CN107600856A - Unmanned warehousing system - Google Patents
Unmanned warehousing system Download PDFInfo
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- CN107600856A CN107600856A CN201710824493.4A CN201710824493A CN107600856A CN 107600856 A CN107600856 A CN 107600856A CN 201710824493 A CN201710824493 A CN 201710824493A CN 107600856 A CN107600856 A CN 107600856A
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Abstract
It is an object of the invention to provide a kind of novel unmanned warehousing system of structure, realizes from warehousing to the unmanned system participated in of the whole process of goods export.Goods is from porch, communicated band is sent on the shelf of comb formula structure, and the detection of size, and the information scanning to electronic tag are carried out to the goods, through robot be transported to the shelf area specified after and to store, and feed back the related data of the disengaging storehouse management system of goods.Also the scanning of goods information is carried out when goods is taken away, it is ensured that the accuracy that goods is carried.The optional code-disc of freedom positioning system of intelligent storage robot in the present invention adds gyroscope, laser radar, magnetic terrestrial reference etc..By its improved structure, pallet fork and shelf are all the comb structures used.The characteristics of unmanned warehousing system of the invention is:By combing the design of castor formula shelf and pallet fork, the scheduling of goods can be conveniently realized, and space can be saved.The design structure is novel, simple to operate, and traveling is convenient.
Description
Technical field
The present invention relates to a kind of unmanned warehousing system, belongs to intelligent automation storage field.
Background technology
Storage, with the raising of Mechanization Level, in the sixties of twentieth century five, has been entered from initial artificial storage
Turn to mechanization storage, the management stored in a warehouse by manipulator, hammock, piler and lift.Later, occur automatic
The storage mode of change technology, it is managed by automatic storage machine device people, automatic identification sorting mode.Then, have integrated
Automated warehousing, automatic taking stereo warehouse, computer integrated manufacturing system.Recently, with the arrival of industry 4.0, intelligence is certainly
Dynamicization, which is stored in a warehouse, becomes the topic of focus, advances for example, the Kiva robots of Amazon can scan ground bar code, can be according to wireless
Shelf where goods are carried to employee's treatment region by the order of instruction from warehouse.Its core thinking is that selection personnel are cancelled,
Directly shelf are moved on the side of review packaging personnel, there are review packing personnel to complete selection, secondary sorting, packing review three
Work, personnel are pressed onto displacement action that is minimum, while also eliminating original transmission line completion." unmanned storehouse " technology in Jingdone district is adopted
Cooperateed with and coordinated with a large amount of Intelligent logistics robots, wisdom is imparted to conventional industrial robot, allows them to possess independently
Judgement and behavior, adapt to different application scenarios.Based on this background, we design a kind of unmanned storage system of new structure
System.
The content of the invention
In view of this, it is an object of the invention to provide a kind of novel unmanned warehousing system of structure, from goods warehouse entry arrival
The whole process of thing export realizes unattended.Shelf are using comb structure, the end effector of intelligent storage robot
Using lift comb structure.So it is easy to the occlusion of two structures, so as to be more beneficial for quickly taking cargo security
Go out.And the structure of pallet fork, its width can be automated toed respond to according to the size of goods.Intelligent storage robot can be realized
The large, medium and small three kinds of tactic patterns conversion of end effector.
In order to reach foregoing invention purpose, the invention provides a kind of unmanned warehousing system, it is characterised in that:The intelligent storehouse
Storing up robot includes body installation, frame equipments for goods, information collecting device.Goods is from entrance warehouse entry, by sorting system to goods
Size is classified, and tracks goods whereabouts, and after goods is placed into shelf, positional information and the relevant information of goods are fed back
To unmanned warehousing system.When goods is taken away, in the information of outlet automatic checking goods, and goods export, goods information are existed
Nullified in monitor system.
Body installation includes Forklift truck rack, driving wheel, omni-directional wheel, the freedom positioning system of frame interior, motor, goods
Fork, synchronous pulley.Pallet fork is by the drive of synchronous pulley, to realize upper and lower translation.
