CN106826820A - The control method and system of Cartesian robot - Google Patents
The control method and system of Cartesian robot Download PDFInfo
- Publication number
- CN106826820A CN106826820A CN201710030718.9A CN201710030718A CN106826820A CN 106826820 A CN106826820 A CN 106826820A CN 201710030718 A CN201710030718 A CN 201710030718A CN 106826820 A CN106826820 A CN 106826820A
- Authority
- CN
- China
- Prior art keywords
- storage container
- handgrip
- axis track
- taken
- taking device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a kind of Cartesian robot, including X-axis track, Y-axis track, Z axis track and goods taking device.The X-axis track, Y-axis track and Z axis track are orthogonal；The Y-axis track can be moved along the X-axis track；The Z axis track can be moved along the Y-axis track；The goods taking device includes picking handgrip, gathering sill and conveyer belt, picking handgrip is used to pin storage container, and storage container can be driven to be lifted or declined, gathering sill is used to limit the motion path of picking handgrip, enable picking handgrip along gathering sill test to bit position, the goods taking device is arranged on the Z axis track, and can be moved up and down along the Z axis track.The invention also discloses the control method and system of a kind of Cartesian robot.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of Cartesian robot control method and system.
Background technology
With increasingly sharpening for electric business industry competition, how to reduce single cost of commodity turn into it is following mainly solve ask
One of topic, most effective mode of reduces cost are exactly the storage capacity and outbound efficiency for improving warehouse.In industry solve this two
The scheme of individual problem is mostly that, using the scheme of stereo storage rack dolly, stereo storage rack there are certain requirements to the height in warehouse, is stored
Density is also limited by warehouse height, and outbound efficiency is limited by cargo hoister, and cost is high.
The content of the invention
An aspect of of the present present invention provides a kind of goods taking device, including：Picking handgrip and gathering sill, the picking handgrip are used
In pinning storage container, and storage container can be driven to be lifted or declined；The gathering sill is used to limit the picking handgrip
Motion path, enables the picking handgrip along the gathering sill test to bit position.
Another aspect provides a kind of Cartesian robot, including goods taking device recited above, also wrap
Include X-axis track, Y-axis track and Z axis track.The X-axis track, Y-axis track and Z axis track are orthogonal；The goods taking device
On the Z axis track, and can be moved up and down along the Z axis track；The Y-axis track can be along the X-axis track
It is mobile；The Z axis track can be moved along the Y-axis track.
Another aspect provides a kind of control method of Cartesian robot, including：According to waiting to take storage
The bit information of container, controls the Y-axis track and/or the Z axis track so that goods taking device moves to storage container to be taken
The storage container stacking top at place；And according to the bit information of storage container to be taken, control the goods taking device to take out heap
Storage container to be taken in folded storage container.
Another side of the invention provides a kind of control method of Cartesian robot, including：Control Y-axis track and/
Or the movement of Z axis track so that goods taking device moves to the picking position of storage mouth, and controls goods taking device to stack neat to treat
Storage storage container all lifts；According to the bit information of storage container to be put in storage, Z axis track and/or Y-axis track are controlled, made
Obtain goods taking device and move to bit position top；Control goods taking device will stack storage container to be put in storage and be put into ground.
Another aspect provides a kind of control system of Cartesian robot, including：At one or more
Reason device；And one or more memories, be stored with executable instruction, and the instruction is being when executed by so that described
The computing device above method.
Another aspect provides a kind of readable storage medium storing program for executing, it is stored thereon with for execute instruction, the finger
Order can make one or more of computing device above methods when being performed by one or more processors.
Brief description of the drawings
Fig. 1 is the schematic diagram of Cartesian robot according to embodiments of the present invention and its application scenarios in warehouse.
Fig. 2 is the structural representation of goods taking device according to embodiments of the present invention.
Fig. 3 is the close-up schematic view of Cartesian robot according to embodiments of the present invention.
Fig. 4 A are the flow charts of the outbound control method of Cartesian robot according to embodiments of the present invention.
Fig. 4 B are the storage containers to be taken that control goods taking device takes out in stacking storage container according to embodiments of the present invention
Method flow diagram.
Fig. 5 is the flow chart of the warehousing control method of Cartesian robot according to embodiments of the present invention.
Fig. 6 is Cartesian robot control system according to embodiments of the present invention and warehouse management system and depot equipment
The schematic diagram that control system is interacted.
Fig. 7 is the system block diagram of Cartesian robot control system according to embodiments of the present invention.
Specific embodiment
According to reference to accompanying drawing to the described in detail below of exemplary embodiment of the present, other side of the invention, advantage
Be will become obvious for those skilled in the art with prominent features.
