CN109018800A - A kind of stock and picking method of automated warehouse storage system - Google Patents
A kind of stock and picking method of automated warehouse storage system Download PDFInfo
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- CN109018800A CN109018800A CN201810900323.4A CN201810900323A CN109018800A CN 109018800 A CN109018800 A CN 109018800A CN 201810900323 A CN201810900323 A CN 201810900323A CN 109018800 A CN109018800 A CN 109018800A
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- locker
- displacement
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- goods
- drive shaft
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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
-
- 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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Abstract
The invention discloses a kind of stock of automated warehouse storage system and picking methods, when needing stock, are placed in cargo at the access port of container deposit goods taking device first, then deposit goods taking device and bring into operation, at goods handling to specified locker；Displacement device operation, displacement device make the distance between specified locker and adjacent locker in maximum rating, finally access goods dress and place goods on specified locker；When needing picking, displacement device is run first, and displacement device makes the distance between specified locker and adjacent locker in maximum rating；Goods taking device operation is deposited, access goods dress removes cargo from specified locker, then deposits goods taking device at the access port of goods handling to container, cargo is finally taken out at access port.
Description
Technical field
The invention belongs to intelligent storage technical fields, specifically, depositing the present invention relates to a kind of automated warehouse storage system
Goods and picking method.
Background technique
In China, with the continuous expansion of scale of economic development, market economy is more and more flourishing, all kinds of markets and electronics quotient
Business becomes economic carrier important in market.Especially in recent years, large size is transnational, chain department store sets up one after another, is city
The daily life of resident brings great convenience, and at the same time, market is that the storage space that customer provides is limited, it is difficult to be met
When actual demand, especially festivals or holidays, such issues that it is more prominent.Meanwhile e-commerce extensive development, self-service access type
Express delivery transmitting-receiving industry is also born therewith, but self-service access express delivery cabinet at present, often relies on some and fixes metope and single side and fix and sets
It sets, storage chamber is traditional cabinet style, and storage space is limited, and access cargo automatic degree is inadequate.The work of picking of how withdrawing deposit object
Make efficiency, realizes automatic high-efficiency storage, become one of the major issue that need to currently consider.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, the present invention provides one kind certainly
The stock and picking method of dynamicization warehousing system, it is therefore an objective to improve working efficiency.
To achieve the goals above, the technical scheme adopted by the invention is as follows: the stock method of warehousing system, warehousing system packet
Include container, for storing cargo and being that multiple lockers arranged side by side, the access goods for picking up cargo fill in container interior
It sets and is moved for controlling locker to adjust the displacement device of the distance between two neighboring locker, container, which has, to be allowed
The access port that cargo passes through；
When needing stock, cargo is placed at the access port of container deposits goods taking device first, then deposit goods taking device
It brings into operation, at goods handling to specified locker；Displacement device operation, displacement device make specified locker and phase
The distance between adjacent locker is in maximum rating, finally accesses goods dress and places goods on specified locker.
The displacement device includes the scissor type telescopic mechanism and and scissor-type connecting with two adjacent lockers
Telescoping mechanism connects and for controlling the pushing handle telescopic control mechanism that scissor type telescopic mechanism is extended or shunk, scissor type telescopic machine
Structure is arranged multiple and each scissor type telescopic mechanism and connect respectively with every two adjacent lockers.
The pushing handle telescopic control mechanism includes power assembly, switching mechanism, force-increasing mechanism and power transfer mechanism, force-increasing mechanism
Multiple and each force-increasing mechanism is arranged to connect with a scissor type telescopic mechanism respectively, power transfer mechanism setting it is multiple and
Each power transfer mechanism is connect with a force-increasing mechanism respectively, and switching mechanism is transmitted for controlling power assembly and each power
Mechanism switches between bonding state and discrete state.
