CN107499803B - Obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method - Google Patents

Obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method Download PDF

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Publication number
CN107499803B
CN107499803B CN201710695030.2A CN201710695030A CN107499803B CN 107499803 B CN107499803 B CN 107499803B CN 201710695030 A CN201710695030 A CN 201710695030A CN 107499803 B CN107499803 B CN 107499803B
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goods
altitude
cable
movable platform
parallel mechanism
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CN107499803A (en
Inventor
唐晓强
季益中
项程远
崔志伟
侯森浩
田斯慧
徐乔木
贾金龙
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Tsinghua University
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0407Storage devices mechanical using stacker cranes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0407Storage devices mechanical using stacker cranes
    • B65G1/0421Storage devices mechanical using stacker cranes with control for stacker crane operations

Abstract

A method for storing and taking an automatic stereoscopic warehouse driven by an avoidable barrier cable comprises high-altitude guide rails arranged on upright post groups symmetrically arranged on the left side and the right side, and goods shelves capable of placing goods are arranged between the upright post groups; the high-altitude guide rails are parallel to each other, a high-altitude moving platform is arranged on the high-altitude guide rails, a cable driving parallel mechanism is fixed on the high-altitude moving platform, two flexible cables are respectively led out from cable outlet drums of the cable driving parallel mechanism, a tail end moving platform is pulled to realize rapid movement in a plumb bob surface, and a telescopic cargo pushing rod is installed on the tail end moving platform; the device stores goods into goods grids of the goods shelf, and the goods are placed into the grids through rapid positioning and lifting, two-dimensional rapid positioning and rapid placement and delivery.