Intelligent storage robot of the present invention can add gyroscope, laser radar, magnetic terrestrial reference or Quick Response Code terrestrial reference by code-disc,
Magnetic stripe etc. realizes autonomous positioning.Passing through its improved structure so that the device more flexibly easily can walk in warehouse,
And efficient goods scheduling is realized, and Duo Tai intelligent storages robot, cooperation can be placed in warehouse.
Information collecting device is to have disposed camera and laser radar, is respectively used to adopting for image information and cloud point data
Collection, so as to perceive the environmental information of store interior.
The unmanned warehousing system, by the shelf of comb shape come bearing goods, while Stability Analysis of Structures is ensured, pallet fork
Conveniently it can be engaged with shelf platform, so as to take out or place rapidly goods.
The characteristics of unmanned warehousing system of the invention is:, can be conveniently by the design of comb shape shelf and pallet fork
The scheduling of goods is realized, and space can be saved.The design structure is novel, simple to operate, and traveling is convenient.
Brief description of the drawings
Fig. 1 is the global schematic diagram of the unmanned warehousing system of the present invention.
Fig. 2 is the schematic diagram of the unmanned warehousing system of the present invention.
Fig. 3 is the schematic diagram of the intelligent storage robot of the unmanned warehousing system of the present invention.
Fig. 4 is that the code-disc of the unmanned warehousing system of the present invention adds gyroscope scheme of installation.
Fig. 5 is the shelf structure figure of the unmanned warehousing system of the present invention.
Fig. 6 is the width pallet fork structure figure of the unmanned warehousing system of the present invention.
Fig. 7 is the narrow space pallet fork structure figure of the unmanned warehousing system of the present invention.
Fig. 8 is the operation logic block diagram of the unmanned warehousing system of the present invention.
Symbol description
1 pallet fork, 2 information acquisition devices, 3 omni-directional wheels, 4 bottom plates, 5 synchronous pulleys, 6 alignment systems
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to the accompanying drawings and examples to the present invention
It is described in further detail.
The overall structure that the unmanned warehousing system of the present invention is introduced referring to Fig. 1~Fig. 2 forms:The unmanned warehousing system include from
Warehouse entry realizes that its main device includes body installation, frame equipments for goods, information collecting device, says separately below to the entirety of export
It is bright it:
Body installation includes Forklift truck rack, driving wheel, omni-directional wheel, the freedom positioning system of frame interior, motor, goods
Fork, synchronous pulley.Frame equipments for goods is using the shelf platform of comb structure, and using structure changes comb shape, it can lead to pallet fork
Cross to stretch and realize large, medium and small three kinds of tactic patterns.So corresponding pallet fork adjustment can be carried out according to the subregion of goods size.
Referring to Fig. 4, the figure is the alignment system scheme of installation of unmanned warehousing system.Optional code-disc adds gyroscope, laser
Radar, magnetic terrestrial reference or Quick Response Code terrestrial reference, magnetic stripe etc..
The comb castor structure used referring to Fig. 3 fork truck overall structure figure, pallet fork, pass through turning for motor driven synchronous pulley
It is dynamic, realize the upper and lower translation of pallet fork.And camera and laser radar are disposed in body structure, has gathered image and cloud point respectively
Data message.
Referring to Fig. 6 and Fig. 7, the pallet fork comb structure of intelligent storage robot, and Trapezoidal can be realized, so as to convenient
Carry various sizes of goods.
It is worth noting that, the foregoing is only presently preferred embodiments of the present invention, the patent of the present invention is not thereby limited
Protection domain, the present invention can also carry out equivalent improvement to the structure of above-mentioned various parts.Therefore all saying with the present invention
The equivalent structure change that bright book and diagramatic content are made, or directly or indirectly apply to other correlative technology fields and similarly all wrap
It is contained in the range of of the invention cover.