The power assembly includes drive shaft, the driving gear being sheathed in drive shaft and becomes with the first of driving axis connection
Position motor, driving gear is with drive shaft synchronous rotary and driving gear can be move alonged the axial direction relative to drive shaft；It is described dynamic
Force transfer mechanism includes connecting with the displacement rack gear of driving gear engagement, with the force-increasing mechanism and to be rotatably arranged on
It states the reinforcement bar on locker and connect and be used to apply reinforcement bar the pull rod for the pulling force for rotating it, pull rod with displacement rack gear
It is the axis perpendicular of horizontally disposed and pull rod length direction and the drive shaft with displacement rack gear；Force-increasing mechanism includes removable
The dynamic drive block being set on locker and the sliding shoe for being movably arranged and being matched with drive block, the mobile side of sliding shoe
To perpendicular with the moving direction of drive block, sliding shoe is connect with the scissor type telescopic mechanism, and drive block and the power pass
Pass mechanism connection.
The switching mechanism includes the second displacement motor, the screw shaft connecting with the second displacement motor and is sheathed on the drive
It is the nut seat being threadedly coupled on moving axis and with screw shaft, when the second displacement motor operates, the driving gear is pushed away by nut seat
It is dynamic and the axial direction along drive shaft is moved.
The present invention also provides a kind of picking method of warehousing system, warehousing system include container, for store cargo and
It is multiple lockers arranged side by side, for picking up depositing goods taking device and carrying out for controlling locker for cargo in container interior
The mobile displacement device to adjust the distance between two neighboring locker, container have the access port for allowing cargo to pass through；
When needing picking, displacement device is run first, and displacement device makes between specified locker and adjacent locker
Distance be in maximum rating；Goods taking device operation is deposited, cargo is removed from specified locker, then accessed by access goods dress
Goods device finally takes out cargo at the access port of goods handling to container at access port.
The displacement device includes the scissor type telescopic mechanism and and scissor-type connecting with two adjacent lockers
Telescoping mechanism connects and for controlling the pushing handle telescopic control mechanism that scissor type telescopic mechanism is extended or shunk, scissor type telescopic machine
Structure is arranged multiple and each scissor type telescopic mechanism and connect respectively with every two adjacent lockers.
The pushing handle telescopic control mechanism includes power assembly, switching mechanism, force-increasing mechanism and power transfer mechanism, force-increasing mechanism
Multiple and each force-increasing mechanism is arranged to connect with a scissor type telescopic mechanism respectively, power transfer mechanism setting it is multiple and
Each power transfer mechanism is connect with a force-increasing mechanism respectively, and switching mechanism is transmitted for controlling power assembly and each power
Mechanism switches between bonding state and discrete state.
The power assembly includes drive shaft, the driving gear being sheathed in drive shaft and becomes with the first of driving axis connection
Position motor, driving gear is with drive shaft synchronous rotary and driving gear can be move alonged the axial direction relative to drive shaft；It is described dynamic
Force transfer mechanism includes connecting with the displacement rack gear of driving gear engagement, with the force-increasing mechanism and to be rotatably arranged on
It states the reinforcement bar on locker and connect and be used to apply reinforcement bar the pull rod for the pulling force for rotating it, pull rod with displacement rack gear
It is the axis perpendicular of horizontally disposed and pull rod length direction and the drive shaft with displacement rack gear；Force-increasing mechanism includes removable
The dynamic drive block being set on locker and the sliding shoe for being movably arranged and being matched with drive block, the mobile side of sliding shoe
To perpendicular with the moving direction of drive block, sliding shoe is connect with the scissor type telescopic mechanism, and drive block and the power pass
Pass mechanism connection.
The switching mechanism includes the second displacement motor, the screw shaft connecting with the second displacement motor and is sheathed on the drive
It is the nut seat being threadedly coupled on moving axis and with screw shaft, when the second displacement motor operates, the driving gear is pushed away by nut seat
It is dynamic and the axial direction along drive shaft is moved.
