CN106927179A - A kind of intelligent storage robot, system and control method, charging method - Google Patents
A kind of intelligent storage robot, system and control method, charging method Download PDFInfo
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- CN106927179A CN106927179A CN201710028974.4A CN201710028974A CN106927179A CN 106927179 A CN106927179 A CN 106927179A CN 201710028974 A CN201710028974 A CN 201710028974A CN 106927179 A CN106927179 A CN 106927179A
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- intelligent storage
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- 238000003860 storage Methods 0.000 title claims abstract description 196
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000012856 packing Methods 0.000 claims description 92
- 230000007246 mechanism Effects 0.000 claims description 58
- 230000005611 electricity Effects 0.000 claims description 23
- 230000003028 elevating effect Effects 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 238000013519 translation Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 235000004443 Ricinus communis Nutrition 0.000 claims description 3
- 240000000528 Ricinus communis Species 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000006870 function Effects 0.000 description 8
- 210000000078 claw Anatomy 0.000 description 6
- 230000004044 response Effects 0.000 description 6
- 238000000151 deposition Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005055 memory storage Effects 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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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- H02J7/0021—
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- H02J7/0022—
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/342—The other DC source being a battery actively interacting with the first one, i.e. battery to battery charging
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of intelligent storage robot, system and control method, charging method.The intelligent storage robot includes robot body and the control device and mechanical arm that are arranged on robot body, the robot body includes mobile chassis and the robot shelf being arranged on mobile chassis, the robot shelf are provided with several the first electric drawers, the mobile chassis bottom is provided with the first two-dimensional code reader, the control device includes controller, power module and wireless communication module, the controller respectively with mobile chassis, mechanical arm, first electric drawer, first two-dimensional code reader, power module and wireless communication module are electrically connected.The present invention picks and places goods and need not carry whole shelf, and cost is relatively low, and shelf size is unrestricted, improves the efficiency that staff chooses kinds of goods.
Description
Technical field
The present invention relates to intelligent storage technical field, more particularly to a kind of intelligent storage robot, system and control method,
Charging method.
Background technology
Intelligent storage is a link of logistics progress, the application of intelligent storage, it is ensured that kinds of goods storehouse management each ring
Save the speed and accuracy of data input, it is ensured that enterprise timely and accurately grasps the True Data of stock, rationally keep and control
Business inventory.By the coding of science, batch, shelf-life that can also easily to inventory good etc. be managed.
At present, intelligent storage is that multiple shelf for placing kinds of goods are set in warehouse, and intelligent storage robot is according to wireless
Shelf where kinds of goods are carried to employee's treatment region by the order of instruction from warehouse, and staff picks in employee's treatment region, scans
Commodity.But, this intelligent storage robot can only carry whole shelf, higher to performance requirements such as the load-bearing of itself, cost
Higher, weight, height of shelf etc. are also restrained, and staff looks for order kinds of goods on shelf, less efficient.
The content of the invention
The purpose of the present invention is to overcome the existing intelligent storage robot can only to carry whole shelf, and performance requirement is higher, into
This is higher, and shelf size is restricted, a kind of less efficient technical problem of staff's selection kinds of goods, there is provided intelligent storage
Robot, system and control method, charging method, it picks and places goods and need not carry whole shelf, and cost is relatively low, and shelf size is not received
Limitation, improves the efficiency that staff chooses kinds of goods.
In order to solve the above problems, the present invention is achieved using following technical scheme：
A kind of intelligent storage robot of the invention, including robot body and the control device that is arranged on robot body
And mechanical arm, the robot body includes mobile chassis and the robot shelf that are arranged on mobile chassis, the robot
Shelf are provided with several the first electric drawers, and the mobile chassis bottom is provided with the first two-dimensional code reader, the control dress
Put including controller, power module and wireless communication module, the controller respectively with mobile chassis, mechanical arm, first electronic
The electrical connection of drawer, the first two-dimensional code reader, power module and wireless communication module.
In the technical program, mobile chassis are Omni-mobile chassis, can 360 degree rotate, Omni-mobile on the ground.The
One electric drawer is used to place packing box, and same kinds of goods are placed with each packing box.The first electric drawer on robot shelf
It is vertically arranged from top to bottom.
First two-dimensional code reader is camera, for reading the two-dimension code label for being used to position on ground, each two dimension
Unique No. ID or coordinate value are built-in with code.A number of two-dimension code label is disposed with ground to realize to intelligent storage
The guiding function of robot.Quick Response Code uses rectangular, has three to seek as figure on three angles, is visited using CCD recognizing apparatus
Survey the position of Quick Response Code, size, angle of inclination and decoded.Intelligent storage robot carries out itself by recognizing Quick Response Code
Positioning, moves to specified location.
