CN105775544B - Warehousing system and discharging of goods method with easy positioning function - Google Patents
Warehousing system and discharging of goods method with easy positioning function Download PDFInfo
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- CN105775544B CN105775544B CN201610305389.XA CN201610305389A CN105775544B CN 105775544 B CN105775544 B CN 105775544B CN 201610305389 A CN201610305389 A CN 201610305389A CN 105775544 B CN105775544 B CN 105775544B
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- Prior art keywords
- cargo
- slide plate
- fork truck
- robot
- laterally
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The present invention relates to a kind of warehousing system and discharging of goods method with easy positioning function, the system includes storage rack, the cargo pallet on storage rack, robot fork truck and robot navigation's alignment system, and robot navigation's alignment system includes the positioner for cargo pallet on shelf and the positioner for ground arbitrary target points；The horizontal robot fork truck for accessing cargo that the robot fork truck can arbitrarily walk for non-rail mounted on ground, the robot fork truck include one and laterally access cargo device, which is installed in the lifting sliding slot on robot fork truck.Present invention design is reasonable, can keep robot fork truck make anteroposterior direction linear movement direction it is constant while, also moved laterally by the transverse shifting of slide plate instead of wheel, carry out the longitudinal register towards shelf, not only solve the problems, such as laterally correction, also solve the problems, such as longitudinal direction correction, effectively increase the extraction rate of cargo.
Description
Technical field
The present invention relates to warehousing system technical field, and in particular to a kind of to have the warehousing system of easy positioning function and carry
Picking object space method.
Background technology
The shelf of general depot usually have two to three meters of height, discharging of goods on robot fork truck to two to three meters high of goods yard
The bottleneck problem faced is exactly：The transverse direction of larger car body left and right directions will occur when extracting goods in high-building for car body
Error, the reason is that：Since vehicle body is higher, the error of vertical angle inevitably occurs in machine-building.If the root of car body
Inclination somewhat occurs with vertical line direction for portion, then the lateral position deviation times over root will occur for its car body top, at this
In the case of kind, if cargo storage place left and right directions deviate from by center due to the inclination of car body during storage cargo, when
When extracting the cargo next time, if the inclination or the reverse run-off the straight of car body of left and right directions do not occur for an other trolley body
Robot perform picking task, it is according to predetermined target point discharging of goods, since the cargo has been shifted and has caused at this time
The jacking groove that the jacking apparatus of robot fork truck cannot enter precisely into cargo pallet lower surface causes cargo accurate
Extraction.
The prior art takes two methods, first method, the piler based on rail mounted, track to solve problem above
Formula piler lays track along roadway direction, due to being deposited which employs horizontal access device to the cargo of shelf both sides
Take, when car body occurs towards the position deviation of the left and right directions of shelf, piler can be made in the front-back direction straight along track
Line move and correct car body towards the position deviation of the left and right directions of shelf, therefore solve because wheel cannot move laterally from
And the position correction problem towards the left and right directions of shelf cannot be carried out, still, rail mounted piler warehousing system is great in constructing amount,
Of high cost, dismounting is difficult, and this guidance mode underaction based on track；The second method that the prior art is taken：
Fork legged mobile robot based on Quick Response Code：Quick Response Code is laid on storage ground, robot can be any on laying Quick Response Code ground
Walking, solves the problems, such as that track guidance mode underaction and construction cost are high, still, fork legged mobile robot access cargo
Mode puts in the access mode of shelf for vehicle body and fork at the same time, also, pitches legged mobile robot fork truck and be generally two driving rolling hitches
Structure, can only make linear motion in the front-back direction or curvilinear motion, and cannot move laterally, once car body occurs towards shelf
It during the position deviation of left and right directions, then must exit beyond shelf, shelf are again introduced into a manner of curved path, so repeatedly,
Until completing the correction of target point, this process may be up to several seconds, it is clear that have impact on the speed of access cargo.For solution
Certainly problem above, the method that the prior art carries out the fork legged mobile robot warehousing system based on Quick Response Code initialization calibration, bag
Include the calibration on shelf ground：The gradient on each shelf ground is demarcated with calibration vehicle；The calibration of robot fork truck：Use level ground
Demarcate the gradient of each car；The calibration of shelf：By each levelling position of shelf level meter, it is 0 degree or 180 to make its guarantee
Degree.Above calibration result is stored to robot fork truck bottom floor units, when performing picking task, by extracting phase from calibration unit
Information is closed, calculates the compensation position of target point, so as to solve the problems, such as that the contraposition of robot jacking apparatus is inaccurate during discharging of goods.
The scaling method is although possible in theory, but excessively cumbersome, is difficult to carry out in real work, moreover, its various initialization calibration
Value also will be constantly updated and corrected with the increase of car body service life, the change of environment, in short, the prior art fails to find out
One simple and efficient warehoused cargo localization method.