The stock and picking method of warehousing system of the present invention, have the advantage that
1. the stock and picking method of warehousing system of the present invention, empty for existing multiple rows of locker warehousing system
Between utilization rate it is big, by displacement device to the displacement between two lockers, realize multiple rows of locker only and need one it is corresponding
The channel of displacement；A channel is required without each locker, greatly improves space utilization rate；
2. the stock and picking method of warehousing system of the present invention, can be exported by single-chip microcontroller and input signal, control are each
A motor, which cooperates, to be operated, and realizes full-automatic stock and picking, work efficiency is high, and system operation is steadily reliable；
Storage chamber packet 3. the stock and picking method of warehousing system of the present invention, in the locker configured in warehousing system
Containing matter storage lattice of different specifications and sizes, can diversity and flexibility storage cargo；When stock, can by controller collection at
Three-dimensional scanner cargo is scanned, identify its size, and cargo size information can be converted to electric signal, then
Via controller processing unit processes, and the storage chamber being adapted therewith for cargo matching automatically, and controller can also send cargo
Size information automatically adjusts end effector to end effector and the cargo for needing to access is adapted, and controller is mounted on goods
The human-computer interaction face of case access cargo；
4. the stock and picking method of warehousing system of the present invention are equipped with universal wheel in the bottom of warehousing system, convenient entire
Warehousing system is mobile and shifts, while being also applied for the various working environments of indoor and outdoor；And top is equipped with the sun of direction-adjustable
Energy solar panel is able to achieve entire warehousing system self-power supply, energy conservation and environmental protection in the place of sunlight section irradiation.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the structural schematic diagram of warehousing system of the present invention；
Fig. 2 is the schematic diagram of internal structure of warehousing system of the present invention；
Fig. 3 is the structural schematic diagram of displacement device；
Fig. 4 is the partial structural diagram of displacement device；
Fig. 5 is the structural schematic diagram for depositing goods taking device；
Fig. 6 is the structural schematic diagram of end effector；
In the figure, it is marked as 1, castor；2, container；201, top cover；202, access port；203, side plate；204, bottom plate；3, it conjugates
Device；301, the first displacement motor；302, the second displacement motor；303, drive shaft；304, gear is driven；305, screw shaft；
306, nut seat；307, rack gear is conjugated；308, reinforcement bar；309, connecting rod；310, drive block；311, sliding shoe；312, it first cuts
Yoke；313, the second scissor arms；314, first back-moving spring；315, second back-moving spring；316, pull rod；4, goods taking device is deposited；
401, first motor；402, the first lead screw；403, Y-axis slide unit；404, the second motor；405, Z axis slide unit；406, third lead screw；
407, third motor；408, X-axis slide unit；409, the second lead screw；410, bracket；411, first support；412, second support；413,
Third bracket；414, lifting support；415, pressure pin；416, lifting motor；417, drive rod；418, elevating drive mechanism；5, too
Positive energy plate；6, cover board；7, locker.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
As shown in Figures 1 to 6, the present invention provides a kind of warehousing system, including container 2, for storing cargo and in goods
Be inside case 2 multiple lockers 7 arranged side by side, for pick up cargo deposit goods taking device 4 and for control locker 7 carry out
The mobile displacement device 3 to adjust the distance between two neighboring locker 7, container 2 have the access port for allowing cargo to pass through
202。
Specifically, as depicted in figs. 1 and 2, container 2 is the rectangular box of inner hollow, all lockers 7 are to set side by side
It sets in the inner chamber body of container 2, all lockers 7 are sequentially arranged for the length direction along container 2.Locker 7, which has, places goods
The storage chamber of object, storage chamber are the rectangular cavities being arranged on locker 7, are provided with multiple storage chambers on locker 7.Locker
7 are vertically arranged, storage chamber locker 7 vertical side (the vertical side be vertically arranged and with first direction it is perpendicular
Plane) on formed opening, convenient for access cargo.Locker 7 is arranged to that inside container 2, straight line fortune can be done along first direction
Dynamic, first direction is horizontal direction and first direction is parallel with the length direction of container 2.Displacement device 3 and every adjacent two
A locker 7 connects, when being stored in cargo or take out cargo, need to by displacement device 3 by between two adjacent lockers 7 away from
From maximum rating is adjusted to, passes through convenient for depositing goods taking device 4 between two adjacent lockers 7, cargo is stored in storing
It is taken out from storage chamber in the storage chamber of cabinet 7 or by cargo.
