动导轨可供存取小车上下移动,竖直移动装置采用同步带拉动存取小车上下移动,编码器检测同步轮转数并发信号给自动控制系统,提供控制参数。 [0008] The vertically moving means connected vertically movable horizontal drive means can drive the overall movement, two vertical guide rails move up and down movement of accessible trolley, vertical shifting means with belt pulls access car moving up and down, the encoder synchronizing concurrent rotation detection signal to the automatic control system, provides control parameters.

[0009]作为优选,所述的存取小车内敞口设有背板,所述存取小车顶部设有背板升降电机,所述的背板与背板升降电机采用背板升降传动装置连接,所述的背板升降传动装置为齿轮齿条传动装置。 [0009] Advantageously, the access to the cart is provided with an open back, the trolley is provided with a top access lifting motor means connected to the back plate, the back plate and the back plate lifting motor lift transmission using backplane , the backsheet is a lifting gear rack drive gear means. 本方案在存取货物,存取门打开时,柜体外部可通过互通式存取小车直接接触到柜体内部的网格状存储格,存在安全隐患,因此设置可移动的背板,在存取门打开时用以封闭存取小车内敞口,阻断柜体外部与网格状存储格,而在存取门关闭时,背板移动,使内敞口通畅,周转盒可通过内敞口移动。 When access to the goods of the present embodiment, the access door is opened, the outer cabinet can be directly accessed by contacting interchange trolley into the interior storage compartment grid-like cabinet, there are security risks, so movable back plate arranged, in the presence of when closing the door is opened to take small vehicle access open, lattice-like exterior of the cabinet block storage compartment, and when the access door closed, movement of the back plate, the inner open unobstructed, through the open-box mouth moving.

[0010]作为优选,所述的网格状存储格内设有与每个存储格一一配属的永磁体,所述的永磁体固定于柜体后侧板上。 [0010] Advantageously, said storage compartment grid-like features associated with each storage compartment eleven permanent magnet, the permanent magnet is fixed to the rear cabinet panel. 本方案中,要将周转盒放进存储格,存取小车上的伸缩电磁铁吸住周转盒并移动进存储格后断电,存储格配属的永磁铁将周转盒吸附到位;要从存储格中取出周转盒时,伸缩电磁铁移动到周转盒附近并通电,利用伸缩电磁铁对周转盒吸力远大于永磁铁对周转盒的吸力,可将周转盒取出。 In the present embodiment, to the cassette into the working memory cell, access telescopic trolley-Box and the electromagnet attracts the moving off into the storage compartment, the storage compartment associated permanent magnet in place the adsorption-Box; from the storage compartment when taken out-box, telescopically moved to the vicinity of the electromagnet is energized and the working cassette by telescoping suction-box electromagnets permanent magnet is much greater than the suction force of the turnover cartridge, the cartridge can be removed turnover.

[0011]作为优选,所述的周转盒为半封闭盒,所述周转盒包括盒底、盒身,所述周转盒设有导向倒角、取物倒角。 [0011] Advantageously, the semi-Box closed box, the box comprising a bottom-Box, a cartridge body, the cartridge is provided with a guide chamfer turnover, extract chamfered. 本方案的周转盒前后方向在移动过程中不会改变,周转盒朝向柜体后侧的侧面设有导向倒角,在周转盒被移送进存储格时与存储格侧边相互作用起到导向的作用,而周转盒朝向柜门的侧面则设置取物倒角,方便放置或取出物品;盒底盒身之间固定或可移动。 Turnover longitudinal direction of the program cartridge does not change during the move, toward the side of the cabinet-Box provided with a guide chamfer rear, and side memory cell interaction play a guide when the cassette is transported into the turnover of the storage compartment action, while working towards the door box side is set to extract a chamfer to facilitate the placement or removal of articles; between the cartridge bottom box body fixed or movable.

[0012]作为优选,所述的柜体内设有加热装置、制冷装置。 [0012] Advantageously, the cabinet is provided with heating means, cooling means. 本方案的存取小车设为循环装置,而柜体、柜门均设有保温层,柜体内底部设置加热器,柜体内各侧面部分或全部设置制冷管道,制冷装置的压缩机可单独放置,也可放置在柜体外底部;在加热或冷冻保温状态下,可设置存取小车定时上下移动,带动柜体内空气循环,从而保证柜体内各处温度一致;保温层可阻止热量流通,节约能耗。 Access to the car cycle apparatus of the present embodiment, the cabinets, doors are provided with insulation, the bottom heater is provided inside the cabinet, the cabinet is provided in each side portion or all of the refrigerant pipes, a compressor refrigerating apparatus can be placed separately, also be placed in the bottom of the outer cabinet; under heating or freezing the insulating state, the timing may be provided access to carriage moves up and down, driven by an air circulation inside the cabinet, the cabinet so as to ensure uniform temperature throughout; insulation can prevent heat flow, energy saving .