Claims (3)
1. a kind of complete unmanned warehousing system, it is to realize to be from warehousing to the unmanned participation of the whole process of goods export
System.From porch, communicated band is sent on the shelf of comb castor formula structure goods, and the detection of size is carried out to the goods, and right
The information scanning of electronic tag, and after through robot be transported to the shelf area specified and store, and that feeds back goods enters export
The related data of management system.Also the scanning of goods information is carried out when goods is taken away, it is ensured that the accuracy that goods is carried, and
The relevant information processing of goods export.Its agent structure includes body installation, frame equipments for goods, information collecting device, and its feature exists
In:
The end effector of transfer robot has multiple frees degree.It the advantage is that:
The shelf and the pallet fork of transfer robot for combing castor formula structure are staggered, and such pallet fork can be to be directly protruding into goods bottom
Layer, goes out shelf by cargo translating.And pallet fork can be adjusted correspondingly according to different size cargo area, can be achieved large, medium and small
Three kinds of variable pallet forks, big-and-middle small size goods is corresponded to respectively.
2. unmanned warehousing system according to claim 1, body installation is including in Forklift truck rack, driving wheel, omni-directional wheel, vehicle frame
The freedom positioning system in portion, motor, pallet fork etc.;
Shelf are using comb formula structure, and whole warehouse is according to the different shelf area of goods size point;
Information collecting device is to have disposed camera and laser radar, is respectively used to be easy to adopting for image information and cloud point data
Collection, so as to perceive the environmental information of surrounding.
3. unmanned warehousing system according to claim 1, wherein, the intelligent storage robot is by autonomous positioning system
(optional code-disc adds gyroscope, laser radar, magnetic terrestrial reference or Quick Response Code terrestrial reference, magnetic stripe etc.) is united to track the position of robot
Put.
Priority Applications (1)
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CN201710824493.4A CN107600856A (en) | 2017-09-14 | 2017-09-14 | Unmanned warehousing system |
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CN201710824493.4A CN107600856A (en) | 2017-09-14 | 2017-09-14 | Unmanned warehousing system |
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Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108502429A (en) * | 2018-03-22 | 2018-09-07 | 四川斐讯信息技术有限公司 | A kind of warehouse management method and system |
CN108945933A (en) * | 2018-08-17 | 2018-12-07 | 汕头大学 | A kind of vehicle-mounted automated three-dimensional storehouse mechanism of express delivery robot |
CN109100738A (en) * | 2018-08-20 | 2018-12-28 | 武汉理工大学 | One kind being based on reliable alignment system combined of multi-sensor information and method |
CN109227484A (en) * | 2018-09-28 | 2019-01-18 | 新华三技术有限公司 | Component storage system, positioning parts method and device |
CN109335444A (en) * | 2018-10-11 | 2019-02-15 | 泉州市联控自动化科技有限公司 | A kind of unmanned freight house |
CN110203604A (en) * | 2019-08-02 | 2019-09-06 | 湖南海纳赋能科技有限公司 | A kind of storage cabinet using manipulator operation |
CN110626690A (en) * | 2018-06-22 | 2019-12-31 | 松下知识产权经营株式会社 | Moving device, carrying device, moving system and moving method |
WO2020038144A1 (en) * | 2018-08-21 | 2020-02-27 | 北京极智嘉科技有限公司 | Self-service operating system and method, and operation door |
CN110877799A (en) * | 2019-10-29 | 2020-03-13 | 海宁小二慧储智能科技有限公司 | Cloth storage method |
US10787316B2 (en) | 2018-06-26 | 2020-09-29 | Sunrise R&D Holdings, Llc | Stocking assistant robot |