In conclusion the position when piler based on rail mounted solves working at height towards the left and right directions of shelf is inclined
Poor problem, still, construction cost is high, difficulty of construction is big, guidance mode underaction；Fork legged mobile robot fork based on Quick Response Code
Car solves the problems, such as that construction is simple, cost are low, can arbitrarily walk on the ground, and still, it is not simple enough that it initializes staking-out work
Just it is quick.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of warehousing system with easy positioning function
And method, that is, since the inclination of inclination or ground generation somewhat somewhat occurs for car body when solving robot fork truck aerial operation
Cause the low precision of access cargo and the problem that access speed is slow, also solve rail mounted piler construction cost height, construction hardly possible
The problem of degree is big, guidance mode underaction, effectively increases the efficiency of storage robot fork truck access cargo,
The present invention solves its technical problem and takes following technical scheme to realize：
A kind of warehousing system with easy positioning function, including storage rack, the cargo support on storage rack
Disk, robot fork truck and robot navigation's alignment system, robot navigation's alignment system are included for cargo on shelf
The positioner of pallet and the positioner for ground arbitrary target points；The robot fork truck can be on ground for non-rail mounted
The robot fork truck for the horizontal access cargo that face is arbitrarily walked, the robot fork truck include one and laterally access cargo device, should
Laterally one end of access cargo device is installed in the lifting sliding slot on robot fork truck.
Robot navigation's alignment system include two-dimension code navigation alignment system, laser hybrid navigation alignment system,
Quick Response Code hybrid navigation alignment system；The positioner for cargo pallet on shelf includes taking Quick Response Code positioning dress
Put or laser locating apparatus；The positioner for ground arbitrary target points includes taking Quick Response Code positioner or swashs
Light mixed positioning device or Quick Response Code mixed positioning device.
It is described laterally access cargo robot fork truck include chassis of vehicle body, the driving wheel on chassis of vehicle body and with
It is driving wheel, the body post installed in chassis of vehicle body side and perpendicular to chassis of vehicle body, the car body control cabinet on car body, fixed
Level control device, platform lifting device and horizontal access cargo device.
The position control device includes two-dimension code navigation position control device, laser hybrid navigation location control fills
Put, Quick Response Code hybrid navigation position control device；
The two-dimension code navigation position control device includes being used to read 2 D code information and shelf on storage ground
Code reader, communication interface, microprocessor, the encoder interfaces of 2 D code information.
The code reader for being used to read storage ground two-dimensional code information is installed on the lower section of chassis of vehicle body；
The code reader for being used to read Quick Response Code on storage rack is installed on the laterally access cargo device；
The two-dimension code navigation alignment system includes being laid on storage ground with the Quick Response Code on shelf, installed in machine
Quick Response Code position control device on device people's fork truck.
The platform lifting device is：Lifting platform leading screw, platform liter are installed in the intermediate vertical of two body posts
The top for dropping leading screw connects bearing by lifting platform leading screw and is connected with car body, and the bottom of lifting platform leading screw passes through platform
Elevating screw motor is connected with car body；Lifting sliding slot is equipped with two body posts, the laterally access cargo device is embedding
In lifting sliding slot.
The laterally access cargo device is five-layer structure from bottom to up, is respectively supporting course, podium level, the first slide plate
Layer, the second slide plate layer and pickup gear layer, sled drive mechanism is additionally provided with the centre of podium level, wherein：
The rectangular planes that the supporting course is formed for a plurality of bearing bar being uniformly arranged along length over ends of body direction, should
Plane is parallel with chassis of vehicle body, and one end of supporting course both sides bearing bar, which is each embedded in body post sliding slot and drives, entirely holds
Double-layer is lifted along body post sliding slot；
The podium level is installed on supporting course and parallel to chassis of vehicle body, and podium level is for two along width of the carbody
The rectangular planes of platform distance between girders a certain distance composition in direction, the length direction and supporting course of the rectangular planes
The length direction of rectangular planes is vertical each other, and the length of the rectangular platform layer is more than the width of car body, and its length side
To both ends be each isometric beyond the part of body width, be separately installed with pallet reading code at the both ends of platform beam
Device；
The first slide plate layer is packed on podium level, and the first slide plate layer is erected at two platform branch including two levels
Support the first track to align respectively on beam and with platform beam vertical direction, be enclosed in respective first track upper end respectively
Two the first sliding blocks, be solidly installed with two the first sliding blocks and be erected at the first slide plate on two the first sliding blocks respectively
And installed in the first slide plate lower surface and the first screw slider for being solidly installed with the first slide plate；
The second slide plate layer is vacantly arranged at a certain distance by the second slide plate sliding block and the first slide plate interlayer
On one slide plate layer, the second slide plate layer is erected on the first slide plate and respectively with the first sliding block including two levels and erects
The second track for directly aliging, two the second sliding blocks for being enclosed in respective second track upper end respectively, respectively with two the second sliding blocks
It is solidly installed and is erected at the second slide plate on two the second sliding blocks and installed in the second slide plate lower surface and with
The second screw slider that two slide plates are solidly installed；
The pickup gear layer fixes stick by the hook along the second slide plate length direction both ends and is packed in the second cunning
On flaggy, the pickup gear layer includes two hooks and fixes stick, two pairs of hooks, clamping devices；Two pairs of hooks point
Do not fix stick by respective hook to be packed on the second slide plate layer, the clamping device includes being arranged on its both ends
Clamp arm, telescopic rod, the clamping motor for stretching telescopic rod for connecting both ends clamp arm；The pickup gear layer is grown along car body
Degree leans out the second slide plate layer on the outside of direction, and the clamping motor is arranged on it and leans out the lower section of part；
The sled drive mechanism is installed between two platform beams of podium level, along podium level length direction
It is horizontally installed with the first leading screw, the motor for driving the first leading screw and second conveyer, the second leading screw, drives the second leading screw
Motor and second conveyer；First leading screw and the first screw slider use spiral connection, and the second leading screw and the second leading screw are slided
Block uses spiral connection, and the motor for driving the first leading screw and the motor for driving the second leading screw are installed on land lengths direction relatively
Both ends.
