CN106379685B - Automatic picking delivering device based on automatic guided vehicle - Google Patents
Automatic picking delivering device based on automatic guided vehicle Download PDFInfo
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- CN106379685B CN106379685B CN201611018453.2A CN201611018453A CN106379685B CN 106379685 B CN106379685 B CN 106379685B CN 201611018453 A CN201611018453 A CN 201611018453A CN 106379685 B CN106379685 B CN 106379685B
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- picking
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- 230000001360 synchronised effect Effects 0.000 claims description 14
- 230000003028 elevating effect Effects 0.000 claims description 11
- 230000001939 inductive effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000003909 pattern recognition Methods 0.000 claims description 3
- 208000018747 cerebellar ataxia with neuropathy and bilateral vestibular areflexia syndrome Diseases 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
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- 238000003860 storage Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000008450 motivation Effects 0.000 description 1
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of automatic picking delivering device based on automatic guided vehicle, on the electronic control box of automatic guided vehicle, comprising: the first cargo location sensor, for incuding the cargo location in front and sending the first cargo location signal；Picking arm is moved back and forth along the direction perpendicular to front and back side, and is rotated about axis, and the front end of picking arm, which is equipped with, canvasses structure for cargo collection；Picking arm driving mechanism is communicated with the first cargo location inductor, according to the first cargo location signal driving picking arm work received, canvasses cargo；Conveyer belt cooperates with picking arm, is used for picking and unloading.It is an advantage of the current invention that incuding cargo location by cargo location sensing device and by picking arm and picking arm driving mechanism cooperation adjustment position, the automatic picking unloading of cargo is carried out, labour is saved.
Description
Technical field
The present invention relates to logistics transportation field more particularly to a kind of automatic picking delivering devices based on automatic guided vehicle.
Background technique
The progress of science and technology makes Logistics Equipment increasingly pay attention to automation and human oriented design, strong with the labour for reducing worker
Degree, improving working conditions keeps operation more free and relaxed.Wherein Automatic Guided Vehicle is collection machinery, electronics, control, computer, sensing
The multidisciplinary advanced technology such as device, the artificial intelligence automated arm important in the modern manufacturing industry of one.Automated Sorting System exists
It is deposited in the shortest time from huge high-rise goods and accurately finds the commodity position for wanting outbound in frame storage system, and by required
The commodity of the different number taken out from different storage spaces are transported to different operation areas by the difference in dispatching place by quantity outbound
Domain or dispatching platform are concentrated, so as to entrucking dispatching.
The Automatic Guided Vehicle of the prior art includes the electronic control box as vehicle body and the rolling that is controlled by electronic control box
Wheel, is equipped with tracking sensor inside electronic control box, and electronic control box sends trajectory signal by tracking sensor and passes through
Remote sensing receives signal, to drive idler wheel to be moved to designated position, platform of the top of electronic control box as arrangement of goods.With
The degree of automation of sorting line improves, and the demand of Automatic Guided Vehicle is also higher and higher, but there is no too many cores in application technology
Technological accumulation and innovation.Still need in sorting line end by the cargo sorted out is manually carried out collection load, entrucking, needs to expend
A large amount of labour.
Therefore, a kind of Automatic Guided Vehicle that the cargo that sorting line end exports can be carried out to automatic loading and unloading is needed.
Summary of the invention
In order to solve problems in the prior art, a kind of automatic picking delivering device is provided, is carried instead of manual handling.
A kind of automatic picking delivering device based on automatic guided vehicle, on the electronic control box of automatic guided vehicle, institute
Stating electronic control box top has front and rear sides, and the automatic picking delivering device includes:
First cargo location sensor, set on the front side of electronic control box top, for incuding the cargo location in front simultaneously
Send the first cargo location signal；
Picking arm is moved back and forth along the direction perpendicular to front and back side, and is rotated about axis, and the axis is perpendicular to picking arm
Moving direction, the front end of picking arm, which is equipped with, canvasses structure for cargo collection；
Picking arm driving mechanism is communicated with the first cargo location inductor, according to the first cargo location signal received
The work of picking arm is driven, cargo is canvassed；
Conveyer belt, setting is in electronic control box top, and the transmission direction of conveyer belt is identical as the moving direction of picking arm, institute
It states conveyer belt and picking arm cooperates, be used for picking and unloading.
It optionally, further include being mounted on above conveyer belt to acquire dress to identify and obtain the goods information of goods information
It sets.