As shown in Figure 1, container 2 mainly by bottom plate 204, the top cover being oppositely arranged with bottom plate 204 201 and is vertically installed in
Four side plates 203 composition on bottom plate 204, top cover 201 is located at the top of bottom plate 204 and top cover 201 is parallel with bottom plate 204,
Between top cover 201 and bottom plate 204, side plate 203 is vertically arranged four side plates 203, the upper end of side plate 203 and top cover 201
It is fixedly connected, the lower end of side plate 203 is fixedly connected with bottom plate 204, and four side plates 203 are in distributed rectangular, top cover 201 and bottom plate
204 be rectangular slab, and four side plates 203 are fixedly connected with a side of bottom plate 204 respectively.
As shown in Figures 1 to 4, displacement device 3 include the scissor type telescopic mechanism being connect with two adjacent lockers 7 and
It is connect with scissor type telescopic mechanism and for controlling the pushing handle telescopic control mechanism that scissor type telescopic mechanism is extended or shunk, scissor
Formula telescoping mechanism is arranged multiple and each scissor type telescopic mechanism and connect respectively with every two adjacent lockers 7, and scissor-type is stretched
One fewer than the sum of locker 7 of the sum of contracting mechanism.Pushing handle telescopic control mechanism is connect with all scissor type telescopic mechanisms, structure
It is compact, facilitate arrangement, pushing handle telescopic control mechanism can be controlled separately each scissor type telescopic mechanism in elongation state and contraction state
Between switch over, and then can be controlled separately the adjusting per the distance between two adjacent lockers 7.Scissor type telescopic machine
Structure includes the first scissor arms 312 and the second scissor arms 313, and the first scissor arms 312 are connect with pushing handle telescopic control mechanism, the first scissor arms
312 intersect rotation connection with the second scissor arms 313, form the scissor arms group of X-shaped.One end of first scissor arms 312 and flexible control
Mechanism rotation connection processed, the other end and locker 7 of the first scissor arms 312 are rotatablely connected.One end of second scissor arms 313 and phase
One of locker 7 in two adjacent lockers 7 is rotatablely connected, the other end of the second scissor arms 313 with adjacent two
Another locker 7 in locker 7 is slidably connected, the first scissor arms 312 and the second scissor arms 313 in the longitudinal direction in
Between be rotatablely connected at position, the rotation centerline of the first scissor arms 312 and the second scissor arms 313 is parallel with second direction, the
Two directions are horizontal direction and second direction and first direction are perpendicular, the length of the first scissor arms 312 and the second scissor arms 313
Direction is perpendicular with second direction.First scissor arms 312 and the second scissor arms 313 are located at the same side of locker 7, locker 7
With the guide groove for allowing the end of the second scissor arms 313 to be embedded in, the guide groove be in the outside wall surface of locker 7 along the vertical direction
The elongated slot of extension.
Angle when scissor type telescopic mechanism is in elongation state, between the first scissor arms 312 and the second scissor arms 313
In the smallest state, the distance between two adjacent lockers 7 are in maximum state；When scissor type telescopic mechanism is in
When contraction state, the angle between the first scissor arms 312 and the second scissor arms 313 is in maximum state, two adjacent storages
The distance between object cabinet 7 is in the smallest state.It can guarantee to adjust per two adjacent storages using the scissor type telescopic mechanism
Between object cabinet apart from when, move more steady, mechanism is more firm；The scissor type telescopic mechanism is by longitudinal mobile conversion simultaneously
For the transverse shifting of locker, change the direction of motion；And bigger transverse shifting can be obtained with relatively small longitudinal movement,
And the mechanism will not generate dead-centre position, keep locker mobile flexible；Under the stiffness and strength needed for guaranteeing work, mechanism is reduced
To the occupancy of free surrounding space, movement toward economizing space.