The cargo pallet is the cargo pallet with monaural piece, its concrete structure is：Tray body upper surface is equipped with four
A pallet leg, the positioning plate being solidly installed with body pallet is provided with the center point area of tray body single side face, fixed
The location hole of two strips spaced apart is formed with the plate of position.
A kind of discharging of goods method of the warehousing system with easy positioning function, comprises the following steps：
The robot fork truck of step 1, laterally access cargo drives into target shelf along roadway direction and lifts to target goods
Position；
Step 2, pallet code reader read the shelf 2 D code information that the goods yard is corresponded on target goods yard；
Step 3, calculate pallet code reader camera to the offset of shelf Quick Response Code, if offset is along tunnel side
To lateral deviation, then laterally access cargo robot fork truck make it is in the front-back direction linear motion compensation deviation；If offset
Measure as the longitudinal bias with tunnel vertical direction, then laterally the first slide plate of the robot fork truck of access cargo, the second slide plate are made
Transverse movement compensates deviation；
Step 4, laterally the robot fork truck of access cargo start pickup gear and are inserted upwardly into pallet registration holes；
Step 5, laterally the robot fork truck of access cargo starts clamping motor and is pressed from both sides hook by telescopic rod and clamp arm
Tightly；
Step 6, laterally the robot fork truck of access cargo lifts cargo and cargo is transplanted on to the center of the second slide plate
Domain；
Step 7, laterally cargo is down to the position for being capable of stable operation by the robot fork truck of access cargo, and is transported to mesh
Punctuate
The advantages and positive effects of the present invention are：
1st, the present invention by robot navigation's alignment system installation for cargo pallet on shelf positioner and
Positioner for ground arbitrary target points, the transverse direction that can arbitrarily walk on the ground by the non-rail mounted of warehousing system
The robot fork truck of cargo is accessed, that is, has taken into account rail mounted piler by laterally access cargo device to solve towards shelf
Left and right directions position deviation problem advantage, also solving rail mounted piler cannot arbitrarily walk and construction cost on ground
High, the problem of difficulty of construction is big.
2nd, robot fork truck of the present invention keep make anteroposterior direction linear movement direction it is constant while, also pass through slide plate
Transverse shifting moves laterally instead of wheel, carries out the longitudinal register towards shelf, not only solves the problems, such as laterally correction, also solves
The problem of longitudinal direction correction, effectively increase the extraction rate of cargo.
Brief description of the drawings
Fig. 1 is the robot fork truck side view of the horizontal access cargo of the present invention；
Fig. 2 is the pickup gear bottom view of the present invention；
Fig. 3 is that the slide plate of the laterally robot fork truck of access cargo moves to right discharging of goods schematic diagram；
Fig. 4 is that the slide plate of the laterally robot fork truck of access cargo moves to left shifting discharging of goods schematic diagram；
Fig. 5 is that the Quick Response Code of the present invention is laid in the schematic diagram laid on every layer of shelf；
Fig. 6 is the cargo pallet bottom view of the present invention；
Fig. 7 lays position view for Quick Response Code；
Fig. 8 is the positioning principle schematic diagram of the present invention；
Wherein, 1-0：Code reader；1-1：Supporting roller；1-2：Chassis；1-3：Driving wheel；1-4：Body post；1-5：Lifting
Sliding slot；1-6：Car body control cabinet；1-7-0：Bearing bar；1-7-1：Platform beam；1-7-2：First track；1-7-3：First rail
Road sliding block；1-7-4：First slide plate；1-7-5：Step up motor；1-7-6：Pallet code reader；1-7-7：Hook；1-7-8：Second rail
Road；1-7-9：Telescopic rod；1-7-10：Clamp arm；1-7-11：Second rail slider；1-7-12：Second screw slider；1-7-13：
Second slide plate；1-7-14：Second leading screw；1-7-15：The motor for driving the second leading screw to rotate；1-7-16：First leading screw；1-7-
17：First screw slider；1-8-1：Lifting platform spindle motor；1-8-2：Lifting platform leading screw；1-8-3：Lifting platform leading screw
Connect bearing；2-1：Shelf；2-2：Cargo；2-3：Quick Response Code on goods layer；3-1：Pallet lower surface；3-2：Pallet leg；3-3：
Pallet ear；3-4：Pallet registration holes；4-1：Along tunnel length direction center line with being handed over perpendicular to each goods yard center line in tunnel
The Quick Response Code laid at point.
Embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing：
A kind of warehousing system with easy positioning function, including storage rack, the cargo support on storage rack
Disk, robot fork truck and robot navigation's alignment system, it is characterised in that：Robot navigation's alignment system include for
The positioner of cargo pallet and the positioner for ground arbitrary target points on shelf；The robot fork truck is non-rail
The robot fork truck for the horizontal access cargo that road formula can arbitrarily walk on ground, the robot fork truck include one and laterally access goods
Thing device, the one end for laterally accessing cargo device are installed in the lifting sliding slot on robot fork truck.
Robot navigation's alignment system includes two-dimension code navigation alignment system, laser navigation alignment system, mixing
Navigation positioning system；The positioner for cargo pallet on shelf includes taking Quick Response Code positioner or laser to determine
Position device；The positioner for ground arbitrary target points includes taking Quick Response Code positioner or laser mixed positioning
Device or Quick Response Code mixed positioning device.
The robot fork truck of the laterally access cargo includes chassis of vehicle body 1-2, in the both sides on chassis of vehicle body
The supporting roller 1-1 of four vertex of two driving wheel 1-3, chassis of vehicle body of heart point, installed in chassis of vehicle body side and perpendicular to
The body post 1-4 of chassis of vehicle body, the car body control cabinet 1-6 on car body, position control device, platform lifting device,
Laterally access cargo device.
The positioner for cargo pallet on shelf takes laser locating apparatus, its principle is：Utilize laser
The function of ranging, the horizontal access cargo device of robot measurement fork truck is apart from cargo pallet target point (two on the outside of pallet
Registration holes) right position deviation, upper-lower position deviation, front and back position deviation.Specific method is：On the shelf of storage trays
The laser pick-off dress of distance above and below one group of laser receiver, including the laser receiver of measurement lateral separation, measurement is set
Put, measure the laser receiver of longitudinal separation；Laser is set to send out on the horizontal access cargo device of robot fork truck at the same time
Injection device, three groups of data on distance, and then realization pair are obtained by organic cooperation of laser beam emitting device and reception device
In the laser positioning of cargo pallet on shelf.
The position control device includes two-dimension code navigation position control device, laser hybrid navigation location control fills
Put, Quick Response Code hybrid navigation position control device；
The laser hybrid navigation position control device and system are shown in the following patent No., patent name：
The patent No.：CN201520676341.0, patent name：A kind of laser tape mixing self-navigation formula fork truck；Patent
Number：CN201510522655.X, patent name：A kind of AGV laser tape hybrid navigation system, is summarized as follows herein：One kind swashs
Optomagnetic band mixing self-navigation formula fork truck, including truck main body, control module, navigation module, safety protection module, control module
Connect the control interface of the controller of truck main body, navigation module and safety protection module to connect with control module communication, it is special
Sign is that the navigation module includes RFID reader, first laser probe, magneto-dependent sensor, the safety protection module
Including second laser probe, infrared sensor, front end anticollision strip, sidepiece anticollision strip, rear end anti-collision sensor；A kind of AGV
Laser tape hybrid navigation system, including AGV upper-level control systems and AGV trolleies, the AGV upper-level control systems use tape
The navigation of system is realized in navigation with the mode that laser navigation is combined, and system concrete structure includes laser navigation module, laser magnetic
Band mixing is accurately positioned material module and automatic charging module.
The Quick Response Code hybrid navigation position control device and system are shown in the following patent No., patent name：
The patent No.：201310191529.1, patent name：Mobile robot positioning system based on hybrid navigation band and its
Method；The patent No.：201310017927.1, patent name：The localization for Mobile Robot system of rule-based graphic code composite label
System and method.It is summarized as follows herein：The localization for Mobile Robot control device based on hybrid navigation band includes：It is installed on
It is used on reading storage ground guide with the Quick Response Code code reader of 2 D code information on storage rack and for obtaining on car body
Camera, communication interface, microprocessor, the encoder interfaces of area navigation information；Rule-based graphic code composite label
Localization for Mobile Robot control device includes：The rule for being used to read on storage ground and on storage rack on car body
The rule schema shape code code reader and RF tag code reader, communication interface, microprocessor, encoder interfaces of graphic code information；
The present invention has the warehousing system of easy positioning function using two-dimension code navigation alignment system as embodiment, specifically retouches
State as follows：(principle on two-dimension code navigation positioning is shown in the patent No.：201210472984.4, patent name：Based on multiple two dimensions
The mobile robot positioning system and method for code code reader, details are not described herein)
The two-dimension code navigation position control device includes being used to read 2 D code information and shelf on storage ground
Code reader, communication interface, microprocessor, the encoder interfaces of 2 D code information.