Optionally, the goods information acquisition device is two-dimensional code scanning device, bar code scanner and image recognition
Device one of them.
Optionally, further includes:
The second cargo location sensor positioned at conveyer belt at least side, the position of cargo is on a moving belt for identification
Position simultaneously sends the second cargo location inductive signal；
The support rod of conveyor belt two sides is located at perpendicular to direction of belt travel；
U-shaped elevating lever, the vertical bar including cross bar and positioned at cross bar two sides, two vertical bars are slidably arranged in correspondence respectively
Support rod on；
Elevating lever driving mechanism, for driving vertical bar to move up and down；
Synchronous belt guide rail on cross bar is set, and goods information acquisition device is installed on synchronous belt guide rail, and elevating lever
Driving mechanism and synchronous belt guide rail are communicated with the second cargo location sensor, are incuded according to the second cargo location received
Signal drives goods information acquisition device to carry out the movement in vertical and horizontal directions.
Optionally, the goods information acquisition device is equipped with the communication module carried out telecommunication with control centre, to
Goods information is sent to control centre and receives deployment information from control centre.
Optionally, picking arm driving mechanism include: drive the first direction driving mechanism that is moved forward and backward of picking arm with
And the second direction driving mechanism that driving picking arm is rotated upwardly and downwardly.
Optionally, the first direction driving mechanism includes: ball screw assembly, and stepper motor, the stepper motor driving
The screw rod rotation of ball screw assembly, moves back and forth to control the nut seat of ball screw assembly, and the picking arm is rotatably installed in spiral shell
In base；The second direction driving mechanism is steering engine, the servo driving picking arm reciprocally swinging.
Optionally, the structure of canvassing is to be mounted on picking arm free end and the straight-bar perpendicular with picking arm.
It optionally, further include set on the hoistable platform that box top is controlled electronically, and the first cargo location sensor, picking
Arm, picking arm driving mechanism and conveyer belt are all set on the hoistable platform.
It optionally, further include the obstacle identification device for being set to electronic control box side, the obstacle identification device and biography
It send the driving mechanism of band to communicate, drives conveyer belt to operate to send unloading signal.
It is an advantage of the current invention that incuding cargo location by the first cargo location sensing device and passing through picking arm and take
Goods arm driving mechanism cooperation adjustment position, carries out canvassing automatically for cargo, in unloading, is removed cargo from nobody by conveyer belt
It is unloaded on fortune vehicle, realizes automatic picking unloading, save labour；Acquisition and the tune of control centre by goods information
Degree, is capable of the use of each automatic guided vehicle of reasonable distribution；By hoistable platform, the height of unloading can be adjusted flexibly, avoid goods
Object damage；Driving in multiple directions is carried out to picking arm, can adapt to different cargo location and size, to ensure smoothly to take
Goods；By synchronous belt guide rail mobile cargo information collecting device, guarantee that goods information on each cargo different location can be by
Accurately collect.
Detailed description of the invention
Fig. 1 is the automatic picking delivering device structural schematic diagram of one embodiment of the invention；
Fig. 2 is the control system schematic diagram of automatic picking delivering device in the present embodiment.
In figure:
1, electronic control box；2, front-wheel；3, rear-wheel；4, tracking sensor；5, obstacle identification device；6, fork folder control dress
It sets；7, clamping structure is pitched；8, hoistable platform；9, the first cargo location sensor；10, conveyer belt；11, the second cargo location senses
Device；12, support rod；13, vertical bar；14, synchronous belt guide rail；15, cross bar；16, goods information acquisition device；17, stepper motor；
18, screw rod；19, nut seat；20, straight-bar；21, picking arm；22, steering engine.
Specific embodiment
It is of the invention clear in more detail to make, it is further explained now in conjunction with drawings and examples.
The automatic picking delivering device of one embodiment of the invention is as shown in Figure 1, be set on existing automatic guided vehicle, now
Some automatic guided vehicles include electronic control box 1 and four wheels (i.e. 2 He of a pair of of front-wheel for being mounted on 1 bottom of electronic control box
A pair of rear wheels 3), moving structure is controlled by electronic remote sensing, is driven by rear-wheel 3, and front-wheel 2 turns to, and has tracking sensor 4, root
The control instruction sent according to remote sensing can automatic tracking walk as defined in route to designated place and automatic charging.
