CN106315097B - A kind of control method of the automated warehousing sorting Load System of unmanned plane express delivery - Google Patents
A kind of control method of the automated warehousing sorting Load System of unmanned plane express delivery Download PDFInfo
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- CN106315097B CN106315097B CN201610797882.8A CN201610797882A CN106315097B CN 106315097 B CN106315097 B CN 106315097B CN 201610797882 A CN201610797882 A CN 201610797882A CN 106315097 B CN106315097 B CN 106315097B
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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
- B65G1/0478—Storage devices mechanical for matrix-arrangements
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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Abstract
The present invention provides the control methods that a kind of automated warehousing of unmanned plane express delivery sorts Load System, and the wherein system includes cargo storing device, sorting case loading attachment and control centre；The storage unit of cargo storing device setting includes delivery device, and delivery device includes first servo motor；It is connected with the first bindiny mechanism on sorting horizontally disposed first track of case loading attachment；It is fixed in the first bindiny mechanism and is connected with the second bindiny mechanism on the second track vertical with the first track；First bindiny mechanism and the second bindiny mechanism are separately installed with the second servo motor and third servo motor；First servo motor, the second servo motor and third servo motor are connect with control centre, and control of the control centre to cargo storing device and sorting case loading attachment may be implemented.Advantageous effect：The full name automatic business processing of Storage of Goods, sorting and loading is realized, is participated in without artificial, can greatly be improved operating efficiency, reduce cost.
Description
Technical field
The present invention relates to automated warehousing Sorting Technique fields, and in particular to a kind of automated warehousing of unmanned plane express delivery point
Pick the control method of Load System.
Background technology
Storage, sorting and the loading of cargo are an important link of the cargo in logistics progress.Currently, in automated warehouse
In storage sorting loading field, more advanced is with Amazon KAVA machines artificial core " goods looks for people " technology.The technology
Principle is that robot reads order information and send the shelf for being loaded with order cargo to picking platform, then by manually carrying out picking
Processing, after picking, robot sends shelf back to original place again.Compared with traditional artificial picking, it reduces artificial searching
The process of cargo, efficiency have a distinct increment, and are 4~5 times of artificial treatment efficiency.
With the fast development of e-commerce, there are more requirements for working efficiency.The technical solution still needs to very important person
Work participates in, and the speed of cargo processing far cannot be satisfied requirement of the modern electric business to the very fast response of order, moreover, often sorting a goods
Object is required for robot that entire shelf are moved at artificial picking, extremely low to the utilization ratio of resource.
Invention content
For the defects in the prior art, it is sorted the present invention provides a kind of automated warehousing of unmanned plane express delivery and loads system
By the system the full-automatic processing of Storage of Goods, sorting and loading may be implemented, without artificial ginseng in the control method of system
With can greatly improve operating efficiency, reduce cost.
A kind of automated warehousing sorting Load System of unmanned plane express delivery, including cargo storing device, sorting box installed carry
It sets and control centre；Cargo storing device includes at least one storage unit, and storage unit includes warehouse and delivery device；Warehouse
Front and rear ends are opening；Delivery device includes first servo motor and transmission device, and first servo motor and transmission device are pacified
Loaded in warehouse, output shaft and the transmission device be connected by power of first servo motor；It includes horizontally disposed to sort case loading attachment
The first track, the first bindiny mechanism being connect with the first track；It is fixed in the first bindiny mechanism and vertical with the first track
The second track；The second bindiny mechanism being connect with the second track；The box body clamping device being fixed in the second bindiny mechanism；The
Second servo motor is installed, second servo motor is for controlling first bindiny mechanism along the first rail in one bindiny mechanism
It slides in road；Third servo motor is installed, the third servo motor is for controlling the second bindiny mechanism edge in the second bindiny mechanism
Second track slides；First servo motor, second take motor and third servo motor is connect with control centre, for realizing control
Control of the center processed to cargo storing device and sorting case loading attachment.
Cargo storing device in the system is made of multiple storage units, and each storage unit is independent from each other, often
There are one numbers for a storage unit, corresponding with cargo, can realize that the automatic of cargo is made an inventory；The warehouse front opening of storage unit is used
In releasing cargo, warehouse open rearward end is for supplementing cargo, and when needing to release cargo, control centre is sent out to first servo motor
Go out instruction, first servo motor output shaft drives transmission device, and cargo is released to warehouse front opening, realizes goods sorting oneself
Dynamicization participates in without artificial, can greatly improve operating efficiency, reduce cost of labor and labor intensity, reduce error rate.