The code reader 1-0 for being used to read storage ground two-dimensional code information is installed on the lower section of chassis of vehicle body；It is described
Be used for read Quick Response Code on storage rack code reader 1-7-6 be installed on it is described laterally access cargo device；
The two-dimension code navigation alignment system includes being laid on storage ground with the Quick Response Code on shelf, installed in machine
Quick Response Code position control device on device people's fork truck.
As shown in Figures 1 to 4, laterally the robot fork truck of access cargo includes chassis of vehicle body 1-2, installed in chassis of vehicle body
The code reader 1-0 for being used to read ground two-dimensional code information of lower section, two drivings installed in the middle both sides in chassis of vehicle body lower section
Wheel 1-3, be separately mounted to the supporting roller 1-1 of four apex angles below chassis of vehicle body, installed in chassis of vehicle body side and perpendicular to car
The body post 1-4 and car body control cabinet 1-6 on body chassis.Lifting sliding slot 1-5 is equipped with two body posts, two car bodies are stood
The intermediate vertical of column is provided with lifting platform leading screw 1-8-2, and the top of lifting platform leading screw 1-8-2 is connected by lifting platform leading screw
Joint bearing 1-8-3 is connected with car body, and the bottom of lifting platform leading screw 1-8-2 passes through lifting platform spindle motor 1-8-1 and car
Body is connected.Liftable in the top of chassis of vehicle body installs a laterally access cargo device, the transverse direction access cargo dress
The one end put is inlaid in the lifting sliding slot on body post, and laterally access cargo device is five-layer structure from bottom to up for this, point
Not Wei supporting course, podium level, the first slide plate layer, the second slide plate layer and pickup gear layer, be additionally provided with cunning in the centre of podium level
Plate driving mechanism.
Laterally the concrete structure of access cargo device is：
The supporting course is spaced a distance the length of composition for a plurality of bearing bar 1-7-0 along length over ends of body direction
Square planar, the plane is parallel with chassis of vehicle body 1-2, and one end of supporting course both sides bearing bar 1-7-0 is each embedded in car body and stands
In the lifting sliding slot 1-5 of column, so as to drive whole supporting course along body post sliding slot automatic lifting.
The podium level is installed on supporting course and parallel to chassis of vehicle body 1-2, and podium level is for two along car body
The platform beam 1-7-1 of width is spaced a distance the rectangular planes of composition, the length side of the rectangular planes
Vertical each other to the length direction with supporting course rectangular planes, the length of the rectangular platform layer is more than the width of car body, and
And the both ends of its length direction are each isometric beyond the part of body width；The pallet code reader 1-7-6 is arranged on
The both ends of platform beam 1-7-1.
Further illustrate：Since podium level relative to slide plate layer is fixed, protected when being shot for the ease of camera
Stable state is held, pallet code reader is set to the both ends of the platform beam in left side in Fig. 1, reading code, which rises, to be located under pickup gear
Side's centimeters more than 10, although failing at the top of the code reader and pickup gear in same horizontal plane, due to the code reader away from
From shelf about more than 20 centimetre, since apart from distant, its field range photographs image in 2 D code enough.
The first slide plate layer be erected at including two levels on two platform beams and respectively with platform beam
First track 1-7-2 of vertical direction alignment, two the first sliding block 1-7-3 for being enclosed in respective first track upper end respectively, divide
It is not solidly installed with two the first sliding blocks and is erected at the first slide plate 1-7-4 on two the first sliding blocks and is installed on
First slide plate lower surface and the first screw slider 1-7-17 being solidly installed with the first slide plate.
The second slide plate layer be erected at including two levels on the first slide plate 1-7-4 and respectively with the first sliding block
The second track 1-7-8 that 1-7-3 is vertically aligned, two the second sliding block 1-7-11 for being enclosed in respective second track upper end respectively,
It is solidly installed respectively with two the second sliding block 1-7-11 and is erected at the second slide plate on two the second sliding block 1-7-11
1-7-13 and installed in the second slide plate lower surface and the second screw slider 1-7-12 for being solidly installed with the second slide plate.