Description

Obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method
Technical Field
The invention relates to the technical field of automatic stereoscopic warehouses, in particular to an obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method.
Background
Since the 21 st century, the internet economy has developed such that the volume of things has seen explosive growth. The access of goods in the transfer warehouse is an important link in logistics. In a large warehouse, a carrying device relying on manpower or a traditional rail lifting table is not only long in time consumption and low in efficiency, but also easily limited by the layout of the warehouse and a shelf. The development of the AGV automatic traction trolley, the sorting identification technology, the computer technology and other related technical fields contributes to the birth of the automatic stereoscopic warehouse technology.
At present, in most stereoscopic warehouses, a main body for transporting goods is a tunnel stacker, the equipment cost is high, in order to adapt to complicated shelf layout in a large stereoscopic warehouse, the transportation line is very complicated, and the equipment is heavy.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an automatic storage and taking method of a shelterable cable driving stereoscopic warehouse, a cable driving parallel mechanism is introduced to serve as an intermediate transmission stage, the fast traction characteristic of a cable greatly improves the efficiency of goods storage and taking out, and a connecting rod in a warehouse shelf can be avoided, so that the method is suitable for the complicated shelf layout in a large stereoscopic warehouse; the invention greatly reduces the quality and complexity of the transportation equipment in the automatic warehouse and has the characteristics of improving the flexibility, the reconfigurability and the working efficiency of the transportation equipment.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic stereoscopic warehouse storing and taking device driven by an avoidable barrier cable comprises high-altitude guide rails 1 symmetrically arranged on upright post groups at the left side and the right side, wherein goods shelves for placing goods are arranged between the upright post groups;
the high-altitude guide rails 1 are parallel to each other, a high-altitude moving platform 2 is arranged on the high-altitude guide rails 1, a cable driving parallel mechanism 3 is fixed on the high-altitude moving platform 2, two flexible cables are led out from cable outlet drums of the cable driving parallel mechanism 3 respectively, the tail end of each flexible cable pulls a moving platform 12 to realize rapid movement in a plumb bob surface, and a telescopic cargo push rod 4 is arranged on the moving platform 12.
The high-altitude moving platform 2 comprises a base 5 arranged on the high-altitude guide rail 1, and a driving unit I6 and a transmission conversion unit 7 which can drive the base 5 to move are arranged on the base.
The rope driving parallel mechanism 3 comprises a base 8 arranged on the high-altitude moving platform 2, a second driving unit 9 and rolling drums 10 are arranged on the base 8, each rolling drum 10 is a double-layer parallel mechanism, a rope 11 is wound on each rolling drum 10, and the second driving unit 9 drives the rolling drums 10 to drive the ropes 11 to be wound and unwound;
the rope 11 is connected to the movable platform 12.
The cable driving parallel mechanism 3 is fixed on the high-altitude moving platform 2 through a base of the cable outlet drum.
The goods push rod 4 is arranged below the movable platform 12, and the goods push rod 4 comprises a driving telescopic structure 14 and a hook lock 13 arranged at the top of the driving telescopic structure.
An obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method comprises the following three steps:
first step-fast positioning and hoisting:
the rope drives the rolling drums 10 at two sides of the parallel mechanism 3 to contract the rope 11, the idle moving platform 12 is quickly pulled to a two-dimensional moving plane 15 higher than the goods shelf, then the two high-altitude moving platforms 2 quickly move on the high-altitude guide rail 1 along the rail direction 16, and the moving platform 12 is moved to be positioned in the same plumb bob surface 17 with goods to be carried; then the rope driving parallel mechanism 3 is provided with rolling drums 10 at the left side and the right side for respectively winding and unwinding a rope 11, the movable platform 12 is adjusted rapidly along a direction 18 vertical to the high-altitude guide rail 1 under the condition that the height of the movable platform 12 is not changed, finally the movable platform 12 is adjusted to a target position 19 right above a to-be-taken goods, then the rope driving parallel mechanism 3 is provided with two rolling drums 10 for rapidly releasing the rope 11 to enable the movable platform 12 to rapidly descend along the vertical direction, and the goods are grabbed and then rapidly and vertically ascended to a two-dimensional motion plane 15;
second step-two-dimensional fast positioning:
the goods and the movable platform 12 rapidly move to a target position 19 right above a target goods shelf goods grid guide rod in a two-dimensional movement plane 15, the moving mode is that the high-altitude moving platform 2 firstly rapidly and synchronously moves along the track direction 16 of the high-altitude guide rail 1, the movable platform 12 carrying the goods moves to a plumb bob surface 17 where the target position 19 is located in the two-dimensional movement plane 15, then a rope drives two sets of rolling drums 10 on the left side and the right side of the parallel mechanism 3 to respectively receive and release the rope 11, and the movable platform 12 moves to the position right above the target position 19 along the direction 18 vertical to the high-altitude guide rail under the condition that the height is kept unchanged;
thirdly, rapidly placing and delivering goods into a grid:
