CN105921419B - unmanned conveying sorting and storage system - Google Patents

unmanned conveying sorting and storage system Download PDF

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Publication number
CN105921419B
CN105921419B CN201610424735.6A CN201610424735A CN105921419B CN 105921419 B CN105921419 B CN 105921419B CN 201610424735 A CN201610424735 A CN 201610424735A CN 105921419 B CN105921419 B CN 105921419B
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CN
China
Prior art keywords
hopper
sorting
delivery track
goods
stacking
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CN201610424735.6A
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Chinese (zh)
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CN105921419A (en
Inventor
张峰
孙中
张舒原
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHEJIANG DAMON TECHNOLOGY CO., LTD.
Zhejiang Desoul Intelligent Technology Co., Ltd.
Original Assignee
Zhejiang Desoul Intelligent Technology Co Ltd
ZHEJIANG DAMON TECHNOLOGY Co Ltd
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Priority to CN201610424735.6A priority Critical patent/CN105921419B/en
Publication of CN105921419A publication Critical patent/CN105921419A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00Sorting according to destination
    • B07C3/02Apparatus characterised by the means used for distribution
    • B07C3/08Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B07C3/082In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
    • B07C3/087In which the objects are carried by transport holders and the transport holders form part of the conveyor belts the objects being taken up in transport files or holders which are not part of the conveyor belts
    • 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
    • B65G1/0407Storage devices mechanical using stacker cranes

Abstract

The present invention relates to a kind of unmanned conveying sorting and storage system, including hopper stacking system, automatic radio frequency, sorting seeding system, delivery track system, control system;Hopper stacking system includes columned stereo storage rack, and stereo storage rack centre is provided with Stacking Robots, for hopper is put into/take out stereo storage rack;Sorting seeding system includes annular conveyor line, and annular sowing track is provided with least one sowing machine people;Automatic radio frequency includes at least one selection station, at least one Prospect of Robot Sorting System, by Prospect of Robot Sorting System taking-up out of hopper I by material, is placed on annular conveyor line;Control system is hopper stacking system, automatic radio frequency, sorting seeding system, the control centre of delivery track system, the information of identification hopper I, hopper II and goods, and the whole sorting course of conveying of monitoring.