In the system, the second bindiny mechanism can slide on the second track, and the second track can pass through the first connection machine
Structure slides on the first track, so as to light and fast controls the position of box body clamping device, to control babinet clamping
The position of sorting case or unmanned plane cargo hold clamped by device, and then improve the efficiency that unmanned plane loads cargo automatically.
Preferably, a kind of automated warehousing of above-mentioned unmanned plane express delivery sorts Load System, and transmission device includes spiral
The output axis connection of bar, screw rod one end and first servo motor, screw rod other end edge extend to warehouse front end, the spiral shell of screw rod
It is mutually fitted away from the shapes and sizes with cargo.
Cargo storage is between the screw pitch of screw rod, and the screw pitch of screw rod is formulated according to the shapes and sizes of cargo, each
Screw pitch stores a cargo, and the output axis connection of screw rod one end and servo motor is controlled when needing to extrapolate Goods Outwards to storehouse
Center processed sends out instruction to first servo motor, and first servo motor drives screw rod to rotate a circle, that is, is pushed outwardly a goods
Object, rotation then release two pieces cargo in two weeks, and so on.This screw type transmission device passes through the intelligence control of control centre
System, entire transmit process are participated in without artificial, and control is accurate, not error-prone, while also improving working efficiency, are reduced artificial
Cost and labor intensity.
Preferably, a kind of above-mentioned unmanned plane express delivery automated warehousing sort Load System, transmission device include crawler belt,
Crawler belt driving wheel and crawler belt driven wheel, crawler belt both ends are respectively fitted on crawler belt driving wheel and crawler belt driven wheel, and crawler belt edge extends to storehouse
Body front end, output shaft and the crawler belt driving wheel be connected by power of first servo motor.
Cargo proper alignment is deposited on crawler belt, and all there are one fixed anteroposterior dimension, this size numbers for every commodity
Value is stored in control centre, first servo motor output shaft and crawler belt driving wheel be connected by power, when needs are pushed out goods outward
When object, control centre sends out instruction to first servo motor, and first servo motor drives crawler belt to move forward an anteroposterior dimension
Distance, that is, be pushed outwardly a cargo, move forward the distance of two anteroposterior dimensions, then release two pieces cargo, and so on,
Entire transmit process is participated in without artificial, realizes goods sorting automation.This caterpillar transmission device, passes through control centre
Intelligent control, entire transmit process participates in without artificial, and control is accurate, not error-prone, while also improving working efficiency, drops
Low cost of labor and labor intensity.
Preferably, a kind of above-mentioned unmanned plane express delivery automated warehousing sort Load System, the second servo motor it is defeated
First transmission gear is installed, the first track is equipped with bar shaped tooth, the bar shaped on the first transmission gear and the first track on shaft
Tooth engagement drives the first bindiny mechanism to be slided along the first track by the first transmission gear on the second servo motor output shaft.
In the memory unit, when needing to push out Goods Outwards, control centre is electric to the first servo for cargo proper alignment
Machine sends out instruction, and first servo motor drives crawler belt to move forward the distance of an anteroposterior dimension, that is, is pushed outwardly a cargo,
Cargo landing enters in the sorting case clamped by box body clamping device or unmanned plane cargo hold；Control centre is watched by controlling third
Taking motor so that sorting case or unmanned plane cargo hold clamped by box body clamping device are moved along the second track, meanwhile, control centre
By controlling the second servo motor, sorting case or unmanned plane cargo hold clamped by box body clamping device can be made to be moved along the first track
It is dynamic.By the intelligent control of control centre, entire transmit process is participated in without artificial, and control is accurate, not error-prone, while also carrying
High working efficiency, reduces cost of labor and labor intensity.
Preferably, a kind of above-mentioned unmanned plane express delivery automated warehousing sort Load System, third servo motor it is defeated
Second transmission gear is installed, the second track is equipped with bar shaped tooth, the bar shaped on the second transmission gear and the second track on shaft
Tooth engagement drives the second bindiny mechanism to be slided along the second track by the second transmission gear on third servo motor output shaft.
Preferably, a kind of automated warehousing of above-mentioned unmanned plane express delivery sorts Load System, and warehouse is set as being rectangular
Body structure, warehouse include warehouse top plate, warehouse bottom plate and two warehouse side plates.Warehouse is cuboid, facilitates the storage of cargo and pushes away
Go out, is conducive to the accumulation of storage unit.