the two rolling drums 10 of the rope-driven parallel mechanism 3 quickly release the rope 11, so that the movable platform 12 which is located on the two-dimensional moving plane 15 and loaded with goods is quickly and vertically placed down, the bottom surface of the goods is located on the plane where the goods lattice cross partition plate 20 which is slightly higher than the goods shelf is located, the goods shelf guide rod 21 can play a role in quickly positioning and placing the rope so as to improve the moving stability of the movable platform 12, and finally, the driving telescopic structure 14 of the goods pushing rod 4 on the movable platform 12 of the rope-driven parallel mechanism is quickly extended to send the goods into the goods lattices and release the goods. As can be seen from the above description of the working principle of the present invention, in the process of transporting goods, the device can flexibly avoid intricate longitudinal and transverse shelf connecting rods by the working mode of firstly lifting the goods to a two-dimensional motion plane 15 higher than the shelf, then quickly positioning the goods in the two-dimensional motion plane 15 to locate the goods at a position 19 above the goods grid of the target shelf, and finally quickly lowering the goods, so as to realize the obstacle avoidance function.
The invention has the beneficial effects that:
(1) compared with the traditional way that a tunnel stacker and an AGV self-walking trolley are used as goods conveying equipment in an automatic stereoscopic warehouse, the invention adopts the light rope to replace a rigid member as an intermediate transmission piece, thereby greatly reducing the quality of the conveying equipment in the automatic stereoscopic warehouse system, and simultaneously improving the speed and the efficiency of goods storage and taking by a high-speed traction way of the rope;
(2) compared with the traditional mode that a tunnel stacker and an AGV self-walking trolley are used as goods conveying equipment in an automatic three-dimensional warehouse, the invention adopts a composition form that a high-altitude moving platform is connected with a primary cable driving parallel mechanism in series, and can flexibly avoid connecting rods in a warehouse goods shelf through a mode of firstly pulling goods to be quickly positioned and then quickly lowered on a certain plane higher than the goods shelf, so that the complicated and complicated goods shelf layout in the large three-dimensional warehouse is adapted, the arrangement and the use of the conveying equipment are not limited by the layout of the warehouse and the goods shelf, the complexity of the equipment is greatly reduced, the arrangement period is greatly shortened, the flexibility is extremely high, the cost of a logistics transfer, access system can be greatly reduced, and the competitiveness is improved;
(3) compared with the traditional mode that the roadway stacker and the AGV self-walking trolley are used as goods conveying equipment in the automatic stereoscopic warehouse, the goods composition structure of the invention is simple, and the maintenance and the subsequent equipment upgrading in use are convenient.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the high-altitude mobile platform of the invention.
FIG. 3 is a schematic view of a cable driven parallel mechanism of the present invention.
Fig. 4 is a schematic structural view of the cargo pushing rod of the present invention.
FIG. 5 is a first schematic diagram of the present invention.
Fig. 6 is a perspective view showing the first working schematic diagram of the present invention.
Fig. 7 is a second schematic plan view of the present invention.
Fig. 8 is a perspective view showing the second working schematic of the present invention.
Fig. 9 is a schematic view of the operation of the cargo pushing rod 4 according to the present invention.
Detailed Description
The construction and operation of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the cable-driven automatic stereoscopic warehouse fast storing and taking device capable of avoiding obstacles of the invention is composed of a high-altitude guide rail 1, a high-altitude moving platform 2, a cable-driven parallel mechanism 3 and a goods pushing rod 4. The two high-altitude guide rails 1 are fixed on the left and right upright post groups in parallel and symmetrically, and the two high-altitude moving platforms 2 synchronously move along the left and right high-altitude guide rails 1 at high altitude respectively, so that a moving degree of freedom along the guide rail direction is provided for the whole device. The bases of two rope outlet winding drums of the rope driving parallel mechanism 3 are fixed on two high-altitude moving platforms 2, two ropes are led out from the two rollers respectively to pull a tail end moving platform to realize rapid movement in a plumb surface, and two moving degrees of freedom in the plumb surface are provided for the moving platform 12. The movable platform 12 is provided with a telescopic cargo pushing rod 4 which can finally push the cargo into a cargo grid.
Fig. 2 is a schematic diagram illustrating the structure of the aerial mobile platform according to the present invention. As can be seen, the device consists of a base 5, a first driving unit 6 and a transmission conversion unit 7. The transmission conversion unit 7 can convert the rotation of the first driving unit 6 into the movement of the base 5 relative to the overhead guide rail. The specific form of the transmission conversion unit 7 may be a gear-rack mechanism as shown in the figure, or may be other common mechanisms for converting rotation into movement, such as a ball-screw mechanism.