[0013]作为优选,所述的柜门上设有触摸屏、扫码枪、喇叭,所述的触摸屏、扫码枪、喇叭均与自动控制系统连接。 [0013] Advantageously, the touch screen provided on the door, scan code gun, the horn, the touch screen, scan code gun, speakers are connected to the automatic control system. 触摸屏、扫码枪可供存货、取货时操作、核对之用,触摸屏、扫码枪、喇叭可提供友好的人机界面,提高用户的体验感。 Touch screen, scan code gun available inventory, pick up operation, checking purposes, touch screen, scan code gun, the horn provides a friendly interface to improve the user experience a sense of.

[0014]因此,本发明具有如下有益效果:(I)工作性能可靠;(2)容积率高;(3)兼容性强适用范围广;(4)机构简化成本低;(5)自动化程度高。 [0014] Accordingly, the present invention has the following advantages: reliable (I) performance; (2) volume ratio; wide range of (3) compatibility applies; (4) low cost simplified mechanism; high degree (5) Automation .

附图说明 BRIEF DESCRIPTION

[0015]图1是本发明的一种外部结构示意图。 [0015] FIG. 1 is an external schematic view of the present invention.

[0016]图2是本发明的一种内部结构示意图。 [0016] FIG. 2 is a schematic view of an internal structure of the present invention.

[0017]图3是本发明水平及竖直移动装置的一种结构示意图。 [0017] FIG. 3 is a schematic view of a horizontal structure of the present invention, and one vertical movement device.

[0018]图4是本发明存取小车的一种结构不意图。 [0018] FIG 4 is a configuration of the present invention to access the car is not intended.

[0019]图5是本发明存取小车内存取腔的一种结构示意图。 [0019] FIG. 5 is a schematic view of the cart of the present invention to access the access chamber.

[0020]图6是本发明存取小车的一种立体结构不意图。 [0020] FIG. 6 is a perspective view trolley access structure of the present invention is not intended.

[0021 ]图7是本发明升降传动装置及称重传感器的一种结构示意图。 [0021] FIG. 7 is a lift transmission apparatus of the present invention, and one weighing schematic structure of the sensor.

[0022]图8是本发明周转盒的一种结构爆炸示意图。 [0022] FIG. 8 is a structure-Box exploded view of the present invention.

[0023]图中:1、柜体 2、柜门 21、触摸屏22、扫码枪23、喇叭 [0023] FIG: 1, the cabinet 2, the door 21, a touch panel 22, scan code gun 23, the speaker

[0024] 3、网格状存储格31、周转盒 32、盒底33、盒身 [0024] 3, grid-like memory cell 31, the turnover cassette 32, the cassette bottom 33, the cassette body

[0025] 34、导向倒角 35、取物倒角4、存取门5、存取小车 [0025] 34, a chamfer guide 35, extract the chamfer 4, the access door 5, access to the car

[0026] 51、直线轴承 52、互通外壳53、外敞口54、内敞口 [0026] 51, linear bearings 52, 53 exchange housing, the outer 54 open, the open

[0027] 55、内存取腔 56、外存取腔57、伸缩装置571、伸缩电磁铁[0〇28] 58、升降装置581、升降电磁铁582、称重传感器 59、背板 [0027] 55, vena memory 56, external access to the chamber 57, the telescopic device 571, solenoid retractable [0〇28] 58, the lifting device 581, the lift solenoid 582, the load cell 59, the back plate

[0029] 591、背板升降电机6、水平移动电机7、水平传动装置 [0029] 591, the back plate lifting motor 6, the horizontal movement motor 7, the horizontal drive means

[0030] 71、水平同步带72、水平同步轮73、水平编码器[0031 ] 74、校正同步轮75、校正同步带8、水平移动导轨 [0030] 71, the level of belt 72, the horizontal synchronizing wheel 73, the level of the encoder [0031] 74, a correction timing pulley 75, correcting the timing belt 8, the horizontal movement of the guide rail

[0032] 9、竖直移动电机10、竖直传动装置101、竖直同步带 [0032] 9, 10 moving vertically, vertical drive motor 101, the vertical belt

[0033] 102、竖直同步轮103、竖直编码器11、竖直移动导轨。 [0033] 102, a vertical synchronizing wheel 103, the vertical encoder 11, the vertical movement of the guide rail.