Preferably, a kind of automated warehousing of above-mentioned unmanned plane express delivery sorts Load System, further includes one and first
The supporting rail of parallel track setting；Third bindiny mechanism is connected on the supporting rail；One end of second track is fixed on the first company
On connection mechanism, the other end is fixedly connected with third bindiny mechanism.
Preferably, a kind of automated warehousing of above-mentioned unmanned plane express delivery sorts Load System, the bottom of third bindiny mechanism
Portion is provided with sliding slot, and supporting rail is connected in the sliding slot of third bindiny mechanism bottom.
Preferably, a kind of automated warehousing of above-mentioned unmanned plane express delivery sorts Load System, and the first track is that head and the tail connect
The closed loop configuration connect.
A kind of control method of the automated warehousing sorting Load System of unmanned plane express delivery as described above, including it is following
Step：
S1：Control centre obtains order information and ship directive；
S2：The sorting case or unmanned plane cargo hold of control centre's control box body clamping device are moved to corresponding storage unit
Warehouse front end；
S3：Control centre's control storage unit pushes out a cargo of wherein front end, and slides and enter point
In the sorting case or the unmanned plane cargo hold that pick case loading attachment；
S4：After sorting case loading attachment has received first cargo, the babinet of control centre's control sorting case loading attachment
Sorting case or unmanned plane cargo hold are moved to the warehouse front end of the storage unit where second cargo by clamping device；
S5：S2 to S4 is repeated, until all cargos in order fully enter the sorting case of goods sorting case loading attachment
Or in unmanned plane cargo hold.
Beneficial effects of the present invention：A kind of control method of the automated warehousing sorting Load System of unmanned plane express delivery,
In the system include cargo storing device, sorting case loading attachment and control centre；The storage unit of cargo storing device setting
Including delivery device, delivery device includes first servo motor；It is clamped on sorting horizontally disposed first track of case loading attachment
There is the first bindiny mechanism；It is fixed in the first bindiny mechanism and is connected with second on the second track vertical with the first track and connect
Mechanism；First bindiny mechanism and the second bindiny mechanism are separately installed with the second servo motor and third servo motor；First servo
Motor, the second servo motor and third servo motor are connect with control centre, and control centre may be implemented and filled to cargo storage
Set and sort the control of case loading attachment.By the system, may be implemented at the full-automation of Storage of Goods, sorting and loading
Reason participates in without artificial, can greatly improve operating efficiency, reduce cost.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.
Fig. 1 is the system structure diagram that unmanned plane automated warehousing of the present invention sorts Load System；
Fig. 2 is the combining structure schematic diagram of cargo storage device storage unit in invention；
Fig. 3 is the structural schematic diagram of the first the cargo storing device delivery device provided in inventive embodiments 1；
Fig. 4 is the structural schematic diagram of second of the cargo storing device delivery device provided in inventive embodiments 1；
Fig. 5 is the first the sorting case loading attachment structural schematic diagram provided in inventive embodiments 1；
Fig. 6 is second of the sorting case loading attachment structural schematic diagram provided in inventive embodiments 1；
Fig. 7 is the stream that the automated warehousing of unmanned plane express delivery in the embodiment of the present invention 2 sorts the control method of Load System
Journey schematic diagram.
Reference numeral：
1- warehouses；2- controllers；3- first servo motors；4- screw rods；6- pulley mechanisms；
51- crawler belt driving wheels；52- crawler belt driven wheels；53- crawler belts；The first bindiny mechanisms of 71-；The second bindiny mechanisms of 72-；
73- thirds bindiny mechanism；The first tracks of 81-；The second tracks of 82-；83- supporting rails；91- box body clamping devices；92- sorts case；
93- unmanned plane cargo holds；
100- storage units；811- bar shaped teeth
Specific implementation mode
The embodiment of technical solution of the present invention is described in detail below in conjunction with attached drawing.Following embodiment is only used for
Clearly illustrate technical scheme of the present invention, therefore be only used as example, and the protection model of the present invention cannot be limited with this
It encloses.