Intelligent storage robot carries out radio communication by wireless communication module and administrative center.When administrative center receives
During picking order, administrative center's analysis picking order determines all positions for needing picking product in picking order, then dispatches intelligence
Storage robot picking, scheduled intelligent storage robot moves to all need picking product position picking, intelligence successively
The method that storage robot moves to certain and needs picking product position picking is comprised the following steps：Intelligent storage robot is moved
At storage rack where picking product are needed to certain, removed from the storage rack using mechanical arm and be placed with this and need the goods of picking product
Box, then controls first electric drawer of free time on robot shelf to open, and packing box is put into first electric drawer, so
After control first electric drawer to close, complete the operation of picking.When intelligent storage robot needs picking product all to put by all
After putting on the robot shelf of itself, intelligent storage robot motion to employee's treatment region.
When administrative center receives gets in stocks order, administrative center analyzes order of getting in stocks, it is determined that all need in order of getting in stocks
The position that kinds of goods of getting in stocks need to be placed, then dispatches intelligent storage robot and moves to employee's treatment region, and employee is according to administrative center
Instruction kinds of goods are placed on the robot shelf of intelligent storage robot in the packing box in the first electric drawer of correspondence, then
Scheduling intelligent storage robot of administrative center gets in stocks, and scheduled intelligent storage robot moves to all kinds of goods that need to get in stocks successively
Position is got in stocks, and intelligent storage robot moves to the method got in stocks certain kinds of goods position that need to get in stocks includes following step
Suddenly：Intelligent storage robot move to certain kinds of goods that need to get in stocks where storage rack at, control is placed with need to get in stocks where kinds of goods
First electric drawer of packing box is opened, and takes out packing box from first electric drawer using mechanical arm, and be put on storage rack
Specified location, then control first electric drawer to close, completion is once got in stocks operation.When intelligent storage robot will own
After the kinds of goods that need to get in stocks all are placed on corresponding storage rack, intelligent storage robot motion to employee's treatment region.
Intelligent storage robot directly picks and places kinds of goods, and without carrying whole shelf, cost is relatively low, and shelf size is unrestricted
System, can once carry more than one piece kinds of goods, improve the efficiency that staff chooses kinds of goods.
Preferably, the mechanical arm include manipulator, can the elevating mechanism that vertically moves of driving mechanical hand and
The translation mechanism that elevating mechanism can be driven to be moved horizontally along the first electric drawer opening/closing direction, the manipulator, lift
Structure and translation mechanism are electrically connected with the controller respectively.During manipulator picking, translation mechanism driving mechanical hand is along the first electric drawer
Opening direction is moved into place so that manipulator is located at top when the first electric drawer is opened, and manipulator takes from storage rack
Lower packing box is put into first electric drawer, and then elevating mechanism driving mechanical hand moves to highest point, translation mechanism band motivation
Tool hand is closed direction and is moved into place along the first electric drawer, manipulator is located at directly over robot shelf, is easy to intelligent storage
Robot is not stopped when moving by other objects.Elevating mechanism driving mechanical hand vertical direction is moved so that manipulator can be never
Packing box is picked and placeed in level first electric drawer.
Preferably, the manipulator includes pedestal, the base bottom is provided with grasping mechanism and can drive grasping mechanism
To the telescoping mechanism that pedestal at least side protrudes horizontally up, the grasping mechanism, telescoping mechanism are electrically connected with the controller respectively.Crawl
The drive mechanism that mechanism includes two claws matched with packing box and drives two claws to clamp or unclamp.Grasping mechanism level
Mobile direction is mutually perpendicular to the first electric drawer opening direction.
Preferably, the side that grasping mechanism stretches out on the manipulator is provided with the second two-dimensional code reader, described second
Two-dimensional code reader is electrically connected with the controller.The two-dimension code label with positioning function is posted on the packing box for depositing kinds of goods, intelligence
Storage robot recognizes that the two-dimension code label on packing box is positioned by the second two-dimensional code reader, finely tunes the position of mechanical arm
Put so that more accurately capture packing box, moreover it is possible to read the packing box information of two-dimension code label memory storage.Telescoping mechanism can drive crawl
Both sides move horizontally to the left and right for mechanism, and the manipulator left and right sides is provided with the second two-dimensional code reader.
Preferably, the mobile chassis include upper plate and lower shoe, the upper plate lower surface is provided with several pin
Wheel, the lower shoe be provided with drive upper plate rotate drive module, the lower shoe bottom is provided with can advance, retreat, turn
To travel mechanism.Robot shelf are arranged on upper plate, and the first two-dimensional code reader is arranged on lower shoe bottom, upper plate
Can in the presence of drive module 360 degree rotation, the position of robot shelf can be adjusted flexibly, be easy to pick and place kinds of goods.Moving machine
The motor that structure includes two driving wheels and drives driving wheel to rotate, two driving wheels are connected by differential mechanism.