具体实施方式 detailed description

[0034]下面结合附图对本发明做进一步的描述。 [0034] The present invention will be further described in conjunction with the accompanying drawings.

[0035]如图1至图6所示的实施例中,具有互通式存取小车的自助式智能存取装置,包括柜体1、柜门2、自动控制系统,柜体I内面对柜门2的一面设有网格状存储格3,网格状存储格3内设有一一对应的周转盒31,柜门上设有存取门4,柜体I与柜门2之间设有存取小车5、平面移动装置,存取小车5设于平面移动装置上,存取小车5包括互通外壳52,互通外壳52贴近柜门2—侧设有外敞口53,互通外壳52远离柜门2—侧设有内敞口54,互通外壳52内设有上下互通的内存取腔55、外存取腔56,内存取腔55与内敞口54互通,外存取腔56与外敞口53互通,内存取腔55内设有伸缩装置57、升降装置58,伸缩装置57包括伸缩电机、伸缩传动装置、伸缩电磁铁571,升降装置58包括升降电机、升降传动装置、升降电磁铁581,升降传动装置上设有称重传感器582,自动控制系统与互联网连通; Illustrated embodiment [0035] As shown in FIG. 1 to FIG. 6, having a self-interchange access devices accessing the smart car, includes a cabinet 1, doors 2, the automatic control system, the inner face of the cabinet the cabinet I 2 side door storage compartment 3 is provided with a grid-like, grid-like memory cell equipped with one-3-box 31 is provided with the access door on the cabinet door 4, disposed between the door 2 and cabinet I 5 has an access car, plane moving means 5 provided on the access plane trolley mobile device, access interworking carriage 5 comprises a housing 52, the housing 52 communicate with the outer side 2- close door 53 open, the housing 52 away from the interworking 2- open side door 54 is provided with inner, housing 52 features a vertical interworking interworking vena memory 55, external access to the chamber 56, memory 55 communicate with the inner chamber to take open 54, outer chamber 56 and an outer access 53 open exchange, to take the memory chamber 55 equipped with telescopic means 57, the lifting device 58, the telescopic device 57 includes a telescoping motor, telescopic drives, electromagnets 571 telescoping, the lifting device comprises a lifting motor 58, the lifting gear, lift solenoid 581, load cell 582 is provided on the lifting gear, the automatic control system in communication with the Internet;

[0036]伸缩传动装置为同步带传动,升降传动装置为齿轮齿条传动,伸缩传动装置包括电机连接轴、同步带、同步轮、导轨、行程开关,伸缩电磁铁571可在导轨上滑动,升降传动装置包括电机连接轴、齿轮、齿条、滑槽、行程开关,升降电磁铁581可随齿条在滑槽内滑动; [0036] The telescopic device is a belt drive transmission, the lifting means is a rack and pinion drive, comprising a telescopic transmission shaft connected to a motor, timing belt, timing pulley, the guide rails, limit switch, solenoid 571 may be telescopically slide on the rail, the lifting drive means includes a motor connected to shaft, gear, rack, chute, limit switch, lift solenoid 581 is slidable within the chute with the rack;

[0037]平面移动装置包括水平移动装置、竖直移动装置,存取小车互通外壳与竖直移动装置可移动连接,水平移动装置包括水平移动电机6、水平传动装置7、两根水平移动导轨8,两根水平移动导轨8分别设于柜体I内顶部与底部,水平传动装置7包括水平同步带71、水平同步轮72、水平编码器73、校正同步轮74、校正同步带75,竖直移动装置包括竖直移动电机 [0037] plane moving means comprises horizontal moving means, vertical movement means connected to the movable trolley access interworking device housing with the vertical movement, horizontal movement means comprises a horizontal movement motor 6, horizontal drive means 7, two horizontal moving rail 8 , two horizontal movement guide rail 8 disposed on the top and bottom, respectively, within the cabinet I, horizontal drive means 7 includes a horizontal belt 71, a horizontal synchronizing wheel 72, the level of the encoder 73, the synchronization correction wheel 74, a correction timing belt 75, a vertical moving means comprises a vertical moving motor

9、竖直传动装置10、两根竖直移动导轨11,竖直移动装置可移动连接在两根水平移动导轨8上,竖直传动装置10包括同步带101、同步轮102、编码器103; 9, the vertical actuator 10, two vertically moving guide 11, vertical displacement means movably connected to two horizontal shift rail 8, the vertical actuator 10 includes a timing belt 101, timing pulley 102, the encoder 103;