In the present invention, term " including " and " containing " and its derivative mean including and it is unrestricted；Term "or" is bag
Containing property, mean and/or.
In this manual, following various embodiment knowledge explanations for describing the principle of the invention, should not be with any
Mode is construed to the scope of limitation invention.Referring to the drawings described below is used to help comprehensive understanding by claim and its equivalent
The exemplary embodiment of the invention that thing is limited.It is described below to help understand including various details, but these details should
Think what is be merely exemplary.Therefore, it will be appreciated by those of ordinary skill in the art that without departing substantially from scope and spirit of the present invention
In the case of, embodiment described herein can be made various changes and modifications.Additionally, for clarity and brevity,
Eliminate the description of known function and structure.Additionally, running through accompanying drawing, same reference numerals are used for identity function and operation.
Shown in the drawings of some block diagrams and/or flow chart.It should be understood that some sides in block diagram and/or flow chart
Frame or its combination can be realized by computer program instructions.These computer program instructions can be supplied to all-purpose computer,
The processor of special-purpose computer or other programmable data processing units, so that these instructions can be with when by the computing device
Create the device for realizing illustrated function/operation in these block diagrams and/or flow chart.
Therefore, the technology of the disclosure can be realized in the form of hardware and/or software (including firmware, microcode etc.).Separately
Outward, the technology of the disclosure can take the form of the computer program product on the computer-readable medium of the instruction that is stored with, should
Computer program product is available for instruction execution system to use.In the context of the disclosure, computer-readable medium can be energy
Enough include, store, transmit, propagate or transmit the arbitrary medium of instruction.For example, computer-readable medium can be included but is not limited to
Electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device, device or propagation medium.The specific example bag of computer-readable medium
Include：Magnetic memory apparatus, such as tape or hard disk (HDD)；Light storage device, such as CD (CD-ROM)；Memory, such as arbitrary access are deposited
Reservoir (RAM) or flash memory；And/or wire/wireless communication link.
At present, with the popularization of internet, the competition of electric business industry is also more and more fierce, causes merchandise cost increasing always
It is long.In this case, it is exactly the storage capacity and outbound efficiency for improving warehouse to reduce one of most effective mode of merchandise cost.
Therefore, the present invention proposes a kind of Cartesian robot.Using Cartesian robot outbound of the present invention, heap can be further piled up
One of them storage container to be taken is taken out in folded storage container.Which improves outbound efficiency, thus reduce see commodity into
This.Be put in storage using Cartesian robot of the present invention, easily stacking storage container can be put to ground, rather than
It is placed on shelf, storage by this way greatly improves the storage capacity in warehouse.Storage by this way can also make
Stacking storage container on ground spaces between almost equal, can save the floor space in warehouse.
Fig. 1 is the schematic diagram of Cartesian robot according to embodiments of the present invention and its application scenarios in warehouse.
As shown in figure 1, Cartesian robot according to embodiments of the present invention includes X-axis track 1, Y-axis track 2, Z axis rail
Road 3 and goods taking device 4.X-axis track 1 includes being erected at a pair of parallel track of cargo area both sides, the two ends difference of Y-axis track 2
On be placed in the parallel orbit, Z axis track 3 is vertically set on Y-axis track 2, and goods taking device 4 is arranged on Z axis rail
On road 3.
Embodiments in accordance with the present invention, cargo area can include storage container cubical array, the array include one or
Multiple storage container stackings, each storage container stacking includes the multiple storage containers for stacking from bottom to top.It is of the invention
Embodiment, storage container can be the Turnover Box for depositing goods.The storage space of each storage container can be with coordinate (x, y, z)
To represent, wherein x represent the storage container where row, y represent the storage container where row, z represents that the storage container exists
Sequence number in storage container stacking.
X-axis track 1, Y-axis track 2 and Z axis track 3 are orthogonal, and Y-axis track 2 can be moved along X-axis track 1, Z axis rail
Road 3 can be moved along Y-axis track 2.The position of X-axis track 1, Y-axis track 2 and Z axis track 3 is so planned, can easily by Z
Axle track 3 moves to the optional position of cargo area.
Goods taking device 4 is arranged on Z axis track 3, and can be moved up and down along Z axis track 3.Goods taking device 4 is arranged on Z axis
Track 3 can neatly be moved with Z axis track 3 in cargo area, easily and accurately navigate to the storage space of storage container to be taken.
Fig. 2 is the structural representation of goods taking device according to embodiments of the present invention.