Description

Unmanned conveying sorting and storage system
Technical field
The present invention relates to a kind of unmanned conveying sorting and storage system, belong to logistics delivery Sorting Technique field.
Background technology
Existing unmanned conveying sorting, the automaticity of induction system is relatively low, and sorts the front and rear step speed of conveying Rate mismatches, and causes pipeline to draw very long, and whole sorting system volume is larger, and floor space is big, and operation cost is high, efficiency compared with It is low;In addition, existing unmanned conveying sorting system, expansibility can be poor, it is more difficult to according to the actual requirements, what adjustment was synchronously sorted Speed, cause the versatility of system by large effect.
The content of the invention
The technical problem to be solved in the invention is:Existing unmanned conveying sorting, the automaticity of induction system compared with It is low;The front and rear step speed of sorting conveying mismatches, and causes pipeline to draw very long, and whole sorting system volume is larger, takes up an area Area is big, and operation cost is high, less efficient;Expansibility can be poor, it is more difficult to according to the actual requirements, adjusts the speed synchronously sorted Degree, causes the versatility of system not high.
The present invention takes following technical scheme:
A kind of unmanned conveying sorting and storage system, including hopper stacking system, automatic radio frequency, sorting sowing system System, delivery track system, control system;If the hopper into the hopper stacking system is hopper I to be sorted, by automatic Hopper after radio frequency and sorting seeding system sorting is hopper II;The hopper stacking system includes columned three-dimensional goods Frame 1, the stereo storage rack 1 have multilayer, and every layer is rounded, and stereo storage rack 1 has gap portions, for delivery track system Linking, the centre of stereo storage rack 1 is provided with Stacking Robots, for hopper being put into/being taken out stereo storage rack 1;Described point Picking seeding system includes annular conveyor line 4, and annular conveyor line 4 is provided with least one sowing machine people 7;The delivery track system System includes the first delivery track 3, and the second delivery track 2, the second, first delivery track 2,3, which is in turn connected to form, enters hopper I The transfer passage of hopper stacking system;First delivery track 3 is also connected with the 3rd delivery track 9, the 3rd conveyor track The end of road 9 is connected with automatic radio frequency front end, and the automatic radio frequency rear end is connected with the 4th delivery track 10;Described The one end of four delivery tracks 10 respectively with two bearing tracks 11 of hopper II is connected, the other end of the bearing track 11 of hopper II It is connected with the first delivery track 2;The automatic radio frequency includes at least one selection station 5, at least one Prospect of Robot Sorting System 6, the corresponding 1-2 selection station 5 of each Prospect of Robot Sorting System 6, by the taking-up out of hopper I by material of Prospect of Robot Sorting System 6, it is placed on On annular conveyor line 4;The hopper I enters feed box stacking system when carrying out temporary, through the second delivery track 2, the first conveyor track Road 3 enters feed box stacking system, and hopper I is stored in corresponding to stereo storage rack 1 on goods yard by Stacking Robots;The hopper I from During sawing sheet case stacking system, the goods in hopper I that Prospect of Robot Sorting System 6 will be chosen on station 5 picks up, and is placed on annular sowing rail On road 4, the goods on annular conveyor line 4 is picked up and is placed on the corresponding bearing track 11 of hopper II in both sides by sowing machine people 7 Corresponding hopper II in, the hopper II is defeated backward through the second delivery track 2, the 3rd delivery track 9, the 4th delivery track 10 Send;The control system is the hopper stacking system, automatic radio frequency, sorts seeding system, the control of delivery track system Center processed, the information of identification hopper I, hopper II and goods, and monitor whole sorting course of conveying.
Further, the first delivery track 3 is the delivery track of double-layer structure, is respectively used to stacking system for upper and lower two layers 1 charging and discharging, or discharging and charging operation;The delivery track of second delivery track 2 and double-deck double-decker, point Not with the first delivery track 3 up and down two layers it is corresponding.
Further, the hopper Stacking Robots are articulated robot, and the articulated robot has attached fixture, institute It is the apparatus for work for hopper being put into/being taken out shelf 1 to state attached fixture.
Further, the automatic radio frequency is combined using Prospect of Robot Sorting System 6 with visual identifying system, is realized material Take out, be placed on annular conveyor line 4 respectively from hopper I.
