CN106395225A - 一种机器人智能仓库 - Google Patents
一种机器人智能仓库 Download PDFInfo
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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
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Abstract
一种机器人智能仓库,包括进料输送带和出料输送带,还包括呈圆状的货架,在货架上放置有多个带有条码信息的周转框,在圆状的货架上开设有缺口,所述进料输送带及出料输送带设置在该缺口处,在圆状货架的圆心处设置有六轴机器人,六轴机器人的前臂上安装有抓取周转框的夹具,所述进料输送带上安装有扫描周转框上的条码信息的扫码器,该机器人智能仓库可节省人力存取货,且可大幅提高存取物料的工作效率。
Description
技术领域
本发明涉及包装技术领域,特别涉及用于存取物料的机器人智能仓库。
背景技术
目前,包装技术领域存放物料通常依靠人工拖车将物料存放到货架上,而使用物料时,则需要人工再从货架上取出,放到拖车上拖走,由于物料摆放的位置没有记录,因此,在需要取物料时,需要花费大量的人力耗时寻找物料,存储效率低;为提高存取物料的工作效率,可使用现在物流行业常用的立体仓库,以便于管理货品,然而,立体仓库一般占地面积大,所需自动化系统较多,因此,制造的成本相当高,对于货品量不多且需要提高存取货品工作效率的包装技术领域来说,存放成本过高。
发明内容
本发明旨在提供一种节省人力且提高存取物料工作效率的机器人智能仓库。
本发明所述的一种机器人智能仓库,包括进料输送带和出料输送带,还包括呈圆状的货架,在货架上放置有多个带有条码信息的周转框,在圆状的货架上开设有缺口,所述进料输送带及出料输送带设置在该缺口处,在圆状货架的圆心处设置有六轴机器人,六轴机器人的前臂上安装有抓取周转框的夹具,所述进料输送带上安装有扫描周转框上的条码信息的扫码器。
本发明所述的一种机器人智能仓库,在需要存放物料时,将物料放入周转框中,随后通过AGV将周转框输送到物料进料输送带上,在传送过程中,周转框经过进料输送带上的扫码器时,扫码器扫描周转框上的条码信息,随后将条码信息传送给控制系统,控制系统记录下相应条码信息后,控制六轴机器人抓取周转框,并将周转框存放至货架指定的位置,完成周转框的存放;而当需要取出物料时,通过系统记录的条码信息对应的存放位置,找到周转框存放于货架上的位置,控制系统控制六轴机器人将相应的周转框取出并放置在出料输送带上输送而出,再由AGV接出出料输送带上的周转框后输送至指定的地方。由于通过六轴机器人及货架、周转框的配合,可使物料的存取实现自动化,节省了存取物料的人力,提高了存取物料的工作效率。由于六轴机器人可在原地旋转并伸缩取物,且货架呈圆状,配合六轴机器人,以实现自动取放物料,由于货架呈圆状,因此,可增大存放空间,提高物料存放利用率。该机器人智能仓库结构简单,制造成本低,其制造成本仅仅是现有立体仓库制造成本的10%,同时,在包装领域中,使取放料的工作效率提高至少80%。
附图说明
图1为本发明结构示意图。
图2为本发明夹具结构示意图。
具体实施方式
一种机器人智能仓库,如图1和图2所示,包括进料输送带1和出料输送带2,还包括呈圆状的货架,在货架上放置有多个带有条码信息的周转框3,在圆状的货架上开设有缺口4,所述进料输送带1及出料输送带2设置在该缺口4处,在圆状货架的圆心处设置有六轴机器人5,六轴机器人5的前臂6上安装有抓取周转框的夹具,所述进料输送带1上安装有扫描周转框3上的条码信息的扫码器7。所述扫码器7及六轴机器人5为市面上可获得。