Preferably, the robot shelf are provided with the second electric drawer, battery is provided with second electric drawer
Groove, the power module includes main battery and reserve battery, and the main battery is arranged in battery case, the controller respectively with
Main battery electrical connection in reserve battery and battery case.Powered by main battery during intelligent storage robot normal work, when main electricity
During the not enough power supply of pond, switch to reserve battery and power, intelligent storage robot moves to replacing main battery, main battery at battery carrier
After the completion of replacing, switch to main battery and power, while main battery charges to reserve battery, automatic replacing battery is realized, without people
Work is operated.
A kind of intelligent warehousing system of the invention, including a kind of above-mentioned intelligent storage robot, also including administrative center,
Be distributed in storage region several storage racks and be arranged on storage localized ground on several be used for position first
Two-dimension code label, the storage rack is provided with several is used to place the packing box of kinds of goods, and the administrative center passes through wireless network
Network and wireless communication module wireless connection.
In the technical program, the first two-dimension code label is disposed adjacent composition two-dimension code navigation band, intelligent storage machine successively
Device people carries out self poisoning by recognizing the first two-dimension code label, realizes being moved freely in storage region.
Packing box unified specification, is easy to mechanical arm to capture, and same kinds of goods are placed with each packing box.During picking, intelligent storehouse
The packing box that storage robot will be placed with the kinds of goods is removed and transports to employee's treatment region, and staff takes out the goods of specified quantity from packing box
Product.Administrative center receives the order that external equipment sends, and allocates intelligent storage robot picking according to order, gets in stocks, while tool
There are the functions such as storage business, outbound business, warehouse are alloted and empty storekeeper is managed, to batch management, material correspondence, stock-taking, matter
The function synthesizeds such as inspection management, empty storekeeper reason and just in time inventory management are used.
Packing box at least side is provided with the second two-dimension code label.Intelligent storage robot is recognized by the second two-dimensional code reader
The second two-dimension code label on packing box is positioned, and finely tunes the position of mechanical arm so that more accurately capture packing box, the second two dimension
Code label be also stored with where packing box unique number, intelligent storage robot can be read by the second two-dimensional code reader.
Preferably, a kind of intelligent warehousing system also includes being arranged on the charging rack in storage region, set on the charging rack
There are several for the cradle charged to main battery, monitoring cell electricity quantity device, battery electric quantity are additionally provided with the charging rack
Monitoring device is used to monitor on each cradle the electricity of battery and send it to administrative center.Monitoring cell electricity quantity device with
Administrative center's wired connection or wireless connection.Charging rack connection provides the external charging station of electric energy, and the cradle of charging rack is put
The main battery put thereon charges.
The control method of a kind of intelligent warehousing system of the invention, for a kind of above-mentioned intelligent warehousing system, its feature
It is to comprise the following steps：
When administrative center receives picking order, administrative center's analysis picking order determines all in picking order to need picking
The position of product, and dispatch intelligent storage robot picking；
Intelligent storage robot to receive move to successively after the pick-up instruction of administrative center's transmission all needs picking product institute in place
Picking is put, the method that intelligent storage robot moves to certain and needs picking product position picking is comprised the following steps：Intelligent storehouse
Storage robot is moved at certain storage rack where needing picking product, is removed from the storage rack using mechanical arm and is placed with this
The packing box of picking product is needed, and is put into first electric drawer of free time on robot shelf, then by one on robot shelf
It is individual be not placed with the first electric drawer for needing the packing box of picking product where it in take out and be put into what is be removed on the storage rack
The original position of packing box, and the positional information of the packing box being newly put on storage rack is sent to administrative center；
Intelligent storage robot by it is all need picking product where packing box remove be put on robot shelf after according to administrative center
Employee's treatment region positional information of transmission moves to corresponding employee's treatment region.
In the technical program, administrative center determines in picking order behind all positions for needing picking product, to calculate and reach
All optimal paths for needing storage rack position where picking product, one intelligent storage robot of scheduling according to optimal path successively
Moving to all needs picking product position picking.During administrative center's scheduling intelligent storage robot picking, by pick-up instruction, institute
There is the employee's treatment region positional information for needing picking product positional information, optimal path and performing the picking order to be sent to execution picking
The intelligent storage robot of task.Kinds of goods positional information include kinds of goods where storage rack numbering and position, be placed with the goods
The position of the numbering of the packing box of product and the packing box on the storage rack.