The construction of the drum-rope unit of the cable driven parallel mechanism of the present invention is described in detail with reference to fig. 3. As can be seen, the device consists of a base 8, a second driving unit 9, a rolling drum 10 and a rope 11. The base 8 is fixed on a base (a base 5 in fig. 2) of the high-altitude moving platform, the second driving unit 9 and the rolling drum 10 are installed on the base 8, and the rolling drum 10 receives and releases the rope 11 to convert the rotation of the second driving unit 9 into the receiving and releasing movement of the rope 11. The second driving unit 9 generally comprises a motor, a reducer and a coupling. The cable driving parallel mechanism is provided with two winding drum-rope units, two ropes are led out respectively to be connected with the tail end movable platform, and the tail end movable platform is drawn to realize quick movement in a plumb bob surface. The double-rope structure can prevent the tail end moving platform from overturning and improve the stability of the movement of the tail end moving platform.
As shown in fig. 4, the cargo pushing bar of the present invention is illustrated. The goods push rod 4 is fixed on a movable platform 12 of the cable-driven parallel mechanism, can stretch in the direction of entering the goods shelf grids, and sends goods into the goods shelf grids or takes the goods out of the goods shelf grids. The cargo pushing rod 4 is arranged below the movable platform 12, and the cargo pushing rod 4 comprises a driving telescopic structure 14 and a hook lock 13 arranged at the top of the driving telescopic structure;
the drive of the telescopic structure 14 may be pneumatic, hydraulic, ball-screw drive, etc.
The invention adopts a mode that the fixed connecting cable on the high-altitude moving platform drives the parallel mechanism to pull the goods, compared with the traditional tunnel stacker, the invention uses the rope to replace a rigid member as an intermediate transmission member, thereby greatly reducing the weight of the equipment. The cable drive has a large working space range and a fast traction operation mode of 'going straight away', and can avoid connecting rods in the storage racks of the warehouse, so that the cable drive is suitable for the complicated and complicated storage rack layout in a large-scale stereoscopic warehouse, and the efficiency of material handling is improved qualitatively. In conclusion, the invention provides an effective solution for reducing the quality, cost and complexity of the goods transportation equipment and improving the flexibility and working efficiency of the transportation equipment in the automatic stereoscopic warehouse technology.
The working principle of the invention is as follows:
the working process of the device for storing goods into the goods shelf grids comprises three steps: first step-fast positioning and hoisting: as shown in fig. 5, the rope drives the rolling drums 10 at both sides of the parallel mechanism 3 to retract the rope 11, and rapidly pulls the empty movable platform 12 to be higher than the two-dimensional movement plane 15 of the goods shelf. The two high-altitude mobile platforms 2 are then rapidly moved on the high-altitude guide rails 1 in the rail direction 16, so that the mobile platforms 12 are moved to lie within the same plumb surface 17 (which is shown as a dashed dotted line 17 in top view 5) as the load to be handled. Then the cable drives the rolling drums 10 at the left side and the right side of the parallel mechanism 3 to respectively take up and release the cable 11, and the movable platform 12 is quickly adjusted along the direction 18 vertical to the high-altitude guide rail 1 under the condition of ensuring that the height of the movable platform is not changed. Finally the mobile platform 12 is adjusted to the target position 19 directly above the goods to be taken. Then, as shown in fig. 6, the two rolling drums 10 of the cable-driven parallel mechanism release the cable 11, so that the movable platform 12 is quickly lowered along the vertical direction, grabs the goods and then quickly and vertically ascends to the two-dimensional movement plane 15; second step-two-dimensional fast positioning: as shown in fig. 7, the goods and the movable platform 12 move rapidly to a target position 19 directly above a target shelf lattice guide rod in a two-dimensional movement plane 15, in such a way that the high-altitude movable platform 2 firstly moves rapidly and synchronously along a track direction 16 of the high-altitude guide rail 1, so that the movable platform 12 loaded with the goods moves to a plumb surface 17 where the target position 19 is located in the two-dimensional movement plane 15, then cables drive a left set of rolling drums 10 and a right set of rolling drums 10 of a parallel mechanism to respectively receive and release the cables 11, and the movable platform 12 moves to a position directly above the target position 19 in a direction 18 perpendicular to the high-altitude guide rail under the condition that the height is kept unchanged; thirdly, rapidly placing and delivering goods into a grid: as shown in fig. 8, the two rolling drums 10 of the cable-driven parallel mechanism release the cable 11 quickly, so that the moving platform 12 loaded with goods on the two-dimensional moving plane 15 is quickly and vertically lowered and the bottom surface of the goods is positioned to a plane slightly higher than the cross partition 20 of the goods shelf, at this time, the goods shelf guide rod 21 can play a role in quickly positioning and putting the cable to improve the motion stability of the moving platform 12, and finally, as shown in fig. 9, the driving telescopic structure 14 of the goods pushing rod 4 on the moving platform 12 of the cable-driven parallel mechanism extends quickly to send the goods into the goods shelf and release the goods. As can be seen from the above description of the working principle of the invention, in the process of conveying goods, the device can flexibly avoid intricate longitudinal and transverse goods shelf connecting rods by the working mode of firstly lifting the goods to a two-dimensional motion plane higher than the goods shelf, then quickly positioning the goods in the two-dimensional motion plane to enable the goods to be positioned above the goods grid of the target goods shelf and finally quickly lowering the goods, thereby realizing the obstacle avoidance function. The process of removing the goods from the goods compartment is the reverse of the process of entering the goods compartment, and the detailed description is omitted here.