Further, the sorting seeding system is realized using a pair of sowing machine people 7 in parallel and visual identifying system Material is sowed to the hopper II on the bearing track 11 of hopper II from the sorting of annular conveyor line 4.
Further, the stereo storage rack 1 has the goods yard of single deep position or double deep positions, and each goods yard is directed at stereo storage rack 1 Center.
Further, the hopper I of a standard is deposited in each goods yard, and shelf share 10-20 layers.
Further, a pair of sowing machine people 7 are lift-on/lift-off type, and pedestal is ceiling mounted, and integrated vision system; The sowing machine people 7 is removed goods from annular conveyor line 4 by the sucker of its bottom, and the hopper II for being placed into both sides is held In hopper II on the corresponding goods yard in carrier rail road 11, sowing process is completed.
Further, when sorting seeding system work, the goods of the label recognition system identification process in control system On label, and goods information and its positional information are sent to sowing machine people, when goods reaches the position of sowing machine people When putting, sowing machine human visual system identifies goods and picks up goods, is put on the bearing track 11 of hopper II corresponding sky In hopper, encoder is installed on annular conveyor line 4, after each label recognition system identifies goods, the position of encoder this moment Confidence number has determined that position of the goods on annular conveyor line 4, when this position signalling subsequently passes through robot for the material Position positioning.
The beneficial effects of the present invention are:
1) unmanned conveying sorting, the automaticity of induction system are high;
2) the disengaging hopper stacking system orderly under the monitoring of control system of hopper I, hopper stacking system serve temporarily The effect of stock thing so that overcome due to sorting convey before and after step speed mismatch caused by pipeline draw it is very long The defects of, so as to reduce the volume of whole sorting system and floor space, cut operating costs, improve efficiency of operation.
3) expansibility can preferably, can with according to the actual requirements, adjustment selection station and Prospect of Robot Sorting System quantity, and Adjust the quantity of sowing machine people on annular conveyor line, so as to adjust the speed synchronously sorted, improve the controllability of system with And versatility.
4) compact-sized, delivery track is used in combination, and controls conveying in order by control system.
5) it replaces piler, track switch formula sorter and the people in conventional automated logistics system using industrial robot Power, completely unmanned, inexpensive unmanned logistics system is realized, there is extremely wide application prospect.
6) logistics sorting, conveying, storage, the complex function of sowing are realized, the completely left out manual work of system is all The work such as logistics sorting, conveying, storage, sowing are completed by robot.
7) multi-axis robot is applied to simultaneously:In the links such as sorting, conveying, storage, sowing, realize completely unmanned.
8) multi-axis robot is combined with annular shelf, enables the system to enough realize zero access hopper operation, had and account for Ground area is small, flexible and changeable, inexpensive advantage.Annular shelf can be made into how deep position, to accommodate more storages Hopper;Commodity shelf system coordinates with fixture, using annular shelf, the form of shared shelf.
9) parallel robot, visual identity, tag recognition, encoder are combined, realized to the material on conveyer belt Identification and selection, complete the sowing technique of logistics center.Because each robot can be with independent operating, therefore work as system requirements Amount increase, can realize the multiplication for the treatment of capacity by increasing the quantity of robot, and common conveying sorting system is not accomplished then This point.
10) robot, air-actuated jaw, pipeline, WMS systems are combined, goods information is sent to robot by WMS systems Control system, robot takes out the material from hopper after visual identity, and is placed on the conveyer belt on side.
Brief description of the drawings
Fig. 1 is the top view of unmanned conveying sorting of the invention and storage system.
Fig. 2 is the enlarged drawing at the position of the hopper stacking system in Fig. 1.
Fig. 3 is the enlarged drawing at the automatic radio frequency position in Fig. 1.
Fig. 4 is the enlarged drawing at the sorting seeding system position in Fig. 1.
Fig. 5 is the structural representation of Stacking Robots.
Fig. 6 is the operating diagram of Stacking Robots.
Fig. 7 is the structural representation of sowing machine people.
In figure, 1. stereo storage racks, 2. second delivery tracks, 3. first delivery tracks, 4. annular conveyor lines, 5. selection works Position, 6. Prospect of Robot Sorting System, 7. sowing machine people, 8. hoppers I and the fork of hopper II, 9. the 3rd delivery tracks, 10. the 4th conveyings Track, the bearing track of 11. hopper II.
Embodiment
The present invention is further described with specific embodiment below in conjunction with the accompanying drawings.