[0038]存取小车5外侧设有两个直线轴承51,两个直线轴承51分别与两根竖直移动导轨11配合; [0038] Access outer trolley 5 is provided with two linear bearings 51, two linear bearings 51 are vertically movable and two guide rails 11 fitted;

[0039]存取小车5内敞口 54设有背板59,存取小车5顶部设有背板升降电机591,背板与59背板升降电机591采用背板升降传动装置连接,背板升降传动装置为齿轮齿条传动装置; [0039] access to the back plate 54 is provided with an open carriage 5 59, access to the car 5 is provided with a top back plate lifting motor 591, the back plate and the back plate 59 using backing plate lifting motor 591 lift transmission means connected to the backplane lifter the transmission means is a rack and pinion gear;

[0040]网格状存储格3内设有与每个存储格一一配属的永磁体,永磁体固定于柜体I后侧板上; [0040] The mesh-like storage compartment 3 features associated with each storage compartment eleven permanent magnets, the permanent magnet is fixed to the rear panel of the cabinet I;

[0041]周转盒31为半封闭盒,周转盒31包括盒底32、盒身33,周转盒31设有导向倒角34、取物倒角35; [0041] 31-Box is a semi-closed box-Box 31 includes a bottom box 32, box body 33, provided with a guide chamfer 31-Box 34, chamfer 35 extract;

[0042]柜体I内设有加热装置、制冷装置,存取小车5设为循环装置,柜体1、柜门2均设有保温层; [0042] I cabinet provided with a heating means, cooling means, access to the car cycle apparatus 5, the cabinet 1, doors 2 are provided with insulating layer;

[0043]柜门2上设有触摸屏21、扫码枪22、喇叭23,触摸屏21、扫码枪22、喇叭23均与自动控制系统连接。 [0043] Door 21 is provided with a touch screen, scan code gun 22, speaker 23, touch screen 21, the scan code gun 22, the speaker 23 are connected to the automatic control system 2.

[0044]具体实施过程是,存取小车5以存取门4位置为初始点,在自动存货时,自动控制系统开启存货模式,输入信号后,存取小车5在平面移动装置带动下移动到网格状存储格3相应的存储格位置,背板59向上升起使内敞口54通畅,伸缩电磁铁571水平移动伸出到位后通电,利用伸缩电磁铁571磁性吸力大于存储格后部永磁体磁性吸力,伸缩电磁铁571吸附内部为空的周转盒31后缩回原位,背板59向下降落关闭内敞口54,存取小车5在平面移动装置带动下移动到初始点,升降电磁铁581通电并吸附周转盒31盒底32,称重传感器582记录重量信号,升降电磁铁581竖直上移到位后,存取门4打开,使用者通过外敞口53将物品放置盒底32,称重传感器582产生信号,待存取门4安全关闭后,升降电磁铁581下降到位并断电,存取小车5在平面移动装置带动下移动到网格状存储格3相应的存 [0044] The specific process embodiment, the access door to access the car 5 4 position as an initial point, when an automatic inventory, inventory system on automatic control mode, the input signal, the access carriage 5 is moved in the planar drive to the mobile device grid-like storage compartment 3 corresponding storage cell location, the backing plate 59 so that the open 54 rises up smooth, telescoping movement of the electromagnet 571 extending horizontally in place energized, the electromagnet 571 using retractable rear storage compartment is greater than the magnetic attraction force the permanent the magnetic attraction of the magnet, the electromagnet 571 telescopically inside the adsorption empty cartridge is retracted in situ after working 31, the back plate 59 downward to close the open land 54, the trolley 5 is moved to the initial access point in a plane moving device drives the elevating after solenoid 581 is energized and the end of the adsorption-box 31 box 32, the load cell 582 and the weight recorded signal, the electromagnet 581 is moved to bit down vertically, the access door 4 is opened, the user 53 through the outer open end of the cassette placing the article 32, the load cell 582 generates a signal, the access door 4 to be safely shut down, lift solenoid 581 and drop off place, access to the car 5 moves in the plane of the mobile device driven by a respective memory 3 to memory cell lattice 格位置,背板59向上升起使内敞口54通畅,伸缩电磁铁571通电并吸附着内有物品的周转盒31水平移动伸出到位,伸缩电磁铁571断电并缩回原位,背板59向下降落关闭内敞口54,永磁体将周转盒31吸附,存取小车5在平面移动装置带动下移动到初始位置; Grid positions, so that the back plate 59 rises upwardly open 54 open, the solenoid 571 is energized and the telescopic adsorbed article with a cassette 31 within the working place extends horizontally moved, the solenoid 571 de-energized and retracted telescopically in situ, back Close the plate 59 downwardly open land 54, the permanent magnet 31-box adsorption access trolley 5 is moved to the initial position in the plane of the mobile device driven;

