CN107428464A - 用于运送储存仓的机器人 - Google Patents
用于运送储存仓的机器人 Download PDFInfo
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Abstract
本发明关于适合于自下伏储存系统拾取储存仓(2)的远程操作载具(1)。载具包含位于或至少部分地在载具的滚动手段(10,11)之内的驱动手段(5,19),在第一方向(X)或第二方向(Y)中的任一方向上向载具提供滚动机组特定的驱动力。
Description
技术领域
本发明关于如权利要求1的序文中所定义的用于自储存系统中拾取储存仓的远程操作载具或机器人,及用于储存仓的储存系统。
背景技术
已知用于自储存系统拾取储存仓的远程操作载具。相关现有技术储存系统的详细说明呈现于WO 98/49075中,且适合于此储存系统的现有技术载具的细节详细揭示于挪威专利NO 317366中。此现有技术储存系统包含三维储存栅格,此三维储存栅格包含在彼此之上堆栈直至某一高度的储存仓。储存栅格通常经建构为藉由顶轨互连的铝栏(aluminiumcolumn),多个远程操作载具,或机器人经布置至此等铝栏上以横向地移动。每一载具装备有用于拾取、承载,及置放储存在储存栅格中的仓的提升机构,以及用于供应电力至并入马达的载具的充电式电池。载具典型地经由无线链路与控制系统通讯且当需要时(典型地,在夜里)于充电站处再充电。
现有技术储存系统的实例图示于图1中。储存系统3包括多个载具或机器人1,此多个载具或机器人1经配置以在专用支撑轨13上以X轴方向及Y轴方向(见笛卡尔坐标系统100)移动,且以自仓储存栅格15之内的储存栏中接收储存箱2。现有技术储存系统3亦可包括专用仓提升装置50,此仓提升装置经布置以在储存系统3的顶部位准处自载具1接收储存箱2,且以垂直方向向下输送储存箱2至输送站,或埠60。
然而,对于此已知系统,各载具正在覆盖对应于两个储存栏的下伏储存系统的横截面,从而限制同时操作载具的最大数目。
因此,本发明的目的为提供一种载具及储存系统,此载具及储存系统允许在成功装卸储存仓期间同时操作载具的数目的显著增加。
发明内容
本发明在主要权利要求中阐述且特征化,而从属权利要求描述本发明的其他特征。
特定言之,本发明关于适合于自下伏储存系统拾取储存仓的远程操作载具,此远程操作载具包含:载具提升装置,适合于自下伏储存系统提升储存仓;第一载具滚动手段,包含第一滚动机组及布置于载具主体的相对面对侧壁处的第二滚动机组,允许载具在使用期间于下伏储存系统上沿第一方向(X)的运动;及第二载具滚动手段,包含第一滚动机组及布置于载具主体的相对面对侧壁处的第二滚动机组,允许载具在使用期间于下伏储存系统上沿第二方向(Y)的运动,此第二方向(Y)垂直于第一方向(X),且其中此等滚动机组中的每一者包含至少两个滚轮。第一滚动机组及第二滚动机组亦可包括皮带、链轨或任何其他机构或机构的组合,上述各者实现在下伏储存系统上的载具向前及/或向后的运动。
载具进一步包含:第一驱动手段,位于或至少部分地在第一载具滚动手段之内且适合于在第一方向(X)上提供滚动机组特定驱动力至载具;第二驱动手段,位于或至少部分地在第二载具滚动手段之内且适合于在第二方向(Y)上提供滚动机组特定驱动力至载具;及马达控制电子设备,布置于各滚动机组的滚轮中两者之间的体积之内,其中马达控制电子设备经配置以供应电力至第一载具滚动手段及第二载具滚动手段。在使用期间,第一载具滚动手段及第二载具滚动手段中的至少一者与下伏储存系统接触。
在一有利实施例中,驱动手段中的至少一者包含使用永久磁铁的电动马达,诸如无刷电动直流(direct current;DC)马达。