Embodiment 1：
Referring to Fig.1, a kind of automated warehousing of unmanned plane express delivery sorts Load System, including cargo storing device, sorting
Case loading attachment and control centre；Cargo storing device includes at least one storage unit, and storage unit includes warehouse and push
Mechanism；Warehouse front and rear ends are opening, and warehouse is rectangular parallelepiped structure, and warehouse includes warehouse top plate, warehouse bottom plate and two warehouses
Side plate, warehouse are cuboid, facilitate the storage and release of cargo, are conducive to the accumulation of storage unit；Delivery device includes first
Servo motor and transmission device, first servo motor and transmission device are installed in warehouse, the output shaft of first servo motor with
Transmission device be connected by power；Transmission device includes screw rod, the output axis connection of screw rod one end and first servo motor, spiral
The bar other end along warehouse front end is extended to, with the shapes and sizes of cargo mutually fit by the screw pitch of screw rod；Transmission device includes crawler belt, carries out
Band driving wheel and crawler belt driven wheel, crawler belt both ends are respectively fitted on crawler belt driving wheel and crawler belt driven wheel, and crawler belt edge extends to warehouse
Front end, output shaft and the crawler belt driving wheel be connected by power of first servo motor；Sorting case loading attachment includes horizontally disposed the
One track, the first bindiny mechanism being connect with the first track；It is fixed in the first bindiny mechanism and vertical with the first track
Two tracks；The second bindiny mechanism being connect with the second track；The box body clamping device being fixed in the second bindiny mechanism；First connects
Second servo motor is installed on connection mechanism；First transmission gear, the first track are installed on the output shaft of the second servo motor
It is equipped with bar shaped tooth, the bar shaped tooth engagement on the first transmission gear and the first track, by the second servo motor output shaft
First transmission gear drives the first bindiny mechanism to be slided along first track；Third servo electricity is installed in the second bindiny mechanism
Machine；Second transmission gear is installed, the second track is equipped with bar shaped tooth, the second transmission gear on the output shaft of third servo motor
With the bar shaped tooth engagement on the second track, the second connection machine is driven by the second transmission gear on third servo motor output shaft
Structure is slided along second track；The system further includes a supporting rail being arranged with the first parallel track；Block on the supporting rail
It is connected to third bindiny mechanism；One end of second track is fixed in the first bindiny mechanism, and the other end is fixed with third bindiny mechanism
Connection；The bottom of third bindiny mechanism is provided with sliding slot, and supporting rail is connected in the sliding slot of third bindiny mechanism bottom；First watches
Take motor, second take motor and third servo motor is connect with control centre, realize control centre to cargo storing device and
Sort the control of case loading attachment.
With reference to the first cargo storing device that Fig. 2, the system are provided, including multiple independent storage units 100, storing
Unit 100 is arranged side by side, and front and back alignment, overlapping is packed together, and there are one numbers corresponding with cargo for each storage unit.
With reference to Fig. 3, storage unit 100 includes warehouse 1, delivery device and controller 2, and warehouse 1 is rectangular parallelepiped structure, warehouse
1 includes warehouse top plate, warehouse bottom plate and two warehouse side plates, and 1 front and rear ends of warehouse are opening；Delivery device is spirally to push away
Send mechanism, including first servo motor 3 and screw rod 4, first servo motor 3 is located at the rear portion of warehouse 1,4 one end of screw rod with
The output axis connection of first servo motor 3,4 other end of screw rod extend to 1 front end of warehouse, the screw pitch of screw rod 4 and cargo
Shapes and sizes are mutually fitted；Controller 2 is connect with 3 signal of first servo motor, and controller 2 is used for 3 output shaft of control servomotor
Angular displacement and angular speed output；Controller 2 is arranged in cargo storing device, for controlling first servo motor 3, and and control
Center connects, the control for realizing control centre to cargo storing device.
The first cargo storing device that the system provides is made of multiple storage units 100, is arranged in cargo path formula, each
Storage unit 100 is independent from each other, and there are one number, a storage units 100 to correspond to a kind of goods for each storage unit 100
Object can realize that the automatic of cargo is made an inventory；100 warehouse of storage unit, 1 open rearward end is for supplementing cargo, each storage unit 100
Cargo all use the Package size of standard, deposit between the screw pitch of screw rod 4, the screw pitch of screw rod 4 is according to the shape of cargo
Shape and size are formulated, and each screw pitch stores a cargo, and when needing to extrapolate Goods Outwards to storehouse, controller 2 is to servo motor 3
Instruction is sent out, first servo motor 3 drives screw rod 4 to rotate a circle, i.e., releases a cargo, rotation to 1 front opening of warehouse
Then two pieces cargo is released to 1 front opening of warehouse within two weeks, and so on, realize the automation of goods sorting.