As shown in Fig. 2 embodiments in accordance with the present invention, goods taking device 4 includes picking handgrip and gathering sill 10.Picking handgrip
For pinning storage container, and storage container can be driven to be lifted or declined.Picking handgrip can be distributed in the lower section of goods taking device 4
Both sides, it is also possible to be distributed in four sides of goods taking device 4.Embodiments in accordance with the present invention, picking handgrip includes upper strata handgrip 8 with
Layer handgrip 9, upper strata handgrip 8 is located at the top of lower floor's handgrip 9.Two upper strata handgrips 8 and Liang Zhi lower floors handgrip 9 can be set,
Four upper strata handgrips 8 and four lower floor's handgrips 9 can be set.The distribution of picking handgrip and quantity can be by the shapes of storage container
Determine.For example, storage container can be two edges carries handle, need to be coordinated with two picking handgrips in this case
Pin storage container.Can also be the storage container of four edges edge all with handle, need to be grabbed with four pickings in this case
Hand coordinate and pins storage container, and the storage container for pinning in this way is more stablized, it is not easy to rock.Under normal circumstances,
In order to cost-effective, the configuration of two upper strata handgrips 8 and Liang Zhi lower floors handgrip 9 can be used.
Gathering sill 10 is distributed on four ribs of goods taking device 4, in the motion path for limiting picking handgrip, makes picking handgrip
Can be along the test of gathering sill 10 to bit position.Embodiments in accordance with the present invention, gathering sill 10 has four, and every gathering sill 10
There is the flange 14 that an inclination angle is 30 degree lower end.The flange 14 can be corrected because system positioning or storage container stack what is brought
Error.Specifically, when goods taking device 4 runs into stop in decline picking, the operation for moving downward, such case are not stopped
Under, gathering sill 10 can be reformed by flange 14 thereon by the dislocation between storage container is stacked, and continue goods taking device 4
Decline.
Embodiments in accordance with the present invention, in outbound, goods taking device 4 drops to the position of storage container to be taken, under
Storage container to be taken and its storage container all of the above are all lifted certain altitude by layer handgrip 9, then by upper strata handgrip 8
By storage container to be taken storage container lifting all of the above to the height for departing from storage container to be taken, at this moment on lower floor's handgrip 8
Storage container to be taken just only is captured.So easily any one in the storage container of stacking can be waited to take and deposit
Storage container takes out, and substantially increases the efficiency of outbound, reduces the cost of commodity.
As shown in Fig. 2 embodiments in accordance with the present invention, goods taking device 4 can also include conveyer belt 11, positioned at goods taking device
4 lower section, and with picking handgrip at intervals.Conveyer belt 11 provides power by power drum, can be along vertical picking
The direction movement of device, the shuttle 5 of Fig. 1 descriptions will be hereafter referred to for storage container to be transported to.Conveyer belt 11 is also
Play the role of to keep in storage container to be taken, for example, be put into storage container to be taken on conveyer belt 11 by picking handgrip, but this
When shuttle 5 do not reach picking position, conveyer belt 11 at this moment just plays temporary storage container to be taken.
Embodiments in accordance with the present invention, Cartesian robot can also include shuttle 5, move case apparatus 6 and X-axis conveying
Line 7.Fig. 3 is the close-up schematic view of Cartesian robot according to embodiments of the present invention, illustrated therein is shuttle 5,
Move the details of case apparatus 6 and X-axis pipeline 7.Shuttle 5 is arranged on Y-axis track 2, and can be moved along Y-axis track 2, is used
It is transported near X-axis pipeline 7 from conveyer belt 11 in by storage container to be taken.Move case apparatus 6 be used for will storage container be taken from
Shuttle 5 is moved on X-axis pipeline 7.X-axis pipeline 7 is identical with the direction of X-axis track 1, for depositing of sending shuttle 5
Storage container is transported to destination locations, such as on elevator.
As shown in figure 3, moving case apparatus 6 includes shifting block 12 and Timing Belt 13, the lower section of Y-axis track 2 is fixed near X-axis conveying
The position of line 7, for storage container to be taken to be moved into X-axis pipeline 7, specifically, when shuttle will storage container be taken
When being transported to X-axis pipeline edge, Timing Belt is controlled, drive shifting block to move clockwise, shifting block pushes storage container movement to be taken
Onto outbound pipeline, complete to move case process, shifting block comes back to initial position.It should be noted that being not provided with shuttle 5
In the case of X-axis pipeline 7, storage container can also be transported to purpose status by Cartesian robot by goods taking device 4
Put.But, goods taking device 4 is when storage container is transported, it is impossible to while carrying out picking operation, reduce outbound efficiency.Pass through
Use shuttle 5 and X-axis pipeline 7, it is possible to achieve quick outbound.For example, when storage container is put into shuttle by goods taking device 4
After 5, it just can again go picking, and be sent to storage container after X-axis pipeline 7 and be returned to be delivered goods with goods taking device 4 by shuttle 5
Position, so continual working method can increase substantially the efficiency of outbound.