在另一个有利实施例中,第一驱动手段及第二驱动手段中的至少一者包含转子磁铁,此转子磁铁布置于此第一驱动手段及第二驱动手段的各个载具滚动手段的外周边的内表面处。
在另一有利实施例中,第一驱动手段及第二驱动手段中的至少一者包含定子,此定子至少部分地、优选完全地布置在与载具滚动手段相同的旋转平面内且至少部分地、优选完全地布置在载具主体内。旋转平面在此实施例中表示平面自载具滚动手段的旋转轴垂直延伸。
在另一个有利实施例中,载具包含适合于测量(至少间接地测量)载具滚动手段的至少一者的电动势(electromotive force;emf)的手段,此手段与定子及转子之一者信号通讯,从而允许在操作期间的载具的滚动机组特定速度对准。例如,可安装反电动势测量电路以与载具滚动手段信号通讯。可替代地或结合地使用霍尔传感器。
在另一有利实施例中,载具包含(至少间接地)连接至第一载具滚动手段及第二载具滚动手段中的至少一者的旋转编码器,从而允许在操作期间的角位置反馈。此旋转编码器适合于将载具滚动手段的角运动转换为模拟或数字代码。旋转编码器(或轴状解码器)可具有绝对旋转编码器型及/或绝对多匝编码器型。此绝对旋转编码器可为机械编码器、光学编码器、磁性编码器及电容式编码器中的至少一者。此外,绝对多匝编码器可为电池供电多匝编码器、齿轮多匝编码器,及自供电多匝编码器中的至少一者。
在另一有利实施例中,旋转编码器为旋转编码器盘,此旋转编码器盘布置在第一载具滚动手段及第二载具滚动手段中的至少一者的外周边之内,优选的在外周边与转子磁铁之间。
在另一有利实施例中,载具进一步包含适用于测量第一载具滚动手段及第二载具滚动手段中的至少一者的加速度的手段,此手段与定子信号通讯。此手段优选地包含一或多个压电传感器,例如来自PCBTM Piezotronics的加速计。一或多个感应传感器可用作压电传感器的替代,或结合压电传感器一起使用。
在另一有利实施例中,各滚动机组包含至少两个滚轮,且载具进一步包含马达控制电子设备,此马达控制电子设备布置在各滚动机组的滚轮中两者之间的体积之内。此马达控制电子设备在此实施例中经配置以供应电力至第一载具滚动手段及第二载具滚动手段,且亦可优选地传输通讯信号。
在另一有利实施例中,第一载具滚动手段包含在第一方向上具有此第一载具滚动手段的旋转方向的四个X轴滚轮,且第二载具滚动手段包含在第二方向上具有此第二载具滚动手段的旋转方向的四个Y轴滚轮,其中X轴滚轮中的每一者及Y轴滚轮中的每一者经分别驱动地连接至第一驱动手段及第二驱动手段。滚轮中的每一者优选地包含:多个转子磁铁(例如,以转子磁铁圆盘的形式),布置在滚轮外周边的内表面之内;及多个定子(例如,以定子圆盘的形式),至少部分地(例如完全地)布置在载具主体之内,优选地在具有滚轮旋转轴的位置的相同或近乎相同高度。在此文件中的高度代表在使用期间相距下伏储存系统的最高点的距离。此等定子包括绕组及轭两者,且定子磁场绕组正在遵循滚轮的外周边。
在另一有利实施例中,驱动手段的至少一部分,且优选所有经布置于滚轮外周边之内。
例如,当应用四个皮带以在X轴方向及Y轴方向上驱动本发明的载具时,总共四个马达可与四个皮带中的每一皮带以可操作啮合方式安装,从而达成所要滚动机组特定驱动力。同样地,当应用四个皮带以在X轴方向及Y轴方向上驱动载具时,总共八个马达可与八个滚轮中的每一滚轮以可操作啮合安装,从而达成所要滚动机组特定驱动力。
本发明亦关于适合于储存仓的储存系统。储存系统包含仓储存结构,此仓储存结构包含多个储存栏,其中每一储存栏经布置以根据上述实施例中的任一实施例容纳储存仓的垂直堆栈及远程操作载具。
在以下描述中,引入特定细节以提供所主张载具及储存系统的实施例的透彻理解。然而,本领域的普通技术人员将认识到,此等实施例可在无特定细节中之一或多者的情况下实践,或与其他元件、系统等等一起实践。在其他情况下,未图示或未详细描述众所熟知的结构或操作,以避免模糊所揭示实施例的态样。