The pickup gear layer is as shown in Fig. 2, including accessing the hook 1-7-7 of goods for left and right ends and being used for
Clamp clamping device, the clamping motor 1-7-5 and pallet code reader 1-7-6 for stretching clamping device of hook.The hook
Sub- 1-7-7 is separately mounted to the left and right ends above the second slide plate, and the hook often held is two, is fixed by respective hook
Batten 1-7-18 is solidly installed with the second slide plate；The clamping device includes clamp arm 1-7-10 and telescopic rod 1-7-9；Institute
The pallet code reader 1-7-6 stated is embedded in pickup gear both ends and fixes in the groove of batten 1-7-18 ends, and the code reader
Towards shelf.
The sled drive mechanism is as shown in Figure 1, between two platform beam 1-7-1 of podium level, edge
Podium level length direction be horizontally installed with the first leading screw 1-7-16, drive the first leading screw motor and second conveyer,
Second leading screw 1-7-14, the motor 1-7-15 and second conveyer for driving the second leading screw；First leading screw 1-7-16 and first
Screw slider 1-7-17 is connected using inside spin, and the second leading screw 1-7-14 and the second screw slider 1-7-12 are connected using inside spin
Connect, the motor for driving the first leading screw and the opposite both ends for being installed on land lengths direction of the motor 1-7-15 for driving the second leading screw
(drive the second leading screw motor fail to show in figure, its position motor 1-7-15 positive direction to cross).Described first
Transmission device and second conveyer include synchronous belt conveying device or gear transmission device.
The storage rack of Quick Response Code is laid on every layer of shelf as shown in figure 5, each layer there are three goods yards, each
Quick Response Code 2-3 is laid at the setting regions of goods yard, when robot fork truck storage cargo, the pallet code reader 1- on its pickup gear
7-6 reads the information of Quick Response Code beside each goods yard, carries out the lateral position correction towards shelf, and the Quick Response Code can be
One Quick Response Code or the Quick Response Code code battle array being made of multiple Quick Response Codes.
Further illustrate：The be laid in setting regions of every layer of Goods shelf partition plate side of Quick Response Code on the storage rack is
Pallet code reader can photograph the region of image in 2 D code, from fig. 5, it can be seen that the laying position of each Quick Response Code is deviation
The region of central point on the right side, this is because the installation site of pallet code reader has also offset from the reason of central point.
The cargo pallet with monaural piece for underloading cargo is as shown in fig. 6, tray body 3-1 lower surfaces are set
There is pallet calf circumference 3-2, the positioning plate being solidly installed with body pallet is installed in the center point area of tray body single side face
3-3, is formed with the location hole 3-4 of two strips spaced apart on positioning plate, wherein, the spacing of two strip location holes
For the spacing between two hooks, the length of two strip location holes is the tensile elongation of the clamping device on robot fork truck.
Further illustrate：Cargo pallet of the present invention is the iron pallet of the underloading cargo of electric business, its design principle is：Support
The mechanical load-bearing capacity at disk ear position is sufficiently more than iron pallet self gravitation+cargo gravity, as long as surplus is enough, you can real
Now cargo level is lifted and put down.
Fig. 7 gives the position that Quick Response Code is laid on storage ground：Quick Response Code be laid in storage ground grown along tunnel
Spend each point of intersection of the direction center line with tunnel both sides perpendicular to each goods yard center line in tunnel.
Based on the discharging of goods of the above-mentioned warehousing system with easy positioning function, the present invention proposes there is simplicity positioning work(
The discharging of goods method of the warehousing system of energy, its principle are as shown in Figure 8：
In working at height, there occurs the inclination to car body direction of advance by body post 1-4 for robot marked as 1.Due to
Body post is tilted, be embedded in body post lifting sliding slot in bearing bar 1-7-0 extremely carry podium level, first
Slide plate layer, the second slide plate layer, pickup gear layer can also follow run-off the straight together, and inclined result is as shown in the figure, pickup gear
Registration holes are deviated to the left, at this time, pallet code reader corresponds to the image in 2 D code in the goods yard by obtaining, and calculates towards shelf
Left and right directions deviation position, robot according to deviation position by it is rear move it is for linear motion, correct the position of deviation.
In working at height, there occurs the inclination to car body left direction by body post 1-4 for robot marked as 2.Due to
Body post is tilted, be embedded in body post lifting sliding slot in bearing bar 1-7-0 extremely carry podium level, first
Slide plate layer, the second slide plate layer, pickup gear layer can also follow the left side run-off the straight to car body together, and inclined result is as schemed
Show, pickup gear becomes remote apart from the position relative distance of registration holes.The method of solution has two, and one is that pallet registration holes are
Elongate in shape, has enough surplus compensation distance caused by car body is left tiltedly to become remote error along strip direction；Second solution
Certainly method is the method for pixel analysis, and under normal circumstances, captured picture pixels number is certain, Quick Response Code figure in image
The number of pixels of picture is also certain, during when tilting of car body so that the distance of pickup gear to pallet registration holes becomes near or becomes remote,
The number of pixels of image in 2 D code can also increase because becoming larger, be reduced because diminishing, and therefore, can be compared according to image in 2 D code
The quantity and the quantity of reduction that normal condition increases substantially error in judgement value, then move to left or move to right correction error by slide plate
Value.Car body in Fig. 8, which is tilted to the left, causes distance to become remote, can be calculated at this time according to the change of the image in 2 D code pixel of amplification
Go out error amount, then moved right corrected error value by slide plate.