In the present example, automatic picking delivering device includes:
First cargo location sensor 9, set on the front side at 1 top of electronic control box, for incuding the cargo location in front
And send the first cargo location signal；
Picking arm 21 is moved back and forth along the direction perpendicular to front and back side, and is rotated about axis, and axis is perpendicular to picking arm 21
Moving direction, the front end of picking arm 21, which is equipped with, canvasses structure for cargo collection；
Picking arm driving mechanism is communicated with the first cargo location inductor, according to the first cargo location signal received
It drives picking arm 21 to work, canvasses cargo；
Conveyer belt 10, setting is in 1 top of electronic control box, the transmission direction of conveyer belt 10 and the moving direction of picking arm 21
Identical, conveyer belt 10 and picking arm 21 cooperate, and are used for picking and unloading.
It in this present embodiment, further include the goods information for being mounted on 10 top of conveyer belt to identify and obtain goods information
Acquisition device 16.
Goods information acquisition device 16 is two-dimensional code scanning device, bar code scanner and pattern recognition device wherein one
Person.In present example, goods information acquisition device 16 is that bar code scanner can also use in other implementations
Two-dimensional code scanning instrument, pattern recognition device, e-tag reader, etc., matching with the goods information carrier on cargo makes
With.
In this present embodiment, further includes:
The second cargo location sensor 11 positioned at at least side of conveyer belt 10, the position of cargo is in conveyer belt for identification
Position and the second cargo location inductive signal of transmission on 10；
The support rod 12 of 10 two sides of conveyer belt is located at perpendicular to 10 direction of travel of conveyer belt；
U-shaped elevating lever, the vertical bar 13 including cross bar 15 and positioned at 15 two sides of cross bar, two vertical bars 13 slide set respectively
It sets on corresponding support rod 12；
Elevating lever driving mechanism, for driving vertical bar 13 to move up and down；
Synchronous belt guide rail 14 on cross bar 15 is set, goods information acquisition device 16 is installed on synchronous belt guide rail 14,
And elevating lever driving mechanism and synchronous belt guide rail 14 are communicated with the second cargo location sensor 11, according to second received
Cargo location inductive signal drives goods information acquisition device 16 to carry out the movement in vertical and horizontal directions.
In this present embodiment, goods information acquisition device 16 is equipped with the communication module carried out telecommunication with control centre,
To send goods information to control centre and receive deployment information from control centre.
In this present embodiment, picking arm driving mechanism includes: that the first direction for driving picking arm 21 to be moved forward and backward drives
The second direction driving mechanism that motivation structure and driving picking arm 21 are rotated upwardly and downwardly.
In this present embodiment, first direction driving mechanism includes: ball screw assembly, and stepper motor 17, and stepper motor 17 drives
The rotation of screw rod 18 of dynamic ball screw assembly, moves back and forth to control the nut seat 19 of ball screw assembly, and picking arm 21 is rotatablely installed
On nut seat 19；Second direction driving mechanism is steering engine 22, and steering engine 22 drives 21 reciprocally swinging of picking arm.
In this present embodiment, canvassing structure is to be mounted on 21 free end of picking arm and the straight-bar perpendicular with picking arm 21
20。
It in this present embodiment, further include being set to the hoistable platform 8 at 1 top of electronic control box, and the first cargo location senses
Device 9, picking arm 21, picking arm driving mechanism and conveyer belt 10 are all set on hoistable platform 8.
It in this present embodiment, further include the obstacle identification device 5 for being set to 1 side of electronic control box, obstacle identification device 5
It is communicated with the driving mechanism of conveyer belt 10, drives conveyer belt 10 to operate to send unloading signal.