CN111746995A (en) * | 2020-06-01 | 2020-10-09 | Tcl华星光电技术有限公司 | Automatic warehousing system |
CN112193705A (en) * | 2020-10-12 | 2021-01-08 | 山东民瑞中药饮片有限公司 | Controlled atmosphere storage system for traditional Chinese medicinal materials and control method thereof |
CN112693800A (en) * | 2020-03-27 | 2021-04-23 | 上海快仓智能科技有限公司 | Temporary storage laminate, temporary storage rack, goods shelf and storage device |
CN113697347A (en) * | 2021-08-27 | 2021-11-26 | 南京工程学院 | I-type automatic carrying and storing system |
WO2022166643A1 (en) * | 2021-02-08 | 2022-08-11 | 深圳市普渡科技有限公司 | Automatic freight retrieval method and system for robot, and robot |
USD1032679S1 (en) | 2019-03-13 | 2024-06-25 | Hai Robotics Co., Ltd. | Warehouse robot |
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CN107108122A (en) * | 2014-10-14 | 2017-08-29 | 新生代机器人公司 | Storage material handling system |
CN106608480A (en) * | 2015-10-21 | 2017-05-03 | 南京南瑞集团公司 | Warehouse logistics conveying system |
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Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108502429A (en) * | 2018-03-22 | 2018-09-07 | 四川斐讯信息技术有限公司 | A kind of warehouse management method and system |
CN110626690A (en) * | 2018-06-22 | 2019-12-31 | 松下知识产权经营株式会社 | Moving device, carrying device, moving system and moving method |
CN110626690B (en) * | 2018-06-22 | 2022-06-10 | 松下知识产权经营株式会社 | Moving device, carrying device, moving system and moving method |
US10787316B2 (en) | 2018-06-26 | 2020-09-29 | Sunrise R&D Holdings, Llc | Stocking assistant robot |
CN108945933B (en) * | 2018-08-17 | 2024-01-09 | 汕头大学 | Vehicle-mounted automatic three-dimensional storage mechanism for express robot |
CN108945933A (en) * | 2018-08-17 | 2018-12-07 | 汕头大学 | A kind of vehicle-mounted automated three-dimensional storehouse mechanism of express delivery robot |
CN109100738B (en) * | 2018-08-20 | 2023-01-03 | 武汉理工大学 | Reliable positioning system and method based on multi-sensor information fusion |
CN109100738A (en) * | 2018-08-20 | 2018-12-28 | 武汉理工大学 | One kind being based on reliable alignment system combined of multi-sensor information and method |
WO2020038144A1 (en) * | 2018-08-21 | 2020-02-27 | 北京极智嘉科技有限公司 | Self-service operating system and method, and operation door |
US11599849B2 (en) | 2018-08-21 | 2023-03-07 | Beijing Geekplus Technology Co., Ltd. | Self-service operating system and method, and operation door |
CN109227484A (en) * | 2018-09-28 | 2019-01-18 | 新华三技术有限公司 | Component storage system, positioning parts method and device |
CN109335444A (en) * | 2018-10-11 | 2019-02-15 | 泉州市联控自动化科技有限公司 | A kind of unmanned freight house |
USD1032679S1 (en) | 2019-03-13 | 2024-06-25 | Hai Robotics Co., Ltd. | Warehouse robot |
CN110203604A (en) * | 2019-08-02 | 2019-09-06 | 湖南海纳赋能科技有限公司 | A kind of storage cabinet using manipulator operation |
CN110877799A (en) * | 2019-10-29 | 2020-03-13 | 海宁小二慧储智能科技有限公司 | Cloth storage method |
CN110877799B (en) * | 2019-10-29 | 2021-03-30 | 海宁小二慧储智能科技有限公司 | Cloth storage method |
CN112693800A (en) * | 2020-03-27 | 2021-04-23 | 上海快仓智能科技有限公司 | Temporary storage laminate, temporary storage rack, goods shelf and storage device |
CN111746995A (en) * | 2020-06-01 | 2020-10-09 | Tcl华星光电技术有限公司 | Automatic warehousing system |
CN111746995B (en) * | 2020-06-01 | 2021-10-08 | Tcl华星光电技术有限公司 | Automatic warehousing system |
CN112193705A (en) * | 2020-10-12 | 2021-01-08 | 山东民瑞中药饮片有限公司 | Controlled atmosphere storage system for traditional Chinese medicinal materials and control method thereof |
WO2022166643A1 (en) * | 2021-02-08 | 2022-08-11 | 深圳市普渡科技有限公司 | Automatic freight retrieval method and system for robot, and robot |
CN113697347A (en) * | 2021-08-27 | 2021-11-26 | 南京工程学院 | I-type automatic carrying and storing system |
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Application publication date: 20180119 |