附图的简要说明
图1为包含栅格及多个远程操作载具/机器人的现有技术储存系统的透视图;
图2为根据本发明的一个实施例的自远程操作载具上方所见的透视图;
图3为自下方所见的图2中的载具的透视图;
图4为沿着载具的一个主要定向所见的图2及图3中的载具的剖视图;
图5为根据本发明的一个实施例的自上方所见的储存系统的透视图,其中本发明的载具经图示为直接地布置在五个相邻储存栏上方;
图6A及图6B为图5中的储存系统的横剖面图,此图图示沿着载具的两个主要方向的在相邻栏上方的本发明的载具;
图7为根据本发明的一个实施例的构成载具的一部分的滚动机组的透视图;
图8A及图8B为根据本发明的一个实施例的构成载具的一部分的滚轮的透视图;及
图9A、图9B及图9C图示滚轮中的一者已移除的图7中的滚动机组,其中图9A及图9B为沿载具的每一主要定向所见的滚动机组的横剖面图,且图9C为其中滚轮已移除的滚动机组的一部分的透视侧视图。
具体实施方式
用于描述本发明的载具(以下简称机器人)的所有相对术语(诸如上方、下方、侧向、垂直、X轴方向、Y轴方向、Z轴方向等等)应使用上述现有技术储存系统(图1)作为参考系统来解释。为了清晰起见,X轴方向、Y轴方向及Z轴方向是藉由图1至图7及图9中的笛卡尔坐标系统100来说明。
图2及图3给出包含矩形载具主体或框架4的机器人1的两个不同角度,此矩形载具主体或框架4显示:空腔,中心地布置在此矩形载具主体或框架中;顶盖72,覆盖此载具主体4的顶部;第一载具滚动手段10,包含在下伏仓储存栅格15的支撑轨13上以X轴方向运动的四个X轴滚轮101至104;及第二载具滚动手段11,包含在下伏仓储存栅格15的支撑轨13上以Y轴方向运动的四个Y轴滚轮,其中第一滚动手段10及第二滚动手段11两者经安装在载具主体4的外壁处。机器人1内部的空腔的尺寸(图3)适合于包含构成意欲由机器人1拾取的最大储存仓2的至少主要部分,最优选为整个仓。拾取储存仓2的操作系藉由提升装置7执行,此提升装置在图3的空腔的顶端处以收缩位置图示。
图4图示当沿着X轴方向观察时的机器人1的横截面。
图5及图6图示储存系统3的一部分,其中机器人1在仓储存栅格15的顶部以各种相邻位置布置。在五个位置的四个位置中,机器人1经直接地布置在栅格15的储存栏上方。如在分别地沿Y轴方向及X轴方向以剖视图图示图5的储存系统3的图6A及图6B中显而易见,机器人1经调整尺寸以便沿着X-Y平面的最大横截面积占据不超过相应(下伏)储存栏的横截面积。因此,两个或两个以上机器人1可在栅格15的相邻栏上方同时地操作,相比现有技术系统释放更多空间。
第一载具滚动手段10的一侧在图7中以透视侧视图图示。在本发明的此特定实施例中,滚动手段10包含具有外轮缘/边缘9的两个滚轮101、102,此外轮缘/边缘9沿着X轴方向位于载具主体4的转角附近。构成载具主体4的一部分的盖板25经布置于两个滚轮101、102之间。
在图8A及图8B中提供此等滚轮101、102中之一者的进一步细节,分别地图示外侧及内侧。在图8B中,光学旋转正交编码器类型的旋转编码器23已经布置在外轮缘9的内径表面之内。可使用其他类型的编码器,诸如磁性编码器、线性编码器、基于电压的模拟编码器,等等。在图8B中图示为一组永久磁铁5的转子5经布置在藉由旋转编码器23建立的圆周之内,亦即,更接近于滚轮101的旋转轴线。
相应定子19在图9中可见为包绕轭19b的电绕组19a的形式。然而,本领域技术人员将理解,定子19及转子5可(在本发明的其他实施例中)分别配置有定子磁铁及转子轭/绕组。