Fig. 4 A are the flow charts of Cartesian robot control method according to embodiments of the present invention.According to the controlling party
Method, realizes that outbound is operated, for example, take out storage container to be taken from cargo area.
Embodiments in accordance with the present invention, cargo area can include storage container cubical array, the array include one or
Multiple storage container stackings, each storage container stacking includes the multiple storage containers for stacking from bottom to top.It is of the invention
Embodiment, storage container can be the Turnover Box for depositing goods.The storage space of each storage container can be with coordinate (x, y, z)
To represent, wherein x represent the storage container where row, y represent the storage container where row, z represents that the storage container exists
Sequence number in storage container stacking.
As shown in Figure 4 A, the method is since step S400.
In step S401, according to the bit information of storage container to be taken, Y-axis track 2 and/or Z axis track 3 are controlled so that
Storage container where goods taking device 4 moves to storage container to be taken stacks top.
Embodiments in accordance with the present invention, as shown in figure 1, above-mentioned steps can be achieved the goal by two kinds of modes of operation.The
A kind of mode is the row where first controlling Y-axis track 2 to move to storage container to be taken, and then controls Z axis track 3 to move to and waits to take
Row where storage container；The second way is the row where first controlling Z axis track 3 to move to storage container to be taken, and is then controlled
Y-axis track 2 processed move to storage container to be taken where row.For example, it is assumed that the coordinate of storage container to be taken is (5,2,3), i.e.,
5th row, the 3rd arranges, from the bottom up number the 3rd.In this case, it is possible to first control Y-axis track 2 moves to storage container to be taken
The fifth line at place, secondary series where then controlling Z axis track 3 to move to storage container to be taken, or first controls Z axis
Track 3 move to storage container to be taken where secondary series, where then controlling Y-axis track 2 to move to storage container to be taken
Fifth line.
In step S402, according to the bit information of storage container to be taken, control goods taking device 4 is taken out in stacking storage container
Storage container to be taken, it is following with reference to described in Fig. 4 B.
Fig. 4 B are the storage containers to be taken that control goods taking device takes out in stacking storage container according to embodiments of the present invention
Method flow diagram.
As shown in Figure 4 B, the method starts from step S402-0.
In step S402-1, according to the bit information of storage container to be taken, storage where storage container specially to be taken is held
Sequence number in device stacking, control goods taking device 4 drops to the position that can capture storage container to be taken.In the process, it is oriented to
Groove 10 can be corrected because of the error that system positioning or storage container stacking are brought.
In step S402-2, control described 9 times generals who has surrendered of lower floor's handgrip storage container to be taken and its storage all of the above are held
Device is promoted to certain altitude, for example, can be slightly above conveyer belt 11, is easy to lower floor's handgrip 9 that storage container to be taken is put into conveyer belt
On 11.
In step S402-3, storage container all of the above storage container to be taken is promoted to and treated by control upper strata handgrip 8
Storage container is taken to separate.If storage container to be taken is uppermost storage container, the step can be omitted.
In step S402-4, control conveyer belt 11 moves to the underface of lower floor's handgrip 9.
In step S402-5, control lower floor handgrip 9 puts on the conveyer belt 11 storage container to be taken.
The method terminates in step S402-6.
Return to see Fig. 4 A, after step S402, perform step S403, control conveyer belt 11 will storage container be taken it is defeated
It is sent on shuttle 5.
Embodiments in accordance with the present invention, when lower floor's handgrip 9 is when taking storage container and being put into conveyer belt 11, by conveyer belt 11
Power drum provide power, moved at shuttle 5 along the direction of vertical goods taking device 4.
In step S404, be transported to storage container to be taken on X-axis pipeline 7 by control shuttle 5；
According to embodiments of the present invention, as shown in figure 3, when storage container to be taken is transported to the side of X-axis pipeline 7 by shuttle 5
During edge, Timing Belt 13 is controlled, drive shifting block 12 mobile clockwise, shifting block 12 pushes storage container to be taken and moves to X-axis pipeline 7
On, completing to move case process, shifting block 12 comes back to initial position.
In step S405, be transported to storage container to be taken on elevator by control X-axis pipeline 7.
The method terminates in step S406.
Using the method, any one is quick in the stacking storage container that easily warehouse middle-high density can be stored
Take out, substantially increase the efficiency of outbound, reduce the cost of commodity.
