CN108792402A - Hoisting machine people and stereo storage rack cooperation access goods pattern - Google Patents
Hoisting machine people and stereo storage rack cooperation access goods pattern Download PDFInfo
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- CN108792402A CN108792402A CN201710110113.0A CN201710110113A CN108792402A CN 108792402 A CN108792402 A CN 108792402A CN 201710110113 A CN201710110113 A CN 201710110113A CN 108792402 A CN108792402 A CN 108792402A
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- Prior art keywords
- machine people
- hoisting machine
- lifting
- shelf
- vehicle body
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to intelligent robot technology fields, more particularly, to hoisting machine people and stereo storage rack cooperation access goods pattern.The cargo of conventional stereo shelf accesses, and is mainly realized by manually-operated fork truck.But manual operation fork truck, not only efficiency is low, of high cost, and error rate is high, and forklift operator largely occupies warehouse space, reduces warehouse entirety utilization rate and efficiency of operation.Deficiency in for the above-mentioned prior art, the present invention provides a kind of hoisting machine people, and passes through the access with the robot cooperated realization stereo storage rack of other loadings.It is instructed according to central control system, hoisting machine people holds up loading robot in designated position, then advances to designated position by navigation, is sent loading robot to specified shelf by lifting, and unloading or picking are completed by loading robot.Without the automatic shelf of rail mounted, so that it may to realize the increasingly automated and unmanned operation of ordinary stereo shelf.
Description
Technical field
The present invention relates to intelligent robot technology fields, more particularly, to hoisting machine people and stereo storage rack cooperation access goods
Pattern.
Background technology
As the important means for improving warehouse stock density, stereo storage rack is widely used in logistic storage.
The cargo of conventional stereo shelf accesses, and is mainly realized by manually-operated fork truck.But manual operation fork truck, not only efficiency
Low, of high cost, error rate is high, and forklift operator largely occupies warehouse space, reduces warehouse entirety utilization rate and efficiency of operation.
Mechanical tracks formula stereo storage rack is used in some warehouses to realize the access to cargo.But it is special due to needing to be laid with
With track and piler, cause the adjustability of shelf and autgmentability poor；Mechanical equipment easy tos produce deviation after being used for a long time adds up,
It easily leads to access or accuracy reduces and huge adjustment and maintenance cost；And mechanical tracks can lead to entirety once breaking down
Operation is interrupted, and the reliability of entire commodity shelf system is easily reduced.Current track formula stereo storage rack is eliminated in developed country.
Invention content
Goal of the invention：Deficiency in for the above-mentioned prior art, the present invention provide a kind of hoisting machine people, and by with its
His loading robot（Such as pallet machine people）Cooperation, without the automatic shelf of rail mounted, so that it may to realize ordinary stereo shelf
Increasingly automated and unmanned operation, while effectively saving forklift operator space, warehouse space utilization rate be provided, it is whole to be promoted
Warehouse operations efficiency.
In order to solve the above technical problems, the technical solution adopted by the present invention is：Hoisting machine people.It is characterized in that：By certainly
Navigation vehicle body and lifting are constituted.According to instruction, hoisting machine people holds up loading robot in designated position, is then gone by navigating
Designated position is entered, is sent loading robot to specified shelf by lifting, unloading or picking are completed by loading robot.
Above-mentioned hoisting machine people, it is characterised in that：Auto-navigation vehicle body installs the wheel for having differential driving, can carry out straight
Line is walked and rotation；It navigates by using SLAM or based in the navigation of terrestrial reference, can be instructed, be accurate to according to center system
Up to designated position.
Above-mentioned hoisting machine people, it is characterised in that：Reverse side is equipped with barrier inductor on auto-navigation vehicle body, can be real-time
Detect the obstacle in travelling route.
Above-mentioned hoisting machine people, it is characterised in that：Auto-navigation vehicle body is equipped with charging interface, can reach scheduled charging station
It charges.
Above-mentioned hoisting machine people, it is characterised in that：One Special lifting is installed on auto-navigation vehicle body, can be according to center
The lifting positioning for being accurate to millimeter is realized in system instruction.
Above-mentioned hoisting machine people, it is characterised in that：Lifting is equipped with terrestrial reference, can guide other loading robots（Such as support
Disk robot）It is accurate to enter lifting.
Above-mentioned hoisting machine people, it is characterised in that：In lifting there are one telescopic expansion board, in lifting platform to making a reservation for
It after pallet height, can be stretched out to both sides, to make up the gap between lifting platform and shelf
Description of the drawings
Fig. 1：Hoisting machine people's design drawing
Fig. 2：Hoisting machine people cooperates in stereo storage rack with pallet machine people and accesses goods schematic diagram
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, hoisting machine people is made of auto-navigation vehicle body and lifting.The installation of auto-navigation vehicle body has differential driving
Wheel, straight line moving and rotation can be carried out；It navigates by using SLAM or based in the navigation of terrestrial reference, it can be in
System command is entreated, designated position is accurately reached.