图9B及图9C亦图示其中用于测量加速度的手段24例如藉由使用压电传感器与各滚轮101、102的定子19信号通讯地连接。图9A为沿X轴方向所见的第一载具滚动手段10的一部分的横截面,图示藉由外轮缘9封闭的定子19。
所有元件及这些元件的相互作用/配置对于第二载具滚动手段11可亦为有效的。
事实上,驱动手段5、19经布置在机器人1的滚动手段10、11附近或之内,有助于在操作期间释放储存系统上的空间,从而允许与现有技术机器人相比的机器人1的更加紧凑的设计。
机器人1的所有操作是藉由无线通讯手段及遥控单元控制。此控制包括机器人运动的控制、载具提升装置7的控制、机器人位置的测量、机器人速度的测量及机器人加速度的测量中之一或多者。
在先前描述中,已参考说明性实施例描述根据本发明的载具及储存系统的各种态样。为了说明的目的,阐述了系统及配置以提供系统及此系统的作业的透彻理解。然而,此描述并不意欲以限制意义来解释。对本领域的普通技术人员显而易见的说明性实施例,以及系统的其他实施例的各种修改及变化被认为在本发明的范围之内。
符号说明的列表:
1 载具/机器人
2 储存箱
3 储存系统
4 矩形载具主体/框架
5 转子/永久磁铁
7 提升装置
9 滚动手段的外轮缘/外边缘
10 第一载具滚动手段/第一机组滚轮
11 第二载具滚动手段/第二机组滚轮
13 支撑轨
15 仓储存栅格
19 定子
19a 电绕组
19b 轭
23 旋转编码器
24 测量加速度的手段
25 盖板
50 仓提升装置
60 输送站/埠
72 顶盖
100 笛卡尔坐标系统
101 第一X轴滚轮
101 第二X轴滚轮
102 第三X轴滚轮
103 第四X轴滚轮
111 第一Y轴滚轮
112 第二Y轴滚轮
113 第三Y轴滚轮
114 第四Y轴滚轮
Claims (16)
1.一种用于自一下伏储存系统(3)拾取储存仓(2)的远程操作载具(1),包含:
一载具提升装置(7),用于自该下伏储存系统(3)提升该储存仓(2);
一第一载具滚动手段(10),包含一第一滚动机组(101-102)及布置于一载具主体(4)的相对面对侧壁处的一第二滚动机组(103-104),允许该载具(1)在使用期间于该下伏储存系统(3)上沿一第一方向(X)的运动;以及
一第二载具滚动手段(11),包含一第一滚动机组(111-112)及布置于该载具主体(4)的相对面对侧壁处的一第二滚动机组(113-114),允许该载具(1)在使用期间于该下伏储存系统(3)上沿一第二方向(Y)的运动,该第二方向(Y)垂直于该第一方向(X);
其中这些滚动机组中的每一者包含至少两个滚轮(101-104、111-114);
其特征在于,该载具(1)进一步包含:
一第一驱动手段(5、19),位于或至少部分地在该第一载具滚动手段(10)之内,以便在该第一方向(X)上提供滚动机组特定的驱动力至该载具(1);
一第二驱动手段(5、19),位于或至少部分地在该第二载具滚动手段(11)之内,以便在该第二方向(Y)上提供滚动机组特定的驱动力至该载具(1);以及
马达控制电子设备,布置在各滚动机组(101-104、111-114)的这些滚轮中两者之间的体积之内,其中马达控制电子设备经配置以供应电力至该第一载具滚动手段及该第二载具滚动手段(10,11)。
2.如权利要求1所述的载具(1),其特征在于,该驱动手段(5、19)中的至少一者包含使用永久磁铁(5)的一电动马达(5、19)。
3.如权利要求1或2所述的载具(1),其特征在于,该第一驱动手段及该第二驱动手段(5、19)中的至少一者包含转子磁铁(5),该转子磁铁(5)布置在该载具滚动手段(10、11)的外周边(9)的内表面处。