Intelligent storage robot takes next when being placed with the packing box for needing picking product from storage rack, and storage rack vacates one
The individual placement position for placing packing box, if the packing box that presence need not take on the robot shelf of intelligent storage robot, intelligence
The packing box that need not be taken is put into the original position of the packing box being removed on storage rack for the robot that can store in a warehouse, and this is put into storage
The numbering of the packing box on shelf and position are sent to administrative center, and administrative center carries out registration storage.In a new picking stream
The packing box left in last picking flow is placed into journey the position of the new packing box removed, in this required packing box of taking
Last packing box is deposited simultaneously, operating efficiency is improve, and the relevant information for depositing packing box is sent to pipe by intelligent storage robot
Reason center, administrative center is recorded again to the position of these packing boxes, and completely random storage is carried out in whole storage.
Battery methods are moved certainly by a kind of intelligent storage robot of intelligent warehousing system of the invention, for above-mentioned one kind
Intelligent warehousing system, robot shelf are provided with the second electric drawer, and battery case, the electricity are provided with second electric drawer
Source module includes main battery and reserve battery, and the main battery is arranged in battery case, the controller respectively with reserve battery
Main battery electrical connection with battery case, comprises the following steps：When the main battery electricity of intelligent storage robot is less than setting value
During K1, intelligent storage robot starts reserve battery and powers, and charge request is sent to administrative center, and idle is filled by administrative center
Electric seat positional information and electricity meet desired main battery positional information and are sent to intelligent storage robot, intelligent storage robot
Charging rack position is moved to, main battery is taken out from the second electric drawer and is placed on the cradle of free time, then from filling
The main battery that electricity satisfaction requirement is taken out on electric frame is put into the second electric drawer, and then intelligent storage robot powers by standby
Battery power switching is powered for main battery, while main battery charges to reserve battery.
The beneficial effects of the invention are as follows：（1）Picking and placeing goods need not carry whole shelf, and cost is relatively low, and shelf size is unrestricted
System, improves the efficiency that staff chooses kinds of goods.（2）While the corresponding packing box of picking product is needed in the picking order for taking new
The packing box in intelligent storage robot is retained in before storage after the completion of picking order, operating efficiency is improve, whole storage is real
Row completely random is stored.（3）Intelligent storage robot can automatically change battery, without carrying out long-time charging, improve intelligence
Can be stored in a warehouse robot utilization rate.
Brief description of the drawings
A kind of structural representation of Tu1Shi intelligent storages robot；
A kind of circuit theory connection block diagram of Tu2Shi intelligent storages robot；
Fig. 3 is a kind of structural representation of mechanical arm；
Fig. 4 is a kind of structural representation of manipulator；
Fig. 5 is a kind of structural representation of mobile chassis；
Fig. 6 is the right view of Fig. 5；
Fig. 7 is a kind of structural representation of robot shelf；
Fig. 8 is a kind of structural representation of intelligent warehousing system；
Fig. 9 is a kind of structural representation of storage rack；
Figure 10 is a kind of structural representation of packing box；
Figure 11 is the schematic diagram that packing box is removed from storage rack by intelligent storage robot；
Figure 12 is a kind of structural representation of charging rack.
In figure：1st, mobile chassis, 2, robot shelf, the 3, first electric drawer, the 4, first two-dimensional code reader, 5, control
Device, the 6, second electric drawer, 7, manipulator, 8, elevating mechanism, 9, translation mechanism, 10, grasping mechanism, 11, telescoping mechanism, 12,
Upper plate, 13, lower shoe, 14, castor, 15, travel mechanism, 16, main battery, 17, reserve battery, 18, mechanical arm, 19, power supply
Module, 20, wireless communication module, 21, pedestal, 22, lifting column, 23, lifter wheel, 24, lifting motor, the 25, second two dimension
Code reader, 26, claw, 27, drive mechanism, 28, drive module, 29, administrative center, 30, storage rack, the 31, first two dimension
Code label, 32, packing box, 33, employee's treatment region, the 34, second two-dimension code label, 35, charging rack, 36, cradle.
Specific embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment：A kind of intelligent storage robot of the present embodiment, as shown in Figure 1 and Figure 2, including robot body and
Control device and mechanical arm on robot body are arranged on, robot body includes mobile chassis 1 and is arranged on mobile chassis 1
On robot shelf 2, five the first electric drawers 3 are vertically provided with robot shelf 2, the bottom of mobile chassis 1 sets
There is the first two-dimensional code reader 4, control device includes controller 5, power module 19 and wireless communication module 20,5 points of controller
Not with mobile chassis 1, mechanical arm 18, the first electric drawer 3, the first two-dimensional code reader 4, power module 19 and radio communication mold
Block 20 is electrically connected.