The first cargo location of the present embodiment sensor 9 incudes the cargo in 21 scope of activities of picking arm, so that having two
The picking arm 21 of freedom degree on a direction can easily canvass cargo, and in picking, picking arm 21 is controlled by steering engine 22 to be revolved
Turn, so that straight-bar 20 is bonded the express delivery back side and pulls cargo to the conveyer belt 10 of equipment；The sense of second cargo location sensor 11
The cargo entered in conveyer belt 10 should be arrived, sends the second cargo location inductive signal to elevating lever driving mechanism and synchronous belt guide rail
14, elevating lever driving mechanism and synchronous belt guide rail 14 drive 16 progress of goods information acquisition device horizontal vertical after receiving signal
The movement of two freedom degrees.Goods information acquisition device 16 incudes the bar code in scanning range and transmits scanning information control
Center.When transporting to designated position, the obstacle identification device 5 of 1 side of electronic control box judges the front whether have barrier,
There is no the driving mechanism (being decelerating motor in present example) that unloading signal is sent in the case where barrier to conveyer belt 10, by
Decelerating motor drives conveyer belt 10, and push cargo enters lorry or other break bulk points；Unloading when, also by hoistable platform 8 come
Dump height is adjusted, different discharge locations is adapted to.Hoistable platform 8 includes fork clamping structure 7 and fork folder control device 6, fork folder knot
Structure 7 has certain elemental height, and adjustable height determines the height of unloading.In present example, fork folder control device 6 and obstacle are known
Other device 5 is communicated, when obstacle identification device 5 judge it is accessible and send unloading signal when control hoistable platform 8 go up and down.
As shown in Fig. 2, control centre passes through goods for controlling logistic storage center assembly line end in present example
The long-range shipment information of object information collecting device 16, is numbered each automatic picking delivering device and lorry, can be real
When feed back storage center function situation, control centre according to feedback the case where distribute to each device task.Pass through cloud meter
It calculates, judges which port picking each device should go to, which lorry be carried to, and record loading condition in lorry.Automatically
Picking delivering device controls its route and automatic charging by a host.
It is an advantage of the current invention that incuding cargo location by cargo location sensing device and passing through picking arm 21 and picking
Arm driving mechanism cooperation adjustment position, carries out canvassing automatically for cargo, in unloading, is removed cargo from nobody by conveyer belt 10
It is unloaded on fortune vehicle, realizes automatic picking unloading, save labour；Acquisition and the tune of control centre by goods information
Degree, is capable of the use of each automatic guided vehicle of reasonable distribution；By hoistable platform 8, the height of unloading can be adjusted flexibly, avoid goods
Object damage；Driving in multiple directions is carried out to picking arm 21, can adapt to different cargo location and size, to ensure smoothly
Picking；By 14 mobile cargo information collecting device 16 of synchronous belt guide rail, guarantee that the goods information on each cargo different location is equal
It can accurately be collected.
Claims (6)
1. a kind of automatic picking delivering device based on automatic guided vehicle, special on the electronic control box of automatic guided vehicle
Sign is that the electronic control box top has front and rear sides, and the automatic picking delivering device includes:
First cargo location sensor, set on the front side of electronic control box top, for incuding cargo location and the transmission in front
First cargo location signal；
Picking arm is moved back and forth along the direction perpendicular to front and back side, and is rotated about axis, shifting of the axis perpendicular to picking arm
Dynamic direction, the front end of picking arm, which is equipped with, canvasses structure for cargo collection；
Picking arm driving mechanism is communicated with the first cargo location inductor, is driven according to the first cargo location signal received
The work of picking arm, canvasses cargo；
Conveyer belt, setting is in electronic control box top, and the transmission direction of conveyer belt is identical as the moving direction of picking arm, the biography
It send band to cooperate with picking arm, is used for picking and unloading；
It further include the goods information acquisition device being mounted on above conveyer belt to identify and obtain goods information；
Further include:
The second cargo location sensor positioned at conveyer belt at least side, for identification position of the position of cargo on a moving belt
And send the second cargo location inductive signal；
The support rod of conveyor belt two sides is located at perpendicular to direction of belt travel；
U-shaped elevating lever, the vertical bar including cross bar and positioned at cross bar two sides, two vertical bars are slidably arranged in corresponding branch respectively
On strut；
Elevating lever driving mechanism, for driving vertical bar to move up and down；
Synchronous belt guide rail on cross bar is set, and goods information acquisition device is installed on synchronous belt guide rail, and elevating lever drives
Mechanism and synchronous belt guide rail are communicated with the second cargo location sensor, according to the second cargo location inductive signal received
Goods information acquisition device is driven to carry out the movement in vertical and horizontal directions；
Picking arm driving mechanism includes: the first direction driving mechanism for driving picking arm to be moved forward and backward and driving picking arm
The second direction driving mechanism rotated upwardly and downwardly；The first direction driving mechanism includes: ball screw assembly, and stepper motor,
The screw rod rotation of the stepper motor driving ball screw assembly, moves back and forth to control the nut seat of ball screw assembly, described to take
Goods arm is rotatably installed on nut seat；The second direction driving mechanism is steering engine, the servo driving picking arm reciprocally swinging.