With reference to second of cargo storing device that Fig. 4, the system are provided, the phase between included component and each component
Mutual relation and the first above-mentioned cargo storing device are essentially identical, the difference is that：Delivery device is crawler type delivery device,
Including servo motor 3, crawler belt 53, crawler belt driving wheel 51 and crawler belt driven wheel 52,53 both ends of crawler belt are respectively fitted over crawler belt driving wheel
51 and crawler belt driven wheel 52 on, crawler belt extends to warehouse front end, and first servo motor 3 is located at the rear portion of warehouse 1, the first servo electricity
For the output shaft of machine 3 by the wheel axis connection of pulley mechanism 6 and crawler belt driving wheel 51, crawler belt 53 is slightly upward towards 1 front end of warehouse
It tilts.
1 open rearward end of storage unit warehouse is for supplementing cargo, and cargo proper alignment is deposited on crawler belt 53, crawler belt 53
There is a fixed angle of altitude with warehouse bottom plate, dump forward during push to prevent cargo and falls, the cargo of each storage unit 100
The Package size for all using standard, there are one fixed anteroposterior dimension, this dimensional values is stored in controller 2, works as needs
When pushing out Goods Outwards, controller 2 sends out instruction to servo motor 3, before servo motor 3 drives crawler belt 53 to move forward one
The distance of size afterwards moves forward the distance of two anteroposterior dimensions that is, to the extrapolated cargo of 1 front opening of warehouse, then to
1 front opening of warehouse releases two pieces cargo, and so on, realize the automation of goods sorting.
The automation cargo storing device at automated warehousing center is used for, it can be achieved that goods sorting using above two structure
Automation, participated in without artificial, greatly improve operating efficiency, reduce cost of labor and labor intensity, reduce
Error rate, meanwhile, which may be implemented real-time automated inventory and makes an inventory, compared with the stock-taking under traditional storage mode,
Efficiency is significantly promoted, cost reduction, and can be made an inventory at any time.
With reference to Fig. 5, the first sorting case loading attachment which provides, including horizontally disposed first track 81；With
First bindiny mechanism 71 of the first track connection；It is fixed on the second rail in the first bindiny mechanism 71 and vertical with the first track 81
Road 82；The second bindiny mechanism 72 being connect with the second track 82；The box body clamping device 91 being fixed in the second bindiny mechanism 72；
Sorting case 92 on box body clamping device；And the bar shaped tooth 811 being equipped on the first track 81 and the second track 82；Babinet presss from both sides
Device 91 is held in the second bindiny mechanism 72, the second bindiny mechanism 72 is mounted with third servo motor and gear set, second
Track 82 offers bar shaped tooth 811, after third servo motor receives the instruction of control centre, drives gear set rotation, gear
Group acts on the bar shaped tooth 811 that the second track 82 opens up, and realizes that the second bindiny mechanism 72 vertically moves on the second track 82.The
Two tracks, 82 one end is mounted in the first bindiny mechanism 71, and the second servo motor and gear are equipped in the first bindiny mechanism 71
Group, the first track 81 offers bar shaped tooth 811, after the second servo motor receives the instruction of control centre, gear set is driven to turn
Dynamic, gear set acts on the bar shaped tooth 811 on the first track 81, realizes that the first bindiny mechanism 71 is horizontal on the first track 81 and moves
It is dynamic.In the specific implementation, sorting case 92 or unmanned plane cargo hold 93 can be clamped in the box body clamping device 91, sort case 92 or nobody
Machine cargo hold 93 is moved horizontally and is vertically moved by above-mentioned, reaches any given position；Box body clamping device 91 can pass through
Two bindiny mechanisms 72 are slided on the second track 82 and the second track 82 is slided by the first bindiny mechanism 71 in the first track 81
It is dynamic, to control 91 position of box body clamping device, cargo is loaded in the position, input cost is low, and maintenance cost is low,
It very fast can respond simultaneously and cargo is loaded；Due to servo motor can accurately command displacement distance, babinet folder
Device 91 is held under the drive of the first bindiny mechanism 71 and the second bindiny mechanism 72, it can be precisely by sorting case 92 or unmanned plane goods
Cabin 93 is sent to designated position.
With reference to Fig. 6, second of sorting case loading attachment which provides, including horizontally disposed first track 81；With
First bindiny mechanism 71 of the first track connection；It is fixed on the second track on the first connection machine 71 and vertical with the first track 81
82；The second bindiny mechanism 72 being connect with the second track 82；The box body clamping device 91 being fixed in the second bindiny mechanism 72；With
And the bar shaped tooth 811 being equipped on the first track 81 and the first track 82；Further include one with first parallel track to be arranged
Supporting rail 83；And be connected on the supporting rail 83 and third bindiny mechanism 73 corresponding with first bindiny mechanism 71,
One end of second track 82 is fixed in the first bindiny mechanism 71, and the other end of the second track 82 is fixed on third connection machine
On structure 73；The bottom of third bindiny mechanism 73 is provided with sliding slot, and the supporting rail 83 is connected to 73 bottom of third bindiny mechanism
In sliding slot.