Mobile chassis are Omni-mobile chassis, can 360 degree rotate, Omni-mobile on the ground.First electric drawer is used for
Packing box is placed, same kinds of goods are placed with each packing box.
First two-dimensional code reader is camera, for reading the two-dimension code label for being used to position on ground, each two dimension
Unique No. ID or coordinate value are built-in with code.A number of two-dimension code label is disposed with ground to realize to intelligent storage
The guiding function of robot.Quick Response Code uses rectangular, has three to seek as figure on three angles, is visited using CCD recognizing apparatus
Survey the position of Quick Response Code, size, angle of inclination and decoded.Intelligent storage robot carries out itself by recognizing Quick Response Code
Positioning, moves to specified location.
Intelligent storage robot carries out radio communication by wireless communication module 20 with administrative center 29.When administrative center connects
When receiving picking order, administrative center's analysis picking order determines all positions for needing picking product in picking order, then dispatches
Intelligent storage robot picking, scheduled intelligent storage robot move to successively it is all need picking product position picking,
The method that intelligent storage robot moves to certain and needs picking product position picking is comprised the following steps：Intelligent storage robot
Move at certain storage rack where needing picking product, removed from the storage rack using mechanical arm and be placed with this and need picking product
Packing box, then control first electric drawer of free time on robot shelf to open, packing box is put into this first electronic takes out
Drawer, then controls first electric drawer to close, and completes a picking operation.When intelligent storage robot needs picking product by all
After being all placed on the robot shelf of itself, intelligent storage robot motion to employee's treatment region.
When administrative center receives gets in stocks order, administrative center analyzes order of getting in stocks, it is determined that all need in order of getting in stocks
The position that kinds of goods of getting in stocks need to be placed, then dispatches intelligent storage robot and moves to employee's treatment region, and employee is according to administrative center
Instruction kinds of goods are placed on the robot shelf of intelligent storage robot in the packing box in the first electric drawer of correspondence, then
Scheduling intelligent storage robot of administrative center gets in stocks, and scheduled intelligent storage robot moves to all kinds of goods that need to get in stocks successively
Position is got in stocks, and intelligent storage robot moves to the method got in stocks certain kinds of goods position that need to get in stocks includes following step
Suddenly：Intelligent storage robot move to certain kinds of goods that need to get in stocks where storage rack at, control is placed with need to get in stocks where kinds of goods
First electric drawer of packing box is opened, and takes out packing box from first electric drawer using mechanical arm, and be put on storage rack
Specified location, then control first electric drawer to close, completion is once got in stocks operation.When intelligent storage robot will own
After the kinds of goods that need to get in stocks all are placed on corresponding storage rack, intelligent storage robot motion to employee's treatment region.
Intelligent storage robot directly picks and places kinds of goods, and without carrying whole shelf, cost is relatively low, and shelf size is unrestricted
System, can once carry more than one piece kinds of goods, improve the efficiency that staff chooses kinds of goods.
As shown in figure 3, mechanical arm 18 include manipulator 7, can the elevating mechanism 8 that vertically moves of driving mechanical hand 7
With the translation mechanism 9 that elevating mechanism 8 can be driven to be moved horizontally along the opening/closing direction of the first electric drawer 3, manipulator 7, lifting
Mechanism 8 and translation mechanism 9 are electrically connected with controller 5 respectively.
During manipulator picking, translation mechanism driving mechanical hand is moved into place along the first electric drawer opening direction so that machine
Tool hand is located at top when the first electric drawer is opened, and manipulator removes packing box from storage rack and is put into one first and electronic takes out
Drawer, then elevating mechanism driving mechanical hand move to highest point, translation mechanism driving mechanical hand is along the first electric drawer closing side
To moving into place, manipulator is set to be located at directly over robot shelf, not by other objects when being easy to intelligent storage robot to move
Stop.Elevating mechanism driving mechanical hand vertical direction is moved so that manipulator can take in never level first electric drawer
Goods putting box.
As shown in Figure 3, Figure 4, manipulator 7 includes pedestal 21, and the bottom of pedestal 21 is provided with grasping mechanism 10 and can drive crawl
The telescoping mechanism 11 that mechanism 10 protrudes horizontally up to the left and right sides of pedestal 21, the left and right sides of pedestal 21 is provided with the second two-dimensional code reader
25, grasping mechanism 10, the two-dimensional code reader 25 of telescoping mechanism 11 and second are electrically connected with controller 5 respectively.Grasping mechanism 10 is left
The direction that the right side moves horizontally is mutually perpendicular to the first electric drawer opening direction.