4.如权利要求2或3所述的载具(1),其特征在于,该第一驱动手段(5、19)及该第二驱动手段(5、19)中的至少一者包含一定子(19),该定子(19)至少部分地布置在与该载具滚动手段(10、11)相同的旋转平面之内且至少部分地在该载具主体(4)之内。
5.如前述权利要求中任一项所述的载具(1),其特征在于,
该第一驱动手段及该第二驱动手段(5、19)中的至少一者包含一电动马达(5、19),该电动马达(5、19)包含一转子(5)及一定子(19),且该载具(1)进一步包含:
用于测量反电动势(24)的手段,该手段(24)与该定子(19)及该转子(5)中的一者信号通讯,允许在操作期间该载具(1)的滚动机组特定速度对准。
6.如前述权利要求中任一项所述的载具(1),其特征在于,该载具(1)包含一旋转编码器(23),该旋转编码器连接至该第一载具滚动手段及该第二载具滚动手段(10,11)中的至少一者,允许在操作期间的角位置反馈。
7.如权利要求6所述的载具(1),其特征在于,该旋转编码器(23)为光学编码器类型。
8.如权利要求6或7所述的载具(1),其特征在于,该旋转编码器(23)为一旋转编码器盘,该旋转编码器盘布置在该第一载具滚动手段及该第二载具滚动手段(10,11)中的至少一者的外周边(9)之内。
9.如前述权利要求中的任一项所述的载具(1),其特征在于,
该第一驱动手段及该第二驱动手段(5、19)中的至少一者包含一电动马达(5、19),该电动马达包含一转子(5)及一定子(19)且
该载具(1)进一步包含用于测量该第一载具滚动手段及该第二载具滚动手段(10,11)中的至少一者的加速度的手段(24),该手段(24)与该定子(19)信号通讯。
10.如权利要求9所述的载具(1),其特征在于,该用于测量加速度的手段(24)包含一压电传感器及一感应传感器中的至少一者。
11.如前述权利要求中的任一项所述的载具(1),其特征在于,
每个滚动机组包含至少两个滚轮(101-104、111-114)且
该载具(1)进一步包含马达控制电子设备,该马达控制电子设备布置在各滚动机组(101-104、111-114)的这些滚轮中两者之间的体积之内;
其中马达控制电子设备经配置以供应电力至该第一载具滚动手段及该第二载具滚动手段(10,11)。
12.如前述权利要求中的任一项所述的载具(1),其特征在于,
该第一载具滚动手段(10)包含四个X轴滚轮(101-104),这些X轴滚轮具有在该第一方向的这些滚轮的旋转方向且
该第二载具滚动手段(11)包含四个Y轴滚轮(111-114),这些Y轴滚轮具有在该第二方向的这些滚轮的旋转方向;
其中这些X轴滚轮中的每一者及这些Y轴滚轮中的每一者分别驱动地连接至该第一驱动手段(5、19)及该第二驱动手段(5、19)。
13.如权利要求12所述的载具(1),其特征在于,这些滚轮(101-104、111-114)中的每一者具有:多个转子磁铁(5),布置在滚轮外周边(9)的内径表面之内;及多个定子磁场绕组(19a),至少部分地布置在该载具主体(4)之内。
14.如权利要求13所述的载具(1),其特征在于,这些定子磁场绕组(19a)遵循这些滚轮(101-104、111-114)的该外周边(9)。
15.如权利要求12至14中的任一项所述的载具(1),其特征在于,对于每个滚轮(101-104、111-114),该驱动手段(5、19)的至少一部分经布置在该滚轮外周边(9)之内。
16.一种用于储存仓(2)的储存系统(3),其特征在于,包含:
-一仓储存结构(15),包含多个储存栏,其中
各储存栏(8、8a、8b)经布置以容纳储存仓(2)的一垂直堆栈,及
-如权利要求1至15中的任一项所述的一远程操作载具(1),布置在该仓储存结构(15)的顶部上。
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