Second of sorting case loading attachment increases one article and described the on the basis of the first sorting case loading attachment
The supporting rail 83 of one parallel track setting, and be connected on the supporting rail 83 and corresponding with first bindiny mechanism 71 the
Three bindiny mechanisms 73.In addition, the second track 82 is made of two parallel orbits, the spacing between two parallel orbits is more than sorting
The width of case 92 or unmanned plane cargo hold 93.
Embodiment 2：
With reference to Fig. 7, a kind of control method of the automated warehousing sorting Load System of unmanned plane express delivery, including following step
Suddenly：
S1：Control centre obtains order information and ship directive；
S2：The box body clamping device of control centre's control sorting case loading attachment will sort case 92 or unmanned plane cargo hold 93 moves
Move the warehouse front end of corresponding storage unit；
S3：Control centre control storage unit one cargo of front end in storage unit is pushed out, and slide into
Enter into sorting case 92 or unmanned plane cargo hold 93；
S4：After sorting case loading attachment has received first cargo, the babinet of control centre's control sorting case loading attachment
Sorting case 92 or unmanned plane cargo hold 93 are moved to the warehouse front end of the storage unit where second cargo by clamping device；
S5：S2 to S4 is repeated, until all cargos in order fully enter in sorting case 92 or unmanned plane cargo hold 93.
Cargo storing device in the system is made of multiple storage units, and each storage unit is independent from each other, often
There are one numbers for a storage unit, corresponding with cargo, can realize that the automatic of cargo is made an inventory；The warehouse front opening of storage unit is used
In releasing cargo, warehouse open rearward end is for supplementing cargo, and when needing to release cargo, control centre is sent out to first servo motor
Go out instruction, first servo motor output shaft drives transmission device, and cargo is released to warehouse front opening, realizes goods sorting oneself
Dynamicization participates in without artificial, can greatly improve operating efficiency, reduce cost of labor and labor intensity, reduce error rate.
In the system, box body clamping device is slided in the second track by the second bindiny mechanism and the second track passes through
First bindiny mechanism is slided in the first track, light rapidly control box body clamping device position, to control sorting case 92 or
The position of unmanned plane cargo hold 93, and then improve the automatic efficiency for loading cargo.
Cargo storage is between the screw pitch of screw rod, and the screw pitch of screw rod is formulated according to the shapes and sizes of cargo, each
Screw pitch stores a cargo, and the output axis connection of screw rod one end and servo motor is controlled when needing to extrapolate Goods Outwards to storehouse
Center processed sends out instruction to first servo motor, and first servo motor drives screw rod to rotate a circle, that is, is pushed outwardly a goods
Object, rotation then release two pieces cargo in two weeks, and so on.This screw type transmission device passes through the intelligence control of control centre
System, entire transmit process are participated in without artificial, and control is accurate, not error-prone, while also improving working efficiency, are reduced artificial
Cost and labor intensity.
Cargo proper alignment is deposited on crawler belt, and all there are one fixed anteroposterior dimension, this size numbers for every commodity
Value is stored in control centre, first servo motor output shaft and crawler belt driving wheel be connected by power, when needs are pushed out goods outward
When object, control centre sends out instruction to first servo motor, and first servo motor drives crawler belt to move forward an anteroposterior dimension
Distance, that is, be pushed outwardly a cargo, move forward the distance of two anteroposterior dimensions, then release two pieces cargo, and so on,
Entire transmit process is participated in without artificial, realizes goods sorting automation.This caterpillar transmission device, passes through control centre
Intelligent control, entire transmit process participates in without artificial, and control is accurate, not error-prone, while also improving working efficiency, drops
Low cost of labor and labor intensity.
In the memory unit, when needing to push out Goods Outwards, control centre is electric to the first servo for cargo proper alignment
Machine sends out instruction, and servo motor drives crawler belt to move forward the distance of an anteroposterior dimension, that is, is pushed outwardly a cargo, slides
It enters in sorting case 92 or unmanned plane cargo hold 93 clamped by the box body clamping device of the sorting case loading attachment；In control
The heart is by controlling the second servo motor so that box body clamping device is moved along the first track；Control centre is watched by controlling third
Take motor so that box body clamping device is moved along the second track.By the intelligent control of control centre, entire transmit process is not necessarily to
Artificial to participate in, control is accurate, not error-prone, while also improving working efficiency, reduces cost of labor and labor intensity.