Above-mentioned steps describe concrete operations of the Cartesian robot in outbound.Embodiments in accordance with the present invention,
Cartesian robot can be applied in in-stockroom operation.
Fig. 5 is the flow chart of the warehousing control method of Cartesian robot according to embodiments of the present invention.
Embodiments in accordance with the present invention, cargo area can include storage container cubical array, the array include one or
Multiple storage container stackings, each storage container stacking includes the multiple storage containers for stacking from bottom to top.It is of the invention
Embodiment, storage container can be the Turnover Box for depositing goods.The storage space of each storage container can be with coordinate (x, y, z)
To represent, wherein x represent the storage container where row, y represent the storage container where row, z represents that the storage container exists
Sequence number in storage container stacking.
As shown in figure 5, the method starts from step S500.
In step S501, the movement of control Y-axis track 2 and/or Z axis track 3 so that goods taking device 4 moves to storage mouth
Picking position, and control goods taking device 4 all to lift neat storage container to be put in storage is stacked.
In step S502, according to the bit information of storage container to be put in storage, Z axis track 3 and/or Y-axis track 2 are controlled, made
Obtain goods taking device 4 and move to bit position top.
In step S503, control goods taking device 4 will stack storage container to be put in storage and be put into ground.
The method terminates in step S504.
Using the method, easily stacking storage container can be put to ground, can also hold the storage of stacking
Device spaces between almost equal, and storage by this way can save the floor space in warehouse.
Fig. 6 is Cartesian robot control system 600 according to embodiments of the present invention and warehouse management system 700 and storehouse
The schematic diagram that library facilities control system 800 is interacted.
As shown in fig. 6, Cartesian robot control system 600 can set with warehouse management system (WMS) 700 and warehouse
Standby control system (WCS) 800 is interacted.Warehouse management system (WMS) 700 can press the selection of order similarity in order pond
The composition set of certain amount order is single, then the commodity gathered in list are splitted into task, each task be further decomposed into bit information and
Picking quantity is handed down to depot equipment control system (WCS) 800, and the depot equipment control system (WCS) 800 can be by storage space
Information changes into (x, y, z) coordinate and is handed down to Cartesian robot control system 600.Said system can use one or more
Computer system is realized.One or more of computer systems can concentrate deployment together, or can be in a distributed manner
Multiple places are arranged in, and realize interacting by communication network.
Embodiments in accordance with the present invention, in outbound, first by warehouse management system (WMS) 700 in order pond by ordering
Single similarity chooses certain amount order composition set list, then the commodity gathered in list are splitted into task, and each task is decomposed again
Depot equipment control system (WCS) 800 is handed down into bit information and picking quantity, depot equipment control system (WCS) 800 will
Bit information changes into (x, y, z) coordinate and is handed down to Cartesian robot control system 600.Control system 600 performs ginseng above
The method control Cartesian robot described in Fig. 4 A and 4B is examined, the outbound operation of storage container to be taken is realized.
Embodiments in accordance with the present invention, in storage, turn bit information according to depot equipment control system (WCS) 800
Cartesian robot control system 600 is handed down into (x, y, z) coordinate.Control system 600 is performed above with reference to described in Fig. 5
Method controls Cartesian robot, realizes the in-stockroom operation of storage container to be put in storage.
Fig. 7 is the system block diagram of Cartesian robot control system 600 according to embodiments of the present invention.
As shown in fig. 7, the control system 600 of Cartesian robot include processor 610, such as general purpose microprocessor,
Instruction set processor and/or related chip group and/or special microprocessor (for example, application specific integrated circuit (ASIC)), etc..Place
Reason device 610 can also include the onboard storage device for caching purposes.Processor 610 can be performed for reference to Fig. 4 A, 4B
It is single with the single treatment unit of the different actions of the method flow according to embodiments of the present invention of 5 descriptions or multiple treatment
Unit.
Cartesian robot control system 600 can also include thering is non-volatile or form of volatile memory extremely
A few readable storage medium storing program for executing 620, for example, can be the arbitrary medium that can include, store, transmit, propagate or transmit instruction.
For example, readable storage medium storing program for executing can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared or semiconductor system, device, device or biography
Broadcast medium.The specific example of readable storage medium storing program for executing includes：Magnetic memory apparatus, such as tape or hard disk (HDD)；Light storage device, such as
CD (CD-ROM)；Memory, such as random access memory (RAM) or flash memory；And/or wire/wireless communication link.