2. the automatic picking delivering device based on automatic guided vehicle as described in claim 1, which is characterized in that the goods information
Acquisition device is two-dimensional code scanning device, bar code scanner and pattern recognition device one of them.
3. the automatic picking delivering device based on automatic guided vehicle as described in claim 1, which is characterized in that the goods information
Acquisition device is equipped with the communication module that carries out telecommunication with control centre, to send goods information to control centre and from control
Center processed receives deployment information.
4. the automatic picking delivering device based on automatic guided vehicle as described in claim 1, which is characterized in that described to canvass structure
To be mounted on picking arm free end and the straight-bar perpendicular with picking arm.
5. the automatic picking delivering device as described in claim any one of 1-4 based on automatic guided vehicle, which is characterized in that also wrap
Include the hoistable platform for being set to electronic control box top, and the first cargo location sensor, picking arm, picking arm driving mechanism and biography
Band is sent to be all set on the hoistable platform.
6. the automatic picking delivering device based on automatic guided vehicle as described in claim 1, which is characterized in that further include being set to
The obstacle identification device of electronic control box side, the obstacle identification device is communicated with the driving mechanism of conveyer belt, to send
Signal unload to drive conveyer belt to operate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018453.2A CN106379685B (en) | 2016-11-16 | 2016-11-16 | Automatic picking delivering device based on automatic guided vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611018453.2A CN106379685B (en) | 2016-11-16 | 2016-11-16 | Automatic picking delivering device based on automatic guided vehicle |
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| CN106379685A CN106379685A (en) | 2017-02-08 |
| CN106379685B true CN106379685B (en) | 2019-01-04 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706261A (en) * | 2018-05-16 | 2018-10-26 | 合肥亿福自动化科技有限公司 | A kind of collaborative robot intelligent warehousing system |
| CN111085445A (en) * | 2018-10-23 | 2020-05-01 | 无锡品冠物联科技有限公司 | Intelligent sorting trolley |
| CN111115085A (en) * | 2019-12-31 | 2020-05-08 | 芜湖职业技术学院 | Transport vehicle control device |
| CN111573102A (en) * | 2020-05-20 | 2020-08-25 | 上海皖胜仓储设备有限公司 | Can realize intelligent loft formula goods shelves that promote goods |
| CN111924408A (en) * | 2020-09-14 | 2020-11-13 | 汤春秋 | Automatic feeding device for warehouse management |
| CN112455985B (en) * | 2020-11-24 | 2022-09-09 | 中源家居股份有限公司 | Scanner support body that transport vechicle was used |
| CN115068642B (en) * | 2022-07-12 | 2023-04-21 | 广州市建城有害生物防治有限公司 | Light disinfection and sterilization device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010100421A (en) * | 2008-10-27 | 2010-05-06 | Seiko Epson Corp | Workpiece detection system, picking device and picking method |
| CN104340573A (en) * | 2013-07-26 | 2015-02-11 | 天津晋原顺商贸有限公司 | Intelligent warehousing carrier |
| CN204399924U (en) * | 2014-12-24 | 2015-06-17 | 上海斐讯数据通信技术有限公司 | A kind of electronics material identifies warehousing system automatically |
| CN104590802B (en) * | 2014-12-26 | 2017-01-04 | 北京联合大学 | Quick despatch automatic transmitter-receiver unit |
| CN105292892A (en) * | 2015-11-11 | 2016-02-03 | 江苏汇博机器人技术有限公司 | Automatic storage system of industrial robot |
| CN205496076U (en) * | 2015-12-14 | 2016-08-24 | 安徽凯莎工业设备制造有限公司 | Intelligent full -automatic order -picking trucks |
| CN105710042B (en) * | 2016-04-16 | 2018-03-13 | 成都航空职业技术学院 | A kind of physical-distribution intelligent sorting equipment |
| CN206345307U (en) * | 2016-11-16 | 2017-07-21 | 杭州电子科技大学 | Automatic picking delivering device based on automatic guided vehicle |
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Application publication date: 20170208 Assignee: Hangzhou ludai Technology Co.,Ltd. Assignor: Wuhu Digital Information Industrial Park Co.,Ltd. Contract record no.: X2021330000096 Denomination of invention: Automatic pick-up and unloading equipment based on unmanned carrier Granted publication date: 20190104 License type: Common License Record date: 20210819 |
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