Referring to Fig. 1-7, a kind of unmanned conveying sorting and storage system, including hopper stacking system, automatic radio frequency, point Pick seeding system, delivery track system, control system;If the hopper into the hopper stacking system is hopper I to be sorted, Hopper after automatic radio frequency and sorting seeding system sorting is hopper II;The hopper stacking system includes cylindric Stereo storage rack 1, the stereo storage rack 1 has multilayer, and every layer is rounded, and stereo storage rack 1 has gap portions, for conveying Rail system is connected, and the centre of stereo storage rack 1 is provided with Stacking Robots, for hopper is put into/take out stereo storage rack 1;The sorting seeding system includes annular conveyor line 4, and annular sowing track 4 is provided with least one sowing machine people 7;It is described Delivery track system includes the first delivery track 3, the second delivery track 2, and the second, first delivery track 2,3 is in turn connected to form Hopper I is set to enter the transfer passage of feed box stacking system;First delivery track 3 is also connected with the 3rd delivery track 9, described The end of 3rd delivery track 9 is connected with automatic radio frequency front end, the automatic radio frequency rear end and the 4th delivery track 10 Connection;The one end of 4th delivery track 10 respectively with two articles of bearing tracks 11 of hopper II is connected, the bearing rail of hopper II The other end in road 11 is connected with the first delivery track 2;The automatic radio frequency includes at least one selection station 5, at least one Individual Prospect of Robot Sorting System 6, corresponding 1-2 of each Prospect of Robot Sorting System 6 choose station 5, by Prospect of Robot Sorting System 6 by material from hopper I Interior taking-up, it is placed on annular conveyor line 4;The hopper I enters feed box stacking system when carrying out temporary, through the second delivery track 2nd, the first delivery track 3 enters feed box stacking system, and hopper I is stored in corresponding to stereo storage rack 1 on goods yard by Stacking Robots; When the hopper I leaves hopper stacking system, the goods in hopper I that Prospect of Robot Sorting System 6 will be chosen on station 5 picks up, and places On annular sowing track 4, the goods on annular conveyor line 4 is picked up and is placed on the corresponding hopper II in both sides by sowing machine people 7 In corresponding hopper II on bearing track 11, the hopper II is through the second delivery track 2, the 3rd delivery track 9, the 4th conveyor track Road 10 conveys backward;The control system is the hopper stacking system, automatic radio frequency, sorts seeding system, conveyor track The control centre of road system, the information of identification hopper I, hopper II and goods, and monitor whole sorting course of conveying.
Referring to Fig. 2,5,6, the hopper Stacking Robots are 6 axis joint robots, and the 6 axis joint robot has attached Belong to fixture, the attached fixture is the apparatus for work for hopper being put into/being taken out shelf 1.
Combined referring to Fig. 1,3,7, the automatic radio frequency using Prospect of Robot Sorting System 6 with visual identifying system, realizing will Material takes out respectively from hopper I, is placed on annular conveyor line 4.
Referring to Fig. 4, the sorting seeding system realizes thing using a pair of sowing machine people 7 in parallel and visual identifying system Material is sowed to the hopper II on the bearing track 11 of hopper II from the sorting of annular conveyor line 4.
Referring to Fig. 2,6, the stereo storage rack 1 has the goods yard of single deep position or double deep positions, and each goods yard is directed at stereo storage rack 1 Center.
Referring to Fig. 4, a pair of sowing machine people 7 are lift-on/lift-off type, and pedestal is ceiling mounted, and integrated vision system;Institute State sowing machine people 7 to remove goods from annular conveyor line 4 by the sucker of its bottom, the hopper II for being placed into both sides carries In hopper II on the corresponding goods yard of track 11, sowing process is completed.
Referring to Fig. 1,4,7, when sorting seeding system works, the label on the goods of label recognition system identification process, and Send goods information and its positional information to sowing machine people, when goods reaches the position of sowing machine people, seeder Device human visual system identifies goods and picks up goods, is put on the bearing track 11 of hopper II in corresponding empty charging box, annular Encoder is installed, after each label recognition system identifies goods, the position signalling of encoder this moment determines that on pipeline 4 Position of the goods on annular conveyor line 4, this position signalling are used for the position when material subsequently pass through robot and positioned.
Above is the preferred embodiment of the present invention, and non-limiting protection scope of the present invention, the ordinary skill of this area Personnel can be converted on the basis of this accordingly again, and this conversion, should in the case where not departing from the substantive content of the present invention Defined when the protection domain limited with claims is equivalent.