[0045]在自动取货时,自动控制系统开启取货模式,输入信号后,存取小车5在平面移动装置带动下移动到网格状存储格3相应的存储格位置,背板59向上升起使内敞口54通畅,伸缩电磁铁571水平移动伸出到位后通电,利用伸缩电磁铁571磁性吸力大于存储格后部永磁体磁性吸力,伸缩电磁铁571吸附内部有物品的周转盒31后缩回原位,背板59向下降落关闭内敞口54,存取小车5在平面移动装置带动下移动到初始点,升降电磁铁581通电并吸附周转盒31盒底32,称重传感器582记录重量信号,升降电磁铁581竖直上移到位后,存取门4打开,使用者通过外敞口53将物品取出,称重传感器582产生信号,待存取门4安全关闭后,升降电磁铁582下降到位并断电,存取小车5在平面移动装置带动下移动到网格状存储格3相应的存储格位置,背板59向上升起使内敞口54通畅,伸缩电磁铁571 [0045] In the automatic pickup, pickup system on automatic control mode, the input signal, the access to the carriage 5 moves upward to a grid-like storage compartment 3 corresponding storage cell location, the backing plate 59 in the plane of the mobile device driven 54 open from the inner smooth, telescoping movement of the electromagnet 571 extending horizontally in place energized, the electromagnet 571 using retractable rear storage compartment is greater than the magnetic attraction force of magnetic attraction of the permanent magnet, the electromagnet 571 adsorbed internal telescopic article after-box 31 situ retraction, the back plate 59 downward to close the open land 54, the trolley 5 is moved to the initial access point in a plane moving device, driven by suction lift solenoid 581 is energized and the bottom-box 31 box 32, the load cell 582 after recording the weight signal, the electromagnet 581 is moved to bit down vertically, the access door 4 is opened, the article 53 taken out by the user outside the open, the load cell 582 generates a signal, the access door 4 to be safely shut down, the lifting magnet 582 fall off and the iron in place, access to the mobile carriage 5 in the planar device to drive the moving grid-like storage compartment 3 corresponding storage cell location, the backing plate 59 so that the open 54 raised upwardly open, stretching the electromagnet 571 电并吸附着内部为空的周转盒31水平移动伸出到位,伸缩电磁铁571断电并缩回原位,背板59向下降落关闭内敞口54,永磁体将周转盒31吸附,存取小车5在平面移动装置带动下移动到初始位置; And electrically adsorbed inside an empty-Box 31 extending horizontally moved into place, the solenoid 571 de-energized and retracted telescopically in situ, the back plate 59 downward to close the open land 54, the permanent magnet 31 adsorbed-Box, deposit take car 5 is moved to the initial position in the plane of the mobile device driven;

[0046]自动控制系统还可通过互联网联通后台服务器,接受或发送信号到后台服务器; [0046] The automatic control system may also Unicom backend server through the Internet, receive or transmit signals to the backend server;

[0047]在柜体I内处于加热或冷冻保温状态下时,可设置存取小车5定时上下移动,带动柜体I内空气循环,从而保证柜体I内各处温度一致。 When the [0047] heating or cooling is in the insulating state within the cabinet I, may be provided access to the mobile carriage 5 up and down the timing to drive the air circulation inside the cabinet I, thus ensuring uniform temperature throughout the cabinet I.

Claims (8)