Elevating mechanism 8 includes lifting column 21 and the drive device being arranged on pedestal 21, and lifting column 21 is provided with liter
Drop tooth bar, drive device includes the lifter wheel 23 engaged with lifter rack and the lifting motor for driving the rotation of lifter wheel 23
24。
The drive that grasping mechanism 10 includes two claws 26 matched with packing box and drives two claws 26 to clamp or unclamp
Motivation structure 27.
The two-dimension code label with positioning function is posted on the packing box for depositing kinds of goods, intelligent storage robot passes through the two or two
Two-dimension code label on dimension code reader identification packing box is positioned, and finely tunes the position of mechanical arm so that more accurately capture goods
Box, moreover it is possible to read the packing box information of two-dimension code label memory storage.Second two-dimensional code reader is camera.
As shown in Figure 5, Figure 6, mobile chassis 1 include upper plate 12 and lower shoe 13, and upper plate 12 sets at lower surface corner
Have a castor 14, lower shoe 13 is provided with the drive module 28 for driving upper plate 12 to rotate, the bottom of lower shoe 13 is provided with can advance, after
The travel mechanism 15 for move back, turning to.The motor that travel mechanism 15 includes two driving wheels and drives driving wheel to rotate, two
Driving wheel is connected by differential mechanism.Upper plate can in the presence of drive module 360 degree rotation, robot shelf can be adjusted flexibly
Position, be easy to pick and place kinds of goods.
Robot shelf 2 are arranged on upper plate 12, and the first two-dimensional code reader 4 is arranged on the center of upper plate 12, bottom
Through hole is provided with the correspondence position of the first two-dimensional code reader 4 on plate 13, the detecting head of the first two-dimensional code reader 4 is detected
Image in 2 D code on to ground.First two-dimensional code reader 4 is camera.
As shown in Figure 1, Figure 7 shows, robot shelf 2 are provided with the second electric drawer 6, and battery is provided with the second electric drawer 6
Groove, power module 19 includes main battery 16 and reserve battery 17, and main battery 16 is arranged in battery case, controller 5 respectively with it is standby
Electrically connected with the main battery 16 in battery 17 and battery case.Second electric drawer 6 is located at the bottom of robot shelf 2, controller 5
In the top of robot shelf 2,5, five the first electric drawers 3 of controller, the second electric drawer 6 are vertically arranged in order,
The opening direction of the second electric drawer 6 is identical with the first electric drawer 3.
Powered by main battery during intelligent storage robot normal work, when main battery not enough power supply, switch to standby electricity
Pond powers, and intelligent storage robot moves to replacing main battery at battery carrier, after the completion of main battery is changed, switches to main battery confession
Electricity, while main battery charges to reserve battery, realizes automatic replacing battery, without artificial operation.
A kind of intelligent warehousing system of the present embodiment, a kind of intelligent storage as shown in Fig. 8, Fig. 9, Figure 10 including above-mentioned
Robot, also including administrative center 29, is distributed in several storage racks 30 in storage region and is arranged on storage region ground
Several on face are used for the first two-dimension code label 31 for positioning, and storage rack 30 is provided with several is used to place the goods of kinds of goods
Box 32, the side wall of packing box 32 is provided with the raised line coordinated with claw, and both sides are designed with the second two-dimension code label 34 before and after packing box 32, management
Center 29 is by wireless network and the wireless connection of wireless communication module 20.
First two-dimension code label is disposed adjacent composition two-dimension code navigation band successively, and intelligent storage robot is by identification first
Two-dimension code label carries out self poisoning, realizes being moved freely in storage region.
Packing box unified specification, is easy to mechanical arm to capture, and same kinds of goods are placed with each packing box.During picking, such as Figure 11
Shown, the packing box that intelligent storage robot will be placed with the kinds of goods is removed and transports to employee's treatment region, and staff takes out from packing box
The kinds of goods of specified quantity.Administrative center receives the order that external equipment sends, according to order allocate intelligent storage robot picking,
Get in stocks, while having the functions such as storage business, outbound business, warehouse are alloted and empty storekeeper is managed, batch management, material are corresponded to,
The function synthesizeds such as stock-taking, quality inspection management, empty storekeeper reason and just in time inventory management are used.
Intelligent storage robot recognizes that the second two-dimension code label on packing box is positioned by the second two-dimensional code reader,
Finely tune the position of mechanical arm so that more accurately capture packing box, the second two-dimension code label be also stored with where packing box unique volume
Number, intelligent storage robot can be read by the second two-dimensional code reader.