Readable storage medium storing program for executing 620 includes computer program 621, and the computer program 621 refers to including code/computer-readable
Order, it allows that processor 610 is performed for example above in conjunction with described by Fig. 4 A, Fig. 4 B and Fig. 5 when being performed as processor 610
Method flow and its any deformation.
Computer program 621 can be configured with such as computer program code including computer program module.Example
Such as, in the exemplary embodiment, the code in computer program 621 can include one or more program modules, for example, include
621A, module 621B ... module 621F.It should be noted that the dividing mode and number of module are not fixed, this area skill
Art personnel can be combined according to actual conditions using suitable program module or program module, when the combination of these program modules is located
When reason device 610 is performed so that processor 610 can be performed for example above in conjunction with the method flow described by Fig. 4 A, Fig. 4 B and Fig. 5
And its any deformation.
Embodiments in accordance with the present invention, Cartesian robot control system 600 can also include being used for from other entities
Receive the input block 630 and the output unit 640 for providing signal to other entities of signal.Input block 630 and defeated
Going out unit 640 can be arranged to the entity of single entities or separation.Input block 630 can receive bit information, defeated
Bit information signal can be converted to the power control that (x, y, z) coordinate signal is sent to Cartesian robot to go out unit 640
System processed.(x, y, z) coordinate signal can be the signal being controlled based on Z axis track 3, Y-axis track 2 and goods taking device 4.This
Sample, it is possible to which the motion to the Cartesian robot is controlled.
Although the present invention, art technology has shown and described with reference to certain exemplary embodiments of the invention
Personnel it should be understood that in the case of the spirit and scope of the present invention limited without departing substantially from appended claims and its equivalent,
The various changes in form and details can be carried out to the present invention.Therefore, the scope of the present invention should not necessarily be limited by above-mentioned implementation
Example, but not only should be determined by appended claims, also it is defined by the equivalent of appended claims.
Claims (22)
1. a kind of goods taking device, including picking handgrip and gathering sill, wherein：
The picking handgrip is used to pin storage container, and storage container can be driven to be lifted or declined；
The gathering sill is used to limit the motion path of the picking handgrip, enables the picking handgrip along under the gathering sill
Visit bit position.
2. goods taking device according to claim 1, wherein, the picking handgrip is distributed in described device lower section both sides, institute
Gathering sill is stated to be distributed on the rib of the goods taking device.
3. goods taking device according to claim 1, wherein, the picking handgrip includes upper strata handgrip and lower floor's handgrip, institute
Upper strata handgrip is stated positioned at the top of lower floor's handgrip.
4. goods taking device according to claim 3, wherein, the upper strata handgrip has two, and lower floor's handgrip has two.
5. goods taking device according to claim 1, wherein, the gathering sill has four, and every gathering sill lower end has
One inclination angle is 30 degree of flange.
6. goods taking device according to claim 5, wherein, the flange can be corrected because of system positioning or storage container heap
The error that stacked strips are come.
7. goods taking device according to claim 1, also including conveyer belt, positioned at the lower section of the goods taking device, and with institute
State picking handgrip at intervals.
8. goods taking device according to claim 7, wherein, the conveyer belt provides power by power drum, can be along hanging down
The direction movement of straight goods taking device.
9. goods taking device according to claim 1, wherein, in picking：
The goods taking device drops to the position of storage container to be taken；
The storage container to be taken and its storage container all of the above will be lifted by lower floor's handgrip；And
The storage container of storage container all of the above to be taken is lifted to departing from storage container to be taken by the upper strata handgrip
Height, at this moment lower floor's handgrip storage container to be taken is put into and defeated described send band.
10. a kind of Cartesian robot, including the goods taking device described in claim 1, also including X-axis track, Y-axis track and
Z axis track, wherein：
The X-axis track, Y-axis track and Z axis track are orthogonal；
The goods taking device is arranged on the Z axis track, and can be moved up and down along the Z axis track；
The Y-axis track can be moved along the X-axis track；
The Z axis track can be moved along the Y-axis track.
11. Cartesian robots according to claim 10, also including shuttle, the shuttle is arranged on the Y
On axle track, and can be moved along Y-axis track.
12. Cartesian robots according to claim 10, also including X-axis pipeline, and with X-axis orbital direction phase
Together, for transporting the storage container that the shuttle is sent.
13. Cartesian robots according to claim 10, also including moving case apparatus；
The shifting case apparatus include shifting block and Timing Belt, are fixed on the Y-axis track lower section near the position of X-axis pipeline, use
Moved on the X-axis pipeline in by storage container to be taken.
14. Cartesian robots according to claim 10, also including control system, for control the Y-axis track,
The operation of the Z axis track and the goods taking device.