As shown in Figures 1 to 4, pushing handle telescopic control mechanism includes power assembly, switching mechanism, force-increasing mechanism and power transmitting machine
Structure, force-increasing mechanism are arranged multiple and each force-increasing mechanism and connect respectively with a scissor type telescopic mechanism, and power transfer mechanism is set
Multiple and each power transfer mechanism is set to connect with a force-increasing mechanism respectively, switching mechanism for control power assembly with it is each
Power transfer mechanism switches between bonding state and discrete state.Power assembly is for providing driving source, power assembly
It is connect with container 2 and power assembly is located in the inner chamber body of container 2.Power assembly includes drive shaft 303, is sheathed on drive shaft
Driving gear 304 on 303 and the first displacement motor 301 connecting with drive shaft 303, driving gear 304 and drive shaft 303 are same
Step rotates and driving gear 304 can be move alonged the axial direction relative to drive shaft 303.Drive shaft 303 is vertically arranged and drives
Axis 303 and container 2 are rotation connection, and container 2 provides a supporting role drive shaft 303, and the first displacement motor 301 and container 2 are solid
Fixed connection, the first displacement motor 301 and drive shaft 303 are located at the lower section of the top cover 201 of container 2, and the upper end of drive shaft 303 passes through
The motor axis connection of shaft coupling and the first displacement motor 301.Drive shaft 303 is splined shaft, and drive shaft 303 is equipped with external splines,
Drive gear 304 to be equipped with internal spline, driving gear 304 be sheathed in drive shaft 303 and drive internal spline on gear 304 with
External splines in drive shaft 303 is meshed, and driving gear 304 is roller gear and driving gear 304 and drive shaft 303 are coaxial
Setting, after the first displacement motor 301 operates, drive shaft 303 is able to drive driving gear 304 around its axis synchronous rotary.Switching
Mechanism, which is used to control, drives axial direction of the gear 304 in drive shaft 303 along drive shaft 303 to be moved, by external splines and interior
The cooperation of spline, 303 pairs of driving gears 304 of drive shaft can play guiding role, and driving gear 304 is as the dynamic of power assembly
Power is transferred to power transfer mechanism by power output block, and power is transferred to force-increasing mechanism by power transfer mechanism, finally by
The elongation and contraction of force-increasing mechanism realization scissor type telescopic mechanism.
As shown in Figures 1 to 4, power transfer mechanism includes the displacement rack gear 307 and reinforcement engaged with driving gear 304
Mechanism connects and is the reinforcement bar 308 being rotatably arranged on locker 7 and connect and with rack gear 307 is conjugated for reinforcement
Bar 308 applies the pull rod 316 for the pulling force for rotating it, and pull rod 316 and displacement rack gear 307 are horizontally disposed and pull rod 316 length
The axis perpendicular in direction and drive shaft 303 is spent, multiple power transfer mechanisms are to be sequentially arranged along the vertical direction.Conjugate rack gear
307 be spur rack, and the length direction for conjugating rack gear 307 and pull rod 316 is parallel with first direction, the length direction of pull rod 316
On one end with displacement rack gear 307 be fixedly connected, the other end on the length direction of pull rod 316 is connect with reinforcement bar 308.Displacement
Rack gear 307 with driving gear 304 be meshed, in a second direction, displacement rack gear 307 be located at driving gear 304 and locker 7 it
Between, driving gear 304 and displacement rack gear 307 constitute gear and rack teeth mechanism.7 pairs of displacement rack gears 307 of locker and pull rod 316 rise and lead
To effect, conjugates rack gear 307, pull rod 316 and reinforcement bar 308 and scissor type telescopic mechanism is located at the same side of locker 7.Reinforcement
Bar 308 has certain length, and the length direction and second direction of reinforcement bar 308 are perpendicular, the upper end of reinforcement bar 308 and reinforcement
Mechanism connection, the lower end of reinforcement bar 308 connect with the end of pull rod 316, and reinforcement bar 308 is at position between the ends and to store up
Object cabinet 7 is rotatablely connected, and the rotation centerline of reinforcement bar 308 is parallel with second direction.After first displacement motor 301 operates, drive
Moving axis 303 drives driving gear 304 around its axis synchronous rotary, drives gear 304 to engage with displacement rack gear 307, drives gear