By using the system of the present invention, the full-automatic processing of Storage of Goods, sorting and loading may be implemented, be not necessarily to people
Work participates in, and can greatly improve operating efficiency, reduce cost.
In specific implementation process, goods sorting case 92 is moved to shipping space and is packaged by goods sorting case loading attachment
Processing, goods sorting case 92 can be replaced by the cargo hold of express delivery unmanned plane, and goods sorting case loading attachment connects express delivery unmanned plane
It is moved to unmanned plane launching platform with cargo hold, express delivery unmanned plane can rolling takeoff.
In entire unmanned plane logistics system, generally further include unmanned plane automatic battery replacement device, delivery platform device,
Launching platform and landing platform.After unmanned plane completes cargo loading, reach at delivery platform, unmanned plane cargo compartment doors are closed automatically
It closes, the manipulator of delivery platform setting removes unmanned plane from box body clamping device, is then placed on the support of delivery platform setting
On plate, supporting plate is equipped with 4 electromagnet adsorbent equipments, and electromagnetic absorption device adsorbs the undercarriage of unmanned plane after being powered, by nobody
Machine is locked on supporting plate, is then transported on platform and unmanned plane is transmitted to launching platform by mobile pallet；Unmanned plane arrival is taken off
After platform, the electromagnet adsorbent equipment on supporting plate is closed, and unmanned plane automatic takeoff, launching platform is located at outside building, including flat
Platform holder and wind shutter, the effect of wind shutter, which is handle, prevents unmanned plane from being influenced by beam wind when just taking off after unlocking；Nobody
After machine completes delivery task, automatic takeoff makes a return voyage and drops to landing platform, and landing platform possesses with automating system phase of receiving
With unmanned plane precisely land guiding system, guiding unmanned plane precisely drops to no landing platform, unmanned plane landing after making a return voyage
Afterwards, unmanned plane is transmitted to unmanned plane automatically replacing battery area by delivery platform device and carries out battery altering.
Control centre is generally computer end, and effect is to receive order information and instruction from Cloud Server, to sorting
Case loading attachment and cargo storing device, which are sent, loads instruction, and receives and fed back by sorting case loading attachment and cargo storing device
Goods information, send address information to unmanned plane and take off instruction.
It should be noted that unless otherwise indicated, technical term or scientific terminology used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
In the description of the present application, it is to be understood that the fingers such as term "upper", "lower", "front", "rear", "horizontal", "bottom"
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and behaviour
Make, therefore is not considered as limiting the invention.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property or implicitly indicate the quantity of indicated technical characteristic.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In this application unless specifically defined or limited otherwise, the terms such as term " installation ", " connection ", " fixation " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；Can be mechanical connection,
It can be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary the company inside two elements
Logical or two elements interaction relationship.For the ordinary skill in the art, can understand as the case may be
The concrete meaning of above-mentioned term in the present invention.
In this application unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover in the claim of the present invention and the range of specification.
Claims (10)
1. a kind of automated warehousing of unmanned plane express delivery sorts Load System, which is characterized in that including：Cargo storing device divides
Pick case loading attachment and control centre；
The cargo storing device includes at least one storage unit, and the storage unit includes warehouse and delivery device；It is described
Warehouse front and rear ends are opening；The delivery device includes first servo motor and transmission device, the first servo motor
It is installed in warehouse with transmission device, output shaft and the transmission device be connected by power of first servo motor；
The sorting case loading attachment includes horizontally disposed first track, the first bindiny mechanism being connect with the first track；Gu
It is scheduled on the second track in the first bindiny mechanism and vertical with the first track；The second bindiny mechanism being connect with the second track；Gu
The box body clamping device being scheduled in the second bindiny mechanism；
The second servo motor is installed in first bindiny mechanism, second servo motor is for controlling the first connection machine
Structure is slided along first track；Third servo motor is installed in second bindiny mechanism, which is used for
Second bindiny mechanism is controlled to slide along second track；
The first servo motor, second servo motor and the third servo motor are connect with the control centre,
Control for realizing the control centre to the cargo storing device and the sorting case loading attachment.
2. a kind of automated warehousing of unmanned plane express delivery according to claim 1 sorts Load System, which is characterized in that institute
It includes screw rod to state transmission device, the output axis connection of described screw rod one end and the first servo motor, and screw rod is another
Along the warehouse front end is extended to, the screw pitch of screw rod is mutually fitted with the shapes and sizes of cargo at end.