The discharging of goods method of the present invention comprises the following steps：
The robot fork truck of step 1, laterally access cargo drives into target shelf along roadway direction and lifts to target goods
Position；
Step 2, pallet code reader read the shelf 2 D code information that the goods yard is corresponded on target goods yard；
Step 3, calculate pallet code reader camera to the offset of shelf Quick Response Code, if offset is along tunnel side
To lateral deviation, then laterally access cargo robot fork truck make it is in the front-back direction linear motion compensation deviation；If offset
Measure as the longitudinal bias with tunnel vertical direction, then laterally the first slide plate of the robot fork truck of access cargo, the second slide plate are made
Transverse movement compensates deviation；
Step 4, laterally the robot fork truck of access cargo start pickup gear and are inserted upwardly into cargo pallet registration holes；
Step 5, laterally the robot fork truck of access cargo starts clamping motor and is pressed from both sides hook by telescopic rod and clamp arm
Tightly；
Step 6, laterally the robot fork truck of access cargo lifts cargo and cargo is transplanted on to the center of the second slide plate
Domain；
Step 7, laterally cargo is down to the position for being capable of stable operation by the robot fork truck of access cargo, and is transported to mesh
Punctuate.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore present invention bag
The embodiment being not limited to described in embodiment is included, it is every by those skilled in the art's technique according to the invention scheme
The other embodiment drawn, also belongs to the scope of protection of the invention.
Claims (10)
1. a kind of warehousing system with easy positioning function, including storage rack, the cargo pallet on storage rack,
Robot fork truck and robot navigation's alignment system, robot navigation's alignment system are included for cargo pallet on shelf
Positioner and the positioner for ground arbitrary target points；The robot fork truck can appoint for non-rail mounted on ground
The robot fork truck of the horizontal access cargo of meaning walking, the robot fork truck include one and laterally access cargo device, the transverse direction
The one end for accessing cargo device is installed in the lifting sliding slot on robot fork truck；
It is characterized in that：The positioner for cargo pallet on shelf includes Quick Response Code positioner or laser positioning
Device；The Quick Response Code positioner or laser locating apparatus are installed on the laterally access cargo device.
A kind of 2. warehousing system with easy positioning function according to claim 1, it is characterised in that：The machine
People's navigation positioning system includes two-dimension code navigation alignment system, laser hybrid navigation alignment system, Quick Response Code hybrid navigation positioning
System；The positioner for ground arbitrary target points include Quick Response Code positioner or laser mixed positioning device or
Quick Response Code mixed positioning device.
A kind of 3. warehousing system with easy positioning function according to claim 1, it is characterised in that：The transverse direction is deposited
The robot fork truck of picking thing includes chassis of vehicle body, the driving wheel on chassis of vehicle body and supporting roller, installed in car body bottom
Disk side and the body post perpendicular to chassis of vehicle body, the car body control cabinet on car body, position control device, platform liter
Falling unit and laterally access cargo device.
A kind of 4. warehousing system with easy positioning function according to claim 3, it is characterised in that：The positioning
Control device is determined including two-dimension code navigation position control device, laser hybrid navigation position control device, Quick Response Code hybrid navigation
Level control device.
A kind of 5. warehousing system with easy positioning function according to claim 4, it is characterised in that：The two dimension
Code navigator fix control device include being used to read on storage ground the code reader of 2 D code information on 2 D code information and shelf,
Communication interface, microprocessor, encoder interfaces；
The code reader for being used to read storage ground two-dimensional code information is installed on the lower section of chassis of vehicle body.
A kind of 6. warehousing system with easy positioning function according to claim 2, it is characterised in that：The two dimension
Code navigation positioning system includes being laid on storage ground and the Quick Response Code on shelf, the Quick Response Code on robot fork truck
Position control device.
A kind of 7. warehousing system with easy positioning function according to claim 3, it is characterised in that：The platform liter
Falling unit is：Lifting platform leading screw is installed in the intermediate vertical of two body posts, the top of lifting platform leading screw, which passes through, puts down
Platform elevating screw connection bearing is connected with car body, and the bottom of lifting platform leading screw passes through lifting platform spindle motor and car body phase
Connection；Lifting sliding slot is equipped with two body posts, the laterally access cargo device is inlaid in lifting sliding slot.