304 push displacement rack gear 307 to move along first direction, and pull rod 316 and displacement 307 synchronizing moving of rack gear, pull rod 316 pull reinforcement
The lower end of bar 308, and then reinforcement bar 308 is swung, power is transferred to force-increasing mechanism by reinforcement bar 308.It is transmitted using the power
Mechanism, it is only necessary to which two displacement motors can be achieved with the mutual cooperation campaign of all lockers, and does not have to each locker and match
Motor driven is set, number of motors is reduced, reduces cost, simplifies the control management to motor；And pass through driving gear and displacement
The engaged transmission of rack gear accurately can calculate and control distance between per two adjacent lockers, and movement is accurate, and can reduce
Vibration, enables mechanism even running.
As shown in Figures 1 to 4, the quantity of power transfer mechanism and the quantity of scissor type telescopic mechanism are identical, i.e. profile shifted gear
Item 307, pull rod 316 and reinforcement bar 308 be respectively provided with it is multiple, all displacement rack gears 307 be sequentially arranged along the vertical direction, Suo Youzeng
Power bar 308 be sequentially arranged along first direction, driving gear 304 be arranged one, switching mechanism for control driving gear 304 with
The displacement rack gear 307 of each power transfer mechanism switches between bonding state and discrete state, and driving gear 304 is arranged
It is in meshing state at optionally rack gear 307 is conjugated with any one, and then can control corresponding locker 7 and moved
It is dynamic.The quantity of force-increasing mechanism and the quantity of power transfer mechanism are identical, and each power transfer mechanism passes through a power increasing machine respectively
Structure is connect with a scissor type telescopic mechanism.
As shown in Figures 1 to 4, force-increasing mechanism includes the drive block 310 being movably set on locker 7 and moves
The sliding shoe 311 for being arranged and being matched with drive block 310, the moving direction phase of the moving direction and drive block 310 of sliding shoe 311
Vertically, sliding shoe 311 is connect with scissor type telescopic mechanism, and drive block 310 is located at the top of scissor type telescopic mechanism and drive block
310 connect with power transfer mechanism.The moving direction of drive block 310 is parallel with first direction, drive block 310 and locker 7
To be slidably connected.Drive block 310 is matched with sliding shoe 311, constitutes wedge mechanism, and sliding shoe 311 is vertically arranged, drive block
310 have the drive surface contacted with sliding shoe 311, which is the tapered plane being obliquely installed on drive block 310, drive surface
Parallel with second direction, having angle and the angle before drive surface and first direction is acute angle.First scissor arms 312 are located at
The upper end of the lower section of drive block 310, the lower end of sliding shoe 311 and the first scissor arms 312 is rotatablely connected, sliding shoe 311 and storing
Cabinet 7 is to be slidably connected and sliding shoe 311 and drive block 310 are arranged on the same locker 7, lower end and the phase of the first test section
Adjacent another locker 7 rotation connection.The upper end of reinforcement bar 308 is connect by connecting rod 309 with drive block 310, drive block 310
Between sliding shoe 311 and connecting rod 309, the upper end of one end of connecting rod 309 and reinforcement bar 308 is rotatablely connected, connecting rod 309 it is another
One end and drive block 310 are rotatablely connected.When reinforcement bar 308 is swung, drive block 310 can be pushed along first party by connecting rod 309
To for linear motion.Drive block 310 along first direction it is for linear motion after, sliding shoe 311 can be pushed vertically downwards
Mobile, sliding shoe 311 pushes the upper end of the first scissor arms 312 to move down simultaneously, and then the first scissor arms 312 are rotated,
First scissor arms 312 drive 313 synchronous rotary of the second scissor arms, finally scissor type telescopic mechanism are extended.Using this
Force-increasing mechanism expands the size of drive block power, reduces the output power of the first displacement motor 301, while reasonable benefit
Reinforcement bar is set with the profile height of locker, makes mechanism compact and reasonable, principle is simple；Connecting rod is used between reinforcement bar and drive block
Connection constitutes slider-rocker mechanism, keeps drive block movement unique, and can pass through the self-locking implementation mechanism self-lock protection of motor；Driving
Block uses bevel-faced form, can steadily push scissor arms, keeps mechanism operation more stable.