所述圆状货架的半径为3米~4米,如3米、3.1米、3.2米、3.3米、3.4米、3.5米、3.6米、3.7米、3.8米或4米等,优选3.5米,在确保正常生产的前提下,使货架摆放适合六轴机器人5的存取范围,更进一步降低存取物料的成本,提高存取物料的工作效率。
所述货架层数为四层至八层,如四层、五层、六层、七层或八层等,不仅在六轴机器人5的存取范围内,还能加大物料存放的空间。
所述货架由多个货架单体8排布形成圆状,便于根据周转框3大小以设计货架单体8的尺寸,从而可以增加存货空间。
所述夹具包括与六轴机器人5的前臂6连接的法兰9,法兰9一端连接有安装架10,安装架10上水平设置有滑轨11,滑轨11上设置有一对可沿滑轨11滑动的护板12,安装架10底部设置有放置周转框3的插板13,所述每个护板12上分别设置有用于驱动护板12沿滑轨11滑动的气缸14,通过气缸14驱动护板12左右移动,从而以使同一夹具适应不同尺寸的周转框3,通过护板12护住置于插板13上的周转框3,避免其在运送过程中跌落。
所述护板12自由端的内侧壁上设置有限位板15,避免周转框3在运送过程中前后滑动而跌落。
所述进料输送带1和出料输送带2呈对称设置;或者所述进料输送带1和出料输送带2呈上下设置,所述进料输送带1设置在上方,则出料输送带2设置在下方,所述进料输送带1设置在下方,则出料输送带2设置在上方。
所述进料输送带1与出料输送带2均为L型,L型进料输送带1和L型出料输送带2呈相背设置,二者的相同端由圆状货架的缺口4处伸入至圆状货架内,从而可使六轴机器5人与进料输送带1和出料输送带2衔接位置适应,以更好实现输送料。
Claims (8)
1.一种机器人智能仓库,其特征在于:包括进料输送带(1)和出料输送带(2),还包括呈圆状的货架,在货架上放置有多个带有条码信息的周转框(3),在圆状的货架上开设有缺口(4),所述进料输送带(1)及出料输送带(2)设置在该缺口(4)处,在圆状货架的圆心处设置有六轴机器人(5),六轴机器人(5)的前臂(6)上安装有抓取周转框的夹具,所述进料输送带(1)上安装有扫描周转框(3)上的条码信息的扫码器(7)。
2.根据权利要求1所述的一种机器人智能仓库,其特征在于:所述圆状货架的半径为3米~4米。
3.根据权利要求1或2所述的一种机器人智能仓库,其特征在于:所述货架层数为四层至八层。
4.根据权利要求3所述的一种机器人智能仓库,其特征在于:所述货架由多个货架单体(8)排布形成圆状。
5.根据权利要求1所述的一种机器人智能仓库,其特征在于:所述夹具包括与六轴机器人(5)的前臂(6)连接的法兰(9),法兰(9)一端连接有安装架(10),安装架(10)上水平设置有滑轨(11),滑轨(11)上设置有一对可沿滑轨(11)滑动的护板(12),安装架(10)底部设置有放置周转框(3)的插板(13),所述每个护板(12)上分别设置有用于驱动护板(12)沿滑轨(11)滑动的气缸(14)。
6.根据权利要求5所述的一种机器人智能仓库,其特征在于:所述护板(12)自由端的内侧壁上设置有限位板(15)。
7.根据权利要求1所述的一种机器人智能仓库,其特征在于:所述进料输送带(1)和出料输送带(2)呈对称设置;或者所述进料输送带(1)和出料输送带(2)呈上下设置,所述进料输送带(1)设置在上方,则出料输送带(2)设置在下方,所述进料输送带(1)设置在下方,则出料输送带(2)设置在上方。
8.根据权利要求1或7所述的一种机器人智能仓库,其特征在于:所述进料输送带(1)与出料输送带(2)均为L型,L型进料输送带(1)和L型出料输送带(2)呈相背设置,二者的相同端由圆状货架的缺口(4)处伸入至圆状货架内。
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