As shown in figure 12, intelligent warehousing system also includes being arranged on the charging rack 35 in storage region, and charging rack 35 is provided with
Several are used for the cradle 36 charged to main battery, and monitoring cell electricity quantity device, battery electric quantity prison are additionally provided with charging rack 35
Surveying device is used to monitor on each cradle the electricity of battery and send it to administrative center 29.Monitoring cell electricity quantity device with
Administrative center's wired connection or wireless connection.Charging rack connection provides the external charging station of electric energy, and the cradle of charging rack is put
The main battery put thereon charges.
A kind of control method of intelligent warehousing system of the present embodiment, for a kind of above-mentioned intelligent warehousing system, it is special
Levy and be, comprise the following steps：
When administrative center receives picking order, administrative center's analysis picking order determines all in picking order to need picking
The position of product, and dispatch intelligent storage robot picking；
Intelligent storage robot to receive move to successively after the pick-up instruction of administrative center's transmission all needs picking product institute in place
Picking is put, the method that intelligent storage robot moves to certain and needs picking product position picking is comprised the following steps：Intelligent storehouse
Storage robot is moved at certain storage rack where needing picking product, is removed from the storage rack using mechanical arm and is placed with this
The packing box of picking product is needed, and is put into first electric drawer of free time on robot shelf, then by one on robot shelf
It is individual be not placed with the first electric drawer for needing the packing box of picking product where it in take out and be put into what is be removed on the storage rack
The original position of packing box, and the positional information of the packing box being newly put on storage rack is sent to administrative center；
Intelligent storage robot by it is all need picking product where packing box remove be put on robot shelf after according to administrative center
Employee's treatment region positional information of transmission moves to corresponding employee's treatment region.
Administrative center determined in picking order behind all positions for needing picking product, calculate up to it is all need picking product where
The optimal path of storage rack position, one intelligent storage robot of scheduling is moved to and all needs picking successively according to optimal path
Product position picking.During administrative center's scheduling intelligent storage robot picking, by pick-up instruction, all picking grade confidence is needed
Breath, optimal path and perform the picking order employee's treatment region positional information be sent to perform picking task intelligent storage machine
Device people.Kinds of goods positional information include kinds of goods where storage rack numbering and position, be placed with the kinds of goods packing box numbering and
Position of the packing box on the storage rack.
Intelligent storage robot takes next when being placed with the packing box for needing picking product from storage rack, and storage rack vacates one
The individual placement position for placing packing box, if the packing box that presence need not take on the robot shelf of intelligent storage robot, intelligence
The packing box that need not be taken is put into the original position of the packing box being removed on storage rack for the robot that can store in a warehouse, and this is put into storage
The numbering of the packing box on shelf and position are sent to administrative center, and administrative center carries out registration storage.In a new picking stream
The packing box left in last picking flow is placed into journey the position of the new packing box removed, in this required packing box of taking
Last packing box is deposited simultaneously, operating efficiency is improve, and the relevant information for depositing packing box is sent to pipe by intelligent storage robot
Reason center, administrative center is recorded again to the position of these packing boxes, and completely random storage is carried out in whole storage.
Battery methods are moved certainly by a kind of intelligent storage robot of intelligent warehousing system of the present embodiment, for above-mentioned one
Intelligent warehousing system is planted, is comprised the following steps：When the main battery electricity of intelligent storage robot is less than setting value K1, intelligent storehouse
Storage robot starts reserve battery and powers, and charge request is sent to administrative center, and administrative center believes idle cradle position
Breath and electricity meet desired main battery positional information and are sent to intelligent storage robot, and intelligent storage robot moves to charging
Frame position, taking-up main battery is placed on the cradle of free time from the second electric drawer, is then taken out from charging rack
Electricity meets desired main battery and is put into the second electric drawer, and then intelligent storage robot powers to be powered by reserve battery and cuts
It is changed to main battery to power, while main battery charges to reserve battery.
Claims (10)
1. a kind of intelligent storage robot, it is characterised in that：Including robot body and the control being arranged on robot body
Device processed and mechanical arm（18）, the robot body include mobile chassis（1）Be arranged on mobile chassis（1）On robot
Shelf（2）, the robot shelf（2）It is provided with several the first electric drawers（3）, the mobile chassis（1）Bottom is provided with
First two-dimensional code reader（4）, the control device include controller（5）, power module（19）And wireless communication module（20）,
The controller（5）Respectively with mobile chassis（1）, mechanical arm（18）, the first electric drawer（3）, the first two-dimensional code reader
（4）, power module（19）And wireless communication module（20）Electrical connection.
2. a kind of intelligent storage robot according to claim 1, it is characterised in that：The mechanical arm（18）Including machinery
Hand（7）, can driving mechanical hand（7）The elevating mechanism for vertically moving（8）With can drive elevating mechanism（8）It is electronic along first
Drawer（3）The translation mechanism that opening/closing direction is moved horizontally（9）, the manipulator（7）, elevating mechanism（8）And translation mechanism
（9）Respectively with controller（5）Electrical connection.