A kind of 8. warehousing system with easy positioning function according to claim 3, it is characterised in that：The transverse direction is deposited
Picking thing device is five-layer structure from bottom to up, is respectively supporting course, podium level, the first slide plate layer, the second slide plate layer and hooks up
Device layers, sled drive mechanism is additionally provided with the centre of podium level, wherein：
The rectangular planes that the supporting course is formed for a plurality of bearing bar being uniformly arranged along length over ends of body direction, the plane
Parallel with chassis of vehicle body, one end of supporting course both sides bearing bar is each embedded in body post sliding slot and drives whole supporting course
Lifted along body post sliding slot；
The podium level is installed on supporting course and parallel to chassis of vehicle body, and podium level is for two along width of the carbody direction
Platform distance between girders a certain distance composition rectangular planes, the length direction and supporting course of the rectangular planes be rectangular
The length direction of shape plane is vertical each other, and the length of the rectangular platform layer is more than the width of car body, and its length direction
Both ends are each isometric beyond the part of body width, and pallet code reader is separately installed with the both ends of platform beam；
The first slide plate layer is packed on podium level, and the first slide plate layer is erected at two platform beams including two levels
On and align respectively with platform beam vertical direction the first track, be enclosed in two of respective first track upper end respectively
First sliding block, be solidly installed respectively with two the first sliding blocks and be erected at the first slide plate on two the first sliding blocks and
Installed in the first slide plate lower surface and the first screw slider for being solidly installed with the first slide plate；
The second slide plate layer is vacantly arranged on the first cunning at a certain distance by the second slide plate sliding block and the first slide plate interlayer
On flaggy, the second slide plate layer is erected on the first slide plate and right vertically with the first sliding block respectively including two levels
The second track together, be enclosed in two the second sliding blocks of respective second track upper end, be fixedly mounted with respectively with two the second sliding blocks respectively
The second slide plate for being erected on two the second sliding blocks and slide together and installed in the second slide plate lower surface and with second
The second screw slider that plate is solidly installed；
The pickup gear layer fixes stick by the hook along the second slide plate length direction both ends and is packed in the second slide plate layer
On, the pickup gear layer includes two hooks and fixes stick, two pairs of hooks, clamping devices；Two pairs of hooks lead to respectively
Cross respective hook fixation stick to be packed on the second slide plate layer, the clamping device includes being arranged on the clamping at its both ends
Arm, telescopic rod, the clamping motor for stretching telescopic rod for connecting both ends clamp arm；The pickup gear layer is along length over ends of body side
To outside lean out the second slide plate layer, the clamping motor is arranged on it and leans out the lower section of part；
The sled drive mechanism is installed between two platform beams of podium level, horizontal along podium level length direction
First leading screw, the motor for driving the first leading screw and second conveyer, the second leading screw, the motor for driving the second leading screw are installed
And second conveyer；First leading screw and the first screw slider use spiral connection, and the second leading screw is adopted with the second screw slider
With spiral connection, the motor for driving the first leading screw and the motor for driving the second leading screw are opposite installed in the two of land lengths direction
End.
A kind of 9. warehousing system with easy positioning function according to claim 1, it is characterised in that：The cargo support
Disk is the cargo pallet with monaural piece, its concrete structure is：Tray body lower surface is equipped with four pallet legs, in tray body
The center point area of single side face is provided with the positioning plate being solidly installed with tray body, and two intervals one are formed with positioning plate
The location hole of the strip of set a distance.
10. a kind of discharging of goods method of warehousing system with easy positioning function as described in any one of claim 1 to 9,
It is characterized by comprising following steps：
The robot fork truck of step 1, laterally access cargo drives into target shelf along roadway direction and lifts to target goods yard；
Step 2, pallet code reader read the shelf 2 D code information that the goods yard is corresponded on target goods yard；
Step 3, calculate pallet code reader camera to the offset of shelf Quick Response Code, if offset is along roadway direction
Lateral deviation, then laterally the robot fork truck of access cargo makees linear motion compensation deviation in the front-back direction；If offset is
With the longitudinal bias of tunnel vertical direction, then laterally the first slide plate of the robot fork truck of access cargo, the second slide plate are made laterally
Motion compensation deviation；
Step 4, laterally the robot fork truck of access cargo start pickup gear and are inserted upwardly into pallet registration holes；
Step 5, laterally the robot fork truck of access cargo starts clamping motor and is clamped hook by telescopic rod and clamp arm；
Step 6, laterally the robot fork truck of access cargo lifts cargo and cargo is transplanted on to the central area of the second slide plate；
Step 7, laterally cargo is down to the position for being capable of stable operation by the robot fork truck of access cargo, and is transported to target
Point.
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| CN201610305389.XA CN105775544B (en) | 2016-05-11 | 2016-05-11 | Warehousing system and discharging of goods method with easy positioning function |
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|---|---|---|---|
| CN201610305389.XA CN105775544B (en) | 2016-05-11 | 2016-05-11 | Warehousing system and discharging of goods method with easy positioning function |
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