A kind of 15. control methods of Cartesian robot according to claim 10, including：
According to the bit information of storage container to be taken, the Y-axis track and/or the Z axis track are controlled so that goods taking device is moved
Storage container stacking top where moving storage container to be taken；And
According to the bit information of storage container to be taken, wait that taking storage holds in the control goods taking device taking-up stacking storage container
Device.
16. methods according to claim 15, wherein：
The goods taking device includes：Picking handgrip, gathering sill and conveyer belt, wherein：
The picking handgrip includes upper strata handgrip and lower floor's handgrip, for pinning storage container, and storage container can be driven to carry
Rise or decline；
The gathering sill is distributed on the rib of described device, can make the smooth test of the goods taking device to bit position；
The conveyer belt, positioned at the lower section of described device, and with the picking handgrip at intervals, the conveyer belt by
Power drum provides power, can be moved along the direction of vertical goods taking device；
The goods taking device is controlled, the storage container to be taken taken out in stacking storage container includes：
According to the bit information of storage container to be taken, first corrected because of the mistake that system positioning or storage container stacking are brought by gathering sill
Difference, then control lower floor's handgrip to drop to the first height and hold storage container to be taken herein and its storage all of the above
Device is promoted to the second height；
Control the upper strata handgrip that storage container all of the above storage container to be taken is promoted to and is separated with storage container to be taken
Open；
Control the conveyer belt to move to the underface of lower floor's handgrip, then control lower floor's handgrip that storage container to be taken is put into institute
State on conveyer belt.
17. methods according to claim 16, wherein, the Cartesian robot also includes shuttle, the shuttle
Car is arranged on the Y-axis track, and can be moved along Y-axis track；
Methods described also includes：
Be transported to storage container to be taken on the shuttle by control conveyer belt.
18. methods according to claim 17, wherein, the Cartesian robot also includes X-axis pipeline, and and X
Axle orbital direction is identical, for transporting the storage container that the shuttle is sent；
Methods described also includes：
Control the shuttle that storage container to be taken is transported on the X-axis pipeline；And
Control the X-axis pipeline that storage container to be taken is transported on elevator.
19. methods according to claim 18, wherein：
The Cartesian robot also includes moving case apparatus, and the shifting case apparatus include shifting block and Timing Belt, are fixed on the Y
Axle track lower section is close to the position of X-axis pipeline, for storage container to be taken to be moved into the X-axis pipeline；
Control the shuttle that storage container to be taken is transported on the X-axis pipeline and is included：
When the shuttle will control the Timing Belt when taking storage container and being transported to the X-axis pipeline edge, drive and dial
Block is moved clockwise, and shifting block pushes storage container to be taken and moves on outbound pipeline, completes to move case process, and shifting block comes back to
Initial position.
A kind of 20. control methods of Cartesian robot according to claim 10, including：
The movement of control Y-axis track and/or Z axis track so that goods taking device moves to the picking position of storage mouth, and controls picking
Device all lifts neat storage container to be put in storage is stacked；
According to the bit information of storage container to be put in storage, Z axis track and/or Y-axis track are controlled so that goods taking device moves to storage
Position position top；
Control goods taking device will stack storage container to be put in storage and be put into ground.
A kind of 21. control systems of Cartesian robot, for controlling the Cartesian robot to store and choosing goods,
Including：
One or more processors；And
One or more memories, be stored with executable instruction, and the instruction is being when executed by so that computing device
Method according to any one of claim 15~20.