Claims (9)

1. a kind of unmanned conveying sorting and storage system, it is characterised in that:
Including hopper stacking system, automatic radio frequency, sorting seeding system, delivery track system, control system;
If the hopper into the hopper stacking system is hopper I to be sorted, by automatic radio frequency and sorting sowing system Hopper after system sorting is hopper II;
The hopper stacking system includes columned stereo storage rack (1), and the stereo storage rack (1) has multilayer, and every layer in circle Shape, stereo storage rack (1) have gap portions, for being provided with delivery track system convergence, stereo storage rack (1) centre Stacking Robots, for hopper being put into/being taken out stereo storage rack (1);
The sorting seeding system includes annular conveyor line (4), and annular conveyor line (4) is provided with least one sowing machine people (7);
The delivery track system includes the first delivery track (3), the second delivery track (2), the second, first delivery track (2, 3) it is in turn connected to form the transfer passage for making hopper I enter feed box stacking system;First delivery track (3) is also defeated with the 3rd Track (9) is sent to connect, the 3rd delivery track (9) end is connected with automatic radio frequency front end, the automatic radio frequency Rear end is connected with the 4th delivery track (10);4th delivery track (10) respectively with two articles of bearing tracks of hopper II (11) One end is connected, and the other end of the bearing track of hopper II (11) is connected with the second delivery track (2);
The automatic radio frequency includes at least one selection station (5), at least one Prospect of Robot Sorting System (6), each picker The corresponding 1-2 selection station (5) of device people (6), by Prospect of Robot Sorting System (6) taking-up out of hopper I by material, it is defeated to be placed on annular In line sending (4);
The hopper I enters feed box stacking system when carrying out temporary, enters through the second delivery track (2), the first delivery track (3) Hopper I is stored in corresponding to stereo storage rack (1) on goods yard by hopper stacking system, Stacking Robots;
When the hopper I leaves hopper stacking system, the goods in hopper I that Prospect of Robot Sorting System (6) will be chosen on station (5) picks up Take, be placed on annular conveyor line (4), the goods on annular conveyor line (4) is picked up and is placed on both sides by sowing machine people (7) In corresponding hopper II on the corresponding bearing track of hopper II (11), the hopper II is through the second delivery track (2), the 3rd conveyor track Road (9), the 4th delivery track (10) convey backward;
The control system is the hopper stacking system, automatic radio frequency, sorts seeding system, the control of delivery track system Center processed, the information of identification hopper I, hopper II and goods, and monitor whole sorting course of conveying.
2. unmanned conveying sorting as claimed in claim 1 and storage system, it is characterised in that:First delivery track (3) is two The delivery track of Rotating fields, it is respectively used to for upper and lower two layers to feed and discharge to stacking system (1), or discharging and charging operation; The delivery track of second delivery track (2) and double-deck double-decker, respectively with two layers up and down of the first delivery track (3) It is corresponding.
3. unmanned conveying sorting as claimed in claim 1 and storage system, it is characterised in that:The hopper Stacking Robots are Articulated robot, the articulated robot have attached fixture, and the attached fixture is to be put into/take out shelf (1) by hopper Apparatus for work.
4. unmanned conveying sorting as claimed in claim 1 and storage system, it is characterised in that:The automatic radio frequency uses Prospect of Robot Sorting System (6) is combined with visual identifying system, is realized and is taken out material respectively from hopper I, is placed into annular conveyor line (4) on.
5. unmanned conveying sorting as claimed in claim 2 and storage system, it is characterised in that:The sorting seeding system uses A pair of sowing machine people (7) in parallel and visual identifying system, realize that material is held from annular conveyor line (4) sorting sowing to hopper II In hopper II on carrier rail road (11).
6. unmanned conveying sorting as claimed in claim 1 and storage system, it is characterised in that:The stereo storage rack (1) has Single deep position or the goods yard of double deep positions, the center of each goods yard alignment stereo storage rack (1).
7. unmanned conveying sorting as claimed in claim 5 and storage system, it is characterised in that:Deposit a standard in each goods yard Hopper I, shelf share 10-20 layers.
8. unmanned conveying sorting as claimed in claim 4 and storage system, it is characterised in that:A pair of sowing machine people (7) are Lift-on/lift-off type, pedestal is ceiling mounted, and integrated vision system;The sowing machine people (7) by the sucker of its bottom from Annular conveyor line removes goods on (4), the hopper II on the corresponding goods yard for the bearing track of hopper II (11) for being placed into both sides It is interior, complete sowing process.
9. unmanned conveying sorting as claimed in claim 8 and storage system, it is characterised in that:When sorting seeding system work, The label on goods that label recognition system identification is passed through, and send goods information and its positional information to sowing machine People, when goods reaches the position of sowing machine people, sowing machine human visual system identifies goods and picks up goods, is put into On the bearing track of hopper II (11) in corresponding empty charging box, encoder, each tag recognition are installed on annular selection track (4) After system identification goes out goods, the position signalling of encoder this moment has determined that position of the goods on annular conveyor line (4), this position Confidence number is used for the position positioning when material subsequently passes through robot.
CN201610424735.6A 2016-06-15 2016-06-15 unmanned conveying sorting and storage system Active CN105921419B (en)

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