  1. 1.一种具有互通式存取小车的自助式智能存取装置,包括柜体、柜门、自动控制系统,其特征在于,所述的柜体内的侧面或面对柜门的一面设有网格状存储格,所述的网格状存储格内设有一一对应的周转盒,所述的柜门上设有存取门,所述柜体与柜门之间设有存取小车、平面移动装置,所述的存取小车设于平面移动装置上,所述存取小车包括互通外壳,所述的互通外壳贴近柜门一侧设有外敞口,所述互通外壳远离柜门一侧设有内敞口,所述互通外壳内设有上下互通的内存取腔、外存取腔,所述的内存取腔与内敞口互通,所述的外存取腔与外敞口互通,所述内存取腔内设有伸缩装置、升降装置,所述的伸缩装置包括连接的伸缩电机、伸缩传动装置、伸缩电磁铁,所述的升降装置包括连接的升降电机、升降传动装置、升降电磁铁,所述的升降传动装置 1. Self-access device having a smart interchange access trolley, including cabinets, doors, automatic control system, characterized in that the side facing the cabinet door or side is provided with web lattice storage compartment, the storage compartment of the grid-like features one to one-box, the access door is provided on the door, the trolley is provided between the access door and the cabinet, the plane of the mobile device, to access said carriage moving means is provided in a plane, the access interworking trolley comprises a housing, said housing proximate interworking with an outer open side of the door, a door away from the housing interworking with the open side of the housing equipped with vertical interworking interworking vena memory, external access to the cavity, the cavity within memory fetch interworking open, said outer chamber and an outer open access interworking the chamber is provided with a telescopic device memory fetch, the lifting device, the telescopic means comprise a telescopic connection of the motor, the telescopic drive means, retractable electromagnet, the lifting device comprises a lifting motor is connected to the lifting drive, the lifting electromagnet, the lifting gear 设有称重传感器,所述的自动控制系统与互联网连通。 It is provided with weighing sensors, the automatic control system in communication with the Internet.
  2. 2.根据权利要求1所述的具有互通式存取小车的自助式智能存取装置,其特征是,所述的伸缩传动装置、升降传动装置分别为同步带传动、链轮链条传动、丝杆传动、齿轮齿条传动中的一种。 The intelligent access device having a self-access interworking formula trolley according to claim 1, characterized in that the telescopic drive, belt drive means is a lifting gear, respectively, the sprocket chain drive, screw drive, rack and pinion of one.
  3. 3.根据权利要求1所述的具有互通式存取小车的自助式智能存取装置,其特征是,所述的平面移动装置包括水平移动装置、竖直移动装置,所述的存取小车互通外壳与竖直移动装置可移动连接。 The intelligent access device having a self-access interworking formula trolley according to claim 1, wherein said moving means comprises a flat horizontal moving means, access to the car vertical shifting means, said interworking the mobile device housing and movable vertically are connected.
  4. 4.根据权利要求1所述的具有互通式存取小车的自助式智能存取装置,其特征是,所述的存取小车内敞口设有背板,所述存取小车顶部设有背板升降电机,所述的背板与背板升降电机采用背板升降传动装置连接,所述的背板升降传动装置为齿轮齿条传动装置。 The intelligent access device having a self-access interworking formula trolley according to claim 1, wherein said backsheet is provided with open access to the cart, the trolley is provided with a top access back lifting motor plate, said back plate and the back plate lifting motor is connected to the back plate lift transmission means, said back plate lift transmission means is a rack drive gear means.
  5. 5.根据权利要求1所述的具有互通式存取小车的自助式智能存取装置,其特征是,所述的网格状存储格内设有与每个存储格一一配属的永磁体,所述的永磁体固定于柜体后侧板上。 The intelligent access device having a self-access interworking formula trolley according to claim 1, wherein said grid-like storage compartment features associated with each storage compartment eleven permanent magnets, the permanent magnet is fixed to the rear cabinet panel.
  6. 6.根据权利要求1所述的具有互通式存取小车的自助式智能存取装置,其特征是,所述的周转盒为半封闭盒,所述周转盒包括盒底、盒身,所述周转盒设有导向倒角、取物倒角。 The intelligent access device having a self-access interworking formula trolley according to claim 1, wherein said semi-Box closed box, the box comprising a bottom-Box, the box body, the -box provided with a guide chamfer extract chamfered.
  7. 7.根据权利要求1所述的具有互通式存取小车的自助式智能存取装置,其特征是,所述的柜体内设有加热装置、制冷装置。 The intelligent access device having a self-access interworking formula trolley according to claim 1, characterized in that said cabinet is provided with heating means, cooling means.
  8. 8.根据权利要求1所述的具有互通式存取小车的自助式智能存取装置,其特征是,所述的柜门上设有触摸屏、扫码枪、喇叭,所述的触摸屏、扫码枪、喇叭均与自动控制系统连接。 The intelligent access device having a self-access interworking formula trolley according to claim 1, characterized in that the touch screen is provided on the cabinet door, scan code gun, the horn, the touch screen, scan code gun, speakers are connected to the automatic control system.
CN 201510678840 2015-10-16 2015-10-16 Self-access smart interchange trolley having access means CN105600260B (en)

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