3. a kind of intelligent storage robot according to claim 2, it is characterised in that：The manipulator（7）Including pedestal
（21）, the pedestal（21）Bottom is provided with grasping mechanism（10）With can drive grasping mechanism（10）To pedestal（21）At least side water
It is flattened go out telescoping mechanism（11）, the grasping mechanism（10）, telescoping mechanism（11）Respectively with controller（5）Electrical connection.
4. a kind of intelligent storage robot according to claim 3, it is characterised in that：The manipulator（7）Upper gripper
Structure（10）The side stretched out is provided with the second two-dimensional code reader（25）, second two-dimensional code reader（25）With controller（5）
Electrical connection.
5. a kind of intelligent storage robot according to claim 1 or 2 or 3 or 4, it is characterised in that：The mobile chassis
（1）Including upper plate（12）And lower shoe（13）, the upper plate（12）Lower surface is provided with several castors（14）, the bottom
Plate（13）It is provided with driving upper plate（12）The drive module of rotation（28）, the lower shoe（13）Bottom is provided with can advance, after
The travel mechanism for move back, turning to（15）.
6. a kind of intelligent storage robot according to claim 1 or 2 or 3 or 4, it is characterised in that：The robot goods
Frame（2）It is provided with the second electric drawer（6）, second electric drawer（6）Inside it is provided with battery case, the power module（19）Bag
Include main battery（16）And reserve battery（17）, the main battery（16）It is arranged in battery case, the controller（5）Respectively with it is standby
Use battery（17）With the main battery in battery case（16）Electrical connection.
7. a kind of intelligent warehousing system, it is characterised in that：Including one kind intelligence described in any claim in claim 1-6
Storage robot, also including administrative center（29）, be distributed in storage region several storage racks（30）And it is arranged on storehouse
Several on storage localized ground are used for the first two-dimension code label for positioning（31）, the storage rack（30）It is provided with several
Packing box for placing kinds of goods（32）, the administrative center（29）By wireless network and wireless communication module（20）Wirelessly connect
Connect.
8. a kind of intelligent warehousing system according to claim 7, it is characterised in that：Also include being arranged on filling for storage region
Electric frame（35）, the charging rack（35）Several are provided with for the cradle to main battery charging（36）, the charging rack
（35）On be additionally provided with monitoring cell electricity quantity device, monitoring cell electricity quantity device is used to monitoring the electricity of battery on each cradle simultaneously
Send it to administrative center（29）.
9. a kind of control method of intelligent warehousing system, intelligent for the one kind described in any claim in claim 7 or 8
Warehousing system, it is characterised in that comprise the following steps：
When administrative center receives picking order, administrative center's analysis picking order determines all in picking order to need picking
The position of product, and dispatch intelligent storage robot picking；
Intelligent storage robot to receive move to successively after the pick-up instruction of administrative center's transmission all needs picking product institute in place
Picking is put, the method that intelligent storage robot moves to certain and needs picking product position picking is comprised the following steps：Intelligent storehouse
Storage robot is moved at certain storage rack where needing picking product, is removed from the storage rack using mechanical arm and is placed with this
The packing box of picking product is needed, and is put into first electric drawer of free time on robot shelf, then by one on robot shelf
It is individual be not placed with the first electric drawer for needing the packing box of picking product where it in take out and be put into what is be removed on the storage rack
The original position of packing box, and the positional information of the packing box being newly put on storage rack is sent to administrative center；
Intelligent storage robot by it is all need picking product where packing box remove be put on robot shelf after according to administrative center
Employee's treatment region positional information of transmission moves to corresponding employee's treatment region.
10. battery methods are moved certainly by a kind of intelligent storage robot of intelligent warehousing system, for the one kind described in claim 8
Intelligent warehousing system, robot shelf are provided with the second electric drawer, and battery case, the electricity are provided with second electric drawer
Source module includes main battery and reserve battery, and the main battery is arranged in battery case, the controller respectively with reserve battery
Electrically connected with the main battery in battery case, it is characterised in that comprise the following steps：When the main battery electricity of intelligent storage robot
During less than setting value K1, intelligent storage robot starts reserve battery and powers, and charge request, administrative center are sent to administrative center
Idle cradle positional information and electricity are met desired main battery positional information and is sent to intelligent storage robot, intelligence
Storage robot moves to charging rack position, and the cradle that main battery is placed into the free time is taken out from the second electric drawer
On, then it is put into the second electric drawer from the main battery that electricity satisfaction requirement is taken out on charging rack, then intelligent storage machine
People powers by reserve battery power switching as main battery is powered, while main battery charges to reserve battery.
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