A kind of 22. readable storage medium storing program for executing, are stored thereon with for performing according to any one in claim 15~20
The instruction of method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710030718.9A CN106826820B (en) | 2017-01-16 | 2017-01-16 | Control method and system of rectangular coordinate robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710030718.9A CN106826820B (en) | 2017-01-16 | 2017-01-16 | Control method and system of rectangular coordinate robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106826820A true CN106826820A (en) | 2017-06-13 |
| CN106826820B CN106826820B (en) | 2020-06-05 |
Family
ID=59123318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710030718.9A Active CN106826820B (en) | 2017-01-16 | 2017-01-16 | Control method and system of rectangular coordinate robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826820B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341204A (en) * | 2018-01-08 | 2018-07-31 | 北京邮电大学 | A kind of intelligent robot cargo that serving storehouse management goes out to be put in storage method and system |
| CN109051490A (en) * | 2018-09-18 | 2018-12-21 | 深圳市鲸仓科技有限公司 | Packaged type is intensively deposited and picks device |
| CN115180335A (en) * | 2022-07-15 | 2022-10-14 | 北京德诚科技有限责任公司 | Goods access system |
| CN115417046A (en) * | 2022-09-07 | 2022-12-02 | 北京德诚科技有限责任公司 | Pick-and-place mechanism and cargo access system |
| CN115417045A (en) * | 2022-09-07 | 2022-12-02 | 北京德诚科技有限责任公司 | Buffer storage table and cargo access system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050220600A1 (en) * | 2002-05-13 | 2005-10-06 | Bakvertisi Limited | Apparatus for transporting containers |
| US20140017052A1 (en) * | 2011-03-18 | 2014-01-16 | Cimcorp Oy | Overhead robot system and a method for its operation |
-
2017
- 2017-01-16 CN CN201710030718.9A patent/CN106826820B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050220600A1 (en) * | 2002-05-13 | 2005-10-06 | Bakvertisi Limited | Apparatus for transporting containers |
| US20140017052A1 (en) * | 2011-03-18 | 2014-01-16 | Cimcorp Oy | Overhead robot system and a method for its operation |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108341204A (en) * | 2018-01-08 | 2018-07-31 | 北京邮电大学 | A kind of intelligent robot cargo that serving storehouse management goes out to be put in storage method and system |
| CN108341204B (en) * | 2018-01-08 | 2019-08-30 | 北京邮电大学 | A kind of intelligent robot cargo that serving storehouse management goes out to be put in storage method and system |
| CN109051490A (en) * | 2018-09-18 | 2018-12-21 | 深圳市鲸仓科技有限公司 | Packaged type is intensively deposited and picks device |
| CN115180335A (en) * | 2022-07-15 | 2022-10-14 | 北京德诚科技有限责任公司 | Goods access system |
| CN115417046A (en) * | 2022-09-07 | 2022-12-02 | 北京德诚科技有限责任公司 | Pick-and-place mechanism and cargo access system |
| CN115417045A (en) * | 2022-09-07 | 2022-12-02 | 北京德诚科技有限责任公司 | Buffer storage table and cargo access system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106826820B (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10981723B2 (en) | Robotic inventory handling | |
| CN110949923B (en) | Inventory support group, inventory system, robot control method and robot | |
| JP7225310B2 (en) | Goods storage, handling and recovery systems and methods | |
| US11453552B2 (en) | Systems and methods for order processing | |
| CN106826820A (en) | The control method and system of Cartesian robot | |
| JP7161586B2 (en) | Cargo transport method, device, server and transport robot | |
| CN112566853B (en) | Movable intensive storage and picking device, combined type storage system and assembling method thereof | |
| CN106575391A (en) | Robotic object handling system, device and method | |
| TWI803655B (en) | Vertical sequencer for product order fulfillment | |
| JP5892111B2 (en) | Goods transport cart | |
| CN111646082B (en) | Container storage system, warehousing system, robot control method and robot | |
| CN209275405U (en) | High density intelligent warehousing system | |
| US20240101347A1 (en) | High-Density Automated Storage and Retrieval System | |
| JP2023531969A (en) | Multi-position search | |
| JP2023129565A (en) | automatic warehouse system | |
| JP2003285906A (en) | Carrying system | |
| WO2023061009A1 (en) | Stereoscopic warehouse scheduling system | |
| KR20230034394A (en) | Controller and method for transport device | |
| JP6676702B2 (en) | Automatic warehouse system | |
| JP2005206272A (en) | Article carrying method and article carrying system | |
| WO2023071823A1 (en) | Warehousing scheduling system and method | |
| JP6857336B2 (en) | Loading system, control device, loading method, and loading program | |
| WO2023181310A1 (en) | Article replacement device, article replacement system, and article replacement method | |
| JP7200810B2 (en) | Goods storage facility | |
| JP5434417B2 (en) | Production line for processing substrates |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190731 Address after: 300 457 days First Floor, Phase 2, No. 10, Fourth Avenue, Economic and Technological Development Zone, Tianjin Binhai New Area Applicant after: Tianjin Jingdong Shentuo Robot Technology Co., Ltd. Address before: 100195 Beijing city Haidian District xingshikou Road No. 65 building 11C Creative Park West West west Shan East 1-4 layer 1-4 layer Applicant before: Beijing Jingdong Shangke Information Technology Co., Ltd. Applicant before: Beijing Jingdong Century Commerce Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200518 Address after: 100176 room a1905, floor 19, building 2, No. 18, Kechuang 11th Street, Daxing Economic and Technological Development Zone, Beijing Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 300 457 days First Floor, Phase 2, No. 10, Fourth Avenue, Economic and Technological Development Zone, Tianjin Binhai New Area Applicant before: Tianjin Jingdong Shentuo Robot Technology Co.,Ltd. |