Claims (1)

1. An obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method is characterized by comprising the following three steps:
first step-fast positioning and hoisting:
the rope drives the rolling drums (10) on the two sides of the parallel mechanism (3) to contract the ropes (11), the unloaded movable platform (12) is quickly pulled to a two-dimensional motion plane (15) higher than the goods shelf, then the two high-altitude movable platforms (2) quickly move on the high-altitude guide rail (1) along the track direction (16), and the movable platform (12) is moved to be positioned in the same plumb surface (17) with goods to be carried; then, the rolling drums (10) on the left side and the right side of the cable-driven parallel mechanism (3) respectively receive and release cables (11), the movable platform (12) is quickly adjusted in a direction (18) perpendicular to the high-altitude guide rail (1) under the condition that the height of the movable platform is not changed, finally the movable platform (12) is adjusted to a target position (19) right above a to-be-taken goods, the two rolling drums (10) of the cable-driven parallel mechanism (3) release the cables (11) to quickly enable the movable platform (12) to descend in the vertical direction, and the two rolling drums are quickly and vertically ascended to a two-dimensional motion plane (15) after grabbing the goods;
second step-two-dimensional fast positioning:
the goods and the movable platform (12) rapidly move to a target position (19) right above a target goods shelf goods grid guide rod in a two-dimensional movement plane (15), the movement mode is that the high-altitude moving platform (2) firstly rapidly and synchronously moves along the track direction (16) of the high-altitude guide rail (1) to enable the movable platform (12) loaded with the goods to move to a plumb face (17) where the target position (19) is located in the two-dimensional movement plane (15), then a rope drives a left set of rolling drums (10) and a right set of rolling drums (10) of the parallel mechanism (3) to respectively receive and release the rope (11), and the movable platform (12) moves to the right above the target position (19) along the direction (18) vertical to the high-altitude guide rail under the condition that the height is kept unchanged;
thirdly, rapidly placing and delivering goods into a grid:
two rolling drum (10) of cable drive parallel mechanism (3) release rope (11) fast, make be located two-dimensional motion plane (15) carry the moving platform (12) of goods and vertically transfer fast and make the goods bottom surface to the goods check cross slab (20) place plane that is a little higher than the goods shelves, guide bar (21) on the goods shelves this moment can play quick location and take the effect of putting the cable in order to improve moving platform stationarity, and finally, cable drive extending structure (14) of goods propelling movement pole (4) on parallel mechanism moving platform (12) extend rapidly, send into the goods check and release.
CN201710695030.2A 2017-08-15 2017-08-15 Obstacle-avoidable cable-driven automatic stereoscopic warehouse storing and taking method Active CN107499803B (en)

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US20210331865A1 (en) * 2018-08-02 2021-10-28 Dematic Gmbh Cable driven storage and retrieval machine for warehouses
CN108861403A (en) * 2018-08-05 2018-11-23 严忠耀 A kind of intelligent track passes ordering system and its working method
CN109625732A (en) * 2018-12-20 2019-04-16 西安赛尔电子材料科技有限公司 A kind of large space rope driven Parallel Kinematic Manipulator for warehousing system
CN110293105A (en) * 2019-05-24 2019-10-01 同济大学 A kind of silo inner wall cleaning machine people of Wire driven robot
CN112830142B (en) * 2021-01-06 2022-05-27 山东大学 Storage robot
CN112777216A (en) * 2021-01-15 2021-05-11 国网新疆电力有限公司营销服务中心(资金集约中心、计量中心) Full-automatic electric energy metering appliance dense cabinet with built-in truss
CN114454152A (en) * 2022-02-21 2022-05-10 清华大学 Rope-driven stacking robot

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