It as shown in Figure 1, installing a Special lifting on auto-navigation vehicle body, can be instructed, be realized accurate according to center system
Lifting to millimeter positions.Lifting is equipped with terrestrial reference, and pallet machine people can be guided accurately to enter lifting.
As shown in Fig. 2, stereo storage rack cooperation stocking pattern is as follows
1：Center system is gone out on missions instruction to specified hoisting machine people and pallet machine human hair.2：Pallet machine people's loading reaches
Specified holding fix.3：Hoisting machine people is moved to appointed place, and ground is down in lifting.4：Pallet machine people passes through detection
Camera lens, reads the terrestrial reference of lifting, and adjusts relative position, accurate to enter lifting.5：Hoisting machine people holds up pallet machine people, moves
Move scheduled shelf location.6：Lifting moving to scheduled height, and is stretched out expansion board by hoisting machine people, with target shelf
Bottom is parallel.7：Pallet machine people enters stereo storage rack from lifting, unloads lower tray, and return to lifting.8：Hoisting machine people reduces
Lifting, and pallet machine people is sent back to and waits for place.9：Pallet machine people walks out lifting, is moved to instruction destination.
As shown in Fig. 2, stereo storage rack cooperation picking pattern is as follows
1：Center system is gone out on missions instruction to specified hoisting machine people and pallet machine human hair.2：Pallet machine people reaches three-dimensional
Shelf area designated position.3：Hoisting machine people is moved to appointed place, and ground is down in lifting.4：Pallet machine people passes through
Detecting lenses, read the terrestrial reference of lifting, and adjust relative position, accurate to enter lifting.5：Hoisting machine people holds up pallet machine
People is moved to scheduled shelf location.6：Lifting moving to scheduled height, and is stretched out expansion board by hoisting machine people, with mesh
It is parallel to mark bottom shelf.7：Pallet machine people enters stereo storage rack from lifting, holds up target pallet, and return to lifting.8：Lifting
Robot reduces lifting, and pallet machine people is sent back to and waits for place.9：Pallet machine people walks out lifting, is moved to instruction purpose
Ground.
Claims (8)
1. a kind of hoisting machine people, it is characterised in that：Including auto-navigation vehicle body, hoistable platform.
2. according to the hoisting machine people described in claim 1, it is characterised in that：The installation of auto-navigation vehicle body has differential driving
Wheel can carry out straight line moving and rotation；By using SLAM navigation or ground marker navigation, can be referred to according to center system
It enables, accurately reaches designated position.
3. according to the hoisting machine people described in claim 2, it is characterised in that：Reverse side is equipped with obstacle on auto-navigation vehicle body
Inductor, obstacle that can be in real-time detection travelling route.
4. according to the hoisting machine people described in claim 2, it is characterised in that：Auto-navigation vehicle body is equipped with charging interface, can arrive
It charges up to scheduled charging station.
5. according to the hoisting machine people described in claim 1, it is characterised in that：One Special lifting is installed on auto-navigation vehicle body
Platform can be instructed according to center system, realize the lifting positioning for being accurate to millimeter.
6. according to the hoisting machine people described in claim 5, it is characterised in that：Hoistable platform is equipped with terrestrial reference, can guide it
His loading robot（Such as pallet machine people）Accurately enter hoistable platform.
7. according to the hoisting machine people described in claim 5, it is characterised in that：In hoistable platform there are one moveable push plate,
It after lifting platform to predetermined altitude, can be stretched out to both sides, to make up the gap between lifting platform and shelf.
It 8. according to the hoisting machine people described in claim 1, can cooperate with transfer robot, complete the cooperation of stereo storage rack
Access goods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110113.0A CN108792402A (en) | 2017-04-28 | 2017-04-28 | Hoisting machine people and stereo storage rack cooperation access goods pattern |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110113.0A CN108792402A (en) | 2017-04-28 | 2017-04-28 | Hoisting machine people and stereo storage rack cooperation access goods pattern |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108792402A true CN108792402A (en) | 2018-11-13 |
Family
ID=64068988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710110113.0A Pending CN108792402A (en) | 2017-04-28 | 2017-04-28 | Hoisting machine people and stereo storage rack cooperation access goods pattern |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108792402A (en) |
-
2017
- 2017-04-28 CN CN201710110113.0A patent/CN108792402A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181113 |