Preferably, the upper end of sliding shoe 311 is equipped with the idler wheel being in contact with the drive surface of drive block 310, idler wheel is
Rotatable setting, when relative motion occurs for drive block 310 and sliding shoe 311, idler wheel can be rolled in drive surface, with
Reduce the friction between sliding shoe 311 and drive block 310.
As shown in Figures 1 to 4, switching mechanism include the second displacement motor 302, with the second spiral shell for connecting of displacement motor 302
It bar axis 305 and is sheathed in drive shaft 303 and is the nut seat 306 being threadedly coupled with screw shaft 305, the second displacement motor 302
When operating, driving gear 304 is pushed by nut seat 306 and the axial direction along drive shaft 303 is moved.Screw shaft 305 is vertical
Setting and screw shaft 305 and container 2 are to be rotatablely connected, and container 2 provides a supporting role screw shaft 305, the second displacement motor 302
Be fixedly connected with container 2, second displacement motor 302 and screw shaft 305 be located at container 2 top cover 201 lower section, screw shaft 305
Upper end by shaft coupling with second conjugate motor 302 motor axis connection.The outer surface of screw shaft 305 is equipped with external screw thread, spiral shell
Base 306 is sheathed on screw shaft 305 and nut seat 306 and screw shaft 305 constitute worm drive, and the second displacement motor 302 is transported
After turning, screw shaft 305 is rotated about the axis thereof, and nut seat 306 can be driven to move in a straight line along the vertical direction, and nut seat 306 is same
When drive driving gear 304 moved along the axial direction of drive shaft 303.Nut seat 306 is U-shaped structure, and driving gear 304 is located at
In the inner chamber body of nut seat 306, one end of nut seat 306 is sheathed on screw shaft 305, and the other end of nut seat 306, which is equipped with, to be allowed
The end of through-hole and nut seat 306 that drive shaft 303 passes through is the opening end of U-shaped, which is the straight of circular hole and through-hole
Diameter is identical as the overall diameter size of drive shaft 303 being provided at the position of external splines, and drive shaft 303 plays nut seat 306
Guiding role.Using leadscrew-nut mechanism, the height and position of the stop of sliding tooth wheel 304 after adjustment can be made, and can make to drive
Locking at the height and position of moving gear 304 after adjustment, it is ensured that driving gear 304 operates normally, high reliablity.Using the switching
Mechanism drives nut seat 306 that the height of nut seat can be accurately positioned, accurately makes sliding tooth by the second displacement motor 302
Wheel is engaged with corresponding rack gear, to accurately make corresponding locker mobile, the mechanism is succinct, easily arranges, at low cost, is realized
Only power is provided for the movement of all locker with one first displacement motor 301.