3. a kind of automated warehousing of unmanned plane express delivery according to claim 2 sorts Load System, which is characterized in that institute
It includes crawler belt, crawler belt driving wheel and crawler belt driven wheel to state transmission device, and the crawler belt both ends are respectively fitted over crawler belt driving wheel and shoe
On band driven wheel, crawler belt connects along the warehouse front end, output shaft and the crawler belt driving wheel power of the first servo motor is extended to
It connects.
4. a kind of automated warehousing of unmanned plane express delivery according to claim 3 sorts Load System, which is characterized in that institute
State and the first transmission gear be installed on the output shaft of the second servo motor, first track be equipped with bar shaped tooth, described first
Bar shaped tooth engagement on transmission gear and the first track passes through the first drive gears on second servo motor output shaft
First bindiny mechanism is moved to slide along first track.
5. a kind of automated warehousing of unmanned plane express delivery according to claim 4 sorts Load System, which is characterized in that institute
State and the second transmission gear be installed on the output shaft of third servo motor, second track be equipped with bar shaped tooth, described second
Bar shaped tooth engagement on transmission gear and the second track passes through the second drive gears on the third servo motor output shaft
Second bindiny mechanism is moved to slide along second track.
6. a kind of automated warehousing of unmanned plane express delivery according to claim 5 sorts Load System, which is characterized in that institute
It is rectangular parallelepiped structure to state warehouse, and warehouse includes warehouse top plate, warehouse bottom plate and two warehouse side plates.
7. a kind of automated warehousing of unmanned plane express delivery according to claim 1 sorts Load System, which is characterized in that also
Supporting rail including one with first parallel track setting；Third bindiny mechanism is connected on the supporting rail；Described second
One end of track is fixed in the first bindiny mechanism, and the other end is fixedly connected with the third bindiny mechanism.
8. a kind of automated warehousing of unmanned plane express delivery according to claim 7 sorts Load System, which is characterized in that institute
The bottom for stating third bindiny mechanism is provided with sliding slot, and the supporting rail is connected in the sliding slot of third bindiny mechanism bottom.
9. a kind of automated warehousing of unmanned plane express delivery according to claim 1 sorts Load System, which is characterized in that institute
State the closed loop configuration that the first track is head and the tail connection.
10. a kind of control method of the automated warehousing sorting Load System of unmanned plane express delivery as described in claim 1~9,
It is characterized by comprising the following steps：
S1：The control centre obtains order information and ship directive；
S2：The box body clamping device that the control centre controls the sorting case loading attachment will sort case or the shifting of unmanned plane cargo hold
Move the warehouse front end of the corresponding storage unit；
S3：The control centre controls the storage unit and pushes out a cargo of front end in storage unit, and sliding
It falls in the sorting case for entering the sorting case loading attachment or unmanned plane cargo hold；
S4：After the sorting case loading attachment has received first cargo, the babinet of control centre's control sorting case loading attachment
Sorting case or unmanned plane cargo hold are moved to the warehouse front end of the storage unit where second cargo by clamping device；
S5：S2 to S4 is repeated, until all cargos in order fully enter the sorting case or nothing of goods sorting case loading attachment
In man-machine cargo hold.
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| CN106934579A (en) * | 2017-03-20 | 2017-07-07 | 南京医科大学第附属医院 | The control method of the automated storage and retrieval system based on unmanned plane |
| CN107088525A (en) * | 2017-06-27 | 2017-08-25 | 深圳市步科电气有限公司 | Materials-sorting system and method |
| CN112070967B (en) * | 2020-08-21 | 2022-03-18 | 淮北市盛世昊明科技服务有限公司 | Automatic vending device based on fingerprint identification payment and cloud service |
| CN114044158B (en) * | 2021-11-29 | 2024-06-04 | 浙江图盛输变电工程有限公司温州科技分公司 | Unmanned aerial vehicle automatic driving system based on artificial intelligent image recognition |
| CN117970836B (en) * | 2024-03-29 | 2024-06-11 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle continuous operation control method and device and unmanned aerial vehicle inspection system |
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Effective date of registration: 20240417 Address after: 518000, Building 1, Building B, 1003, Shangzhi Science and Technology Park, No. 380 Guangming Avenue, Tangwei Community, Fenghuang Street, Guangming District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yunzhikong Intelligent Equipment Co.,Ltd. Country or region after: China Address before: 5118000, C-10G, Xihai Mingzhu Garden, Taoyuan Road, Nanshan District, Shenzhen, Guangdong Province Patentee before: Ma Yanting Country or region before: China |