As shown in Figure 2, Figure 5 and Figure 6, deposit goods taking device 4 include the first driving mechanism, be set in the first driving mechanism and
Y-axis slide unit for linear motion, is set in the second driving mechanism and makees straight line the second driving mechanism connecting with Y-axis slide unit
The X-axis slide unit of movement, is set to Z in third driving mechanism and for linear motion at the third driving mechanism connecting with X-axis slide unit
Axis slide unit and the end effector for being set on Z axis slide unit and be used to pick up cargo.Deposit the end effector of goods taking device 4 X,
Y, it is moved on Z three degree of freedom, end effector is moved freely in its stroke space at an angle, met
Pickup to cargo and requirement is put, motion range is wide.First driving mechanism is for doing Y-axis slide unit 403 along the y axis back and forth
Linear motion, for making X-axis slide unit 408 do linear reciprocating motion along the x axis, third driving mechanism is used for the second driving mechanism
Z axis slide unit 405 is set to do linear reciprocating motion along Z-direction, X-direction is horizontal direction and, Y-axis side parallel with first direction
To for horizontal direction and parallel with second direction, Z-direction is vertical direction, and X-axis slide unit 408, Y-axis slide unit 403 and Z axis are sliding
The moving direction of platform 405 is mutually perpendicular to.
As shown in Figure 2, Figure 5 and Figure 6, the first driving mechanism include the first support 411 being fixedly installed on container 2, can
Rotation the first lead screw 402 being set in first support 411 and be set in first support 411 and with the first lead screw 402 company
The first motor 401 connect, Y-axis slide unit 403 be sheathed on the first lead screw 402 and with the first lead screw 402 constitute worm drive, first
Motor 401 generates the power for rotating the first lead screw 402, after first motor 401 operates, the rotation of the first lead screw 402, and then drive
Dynamic Y-axis slide unit 403 is moved in a straight line along Y-axis.
Second driving mechanism includes the second support 412 being movably arranged, is rotatably arranged on second support 412 and Y
The second lead screw 409 on axis slide unit 403 and the second motor for being set in second support 412 and being connect with the second lead screw 409
404, X-axis slide unit 408 is sheathed on the second lead screw 409 and constitutes worm drive with the second lead screw 409, and the second motor 404 generates
The power for rotating the second lead screw 409.Second support 412 and Y-axis slide unit 403 are that positioned opposite and second support 412 and Y-axis are sliding
Platform 403 is on the same straight line parallel with first direction, and second support 412 and Y-axis slide unit 403 are respectively in the second lead screw
409 one end provides a supporting role the second lead screw 409, and container 2 is equipped with and leads to second support 412 play the guiding role first
To bar, the first guide rod is parallel with the first lead screw 402, and second support 412 is sheathed on first guide rod, first guiding
Bar is located at the lower section of top cover 201 and is fixedly connected with top cover 201.After the operating of the second motor 404, the rotation of the second lead screw 409, into
And X-axis slide unit 408 is driven to move in a straight line along X-axis.
Third driving mechanism includes the third bracket 413 being fixedly installed on container 2, is rotatably arranged on third bracket
Third lead screw 406 on 413 and the third motor 407 for being set on X-axis slide unit 408 and connecting with third lead screw 406, Z axis are sliding
Platform 405 is sheathed on third lead screw 406 and constitutes worm drive with third lead screw 406, and the generation of third motor 407 makes third lead screw
The power of 406 rotations, third bracket 413 are located at the lower section of Z axis slide unit 405.X-axis slide unit 408 is equipped with for Z axis slide unit
405 the second guide rods playing the guiding role, second guide rod are vertically arranged and are located at the side of third lead screw 406, and Z axis is sliding
Platform 405 is sheathed on the second guide rod, and the upper end of the second guide rod is fixedly connected with X-axis slide unit 408 and the second guide rod is towards X
The lower section of axis slide unit 408 extends.When third motor 407 operate after, third lead screw 406 rotate, and then drive Z axis slide unit 405 and
End effector thereon is moved in a straight line along Z axis.
As shown in Figure 2, Figure 5 and Figure 6, end effector includes the bracket 410 connecting with Z axis slide unit 405, movably sets
The lifting support 414 that is placed on bracket 410, be movably set to pressure pin 415 on bracket 410 and for holding up cargo, with
Drive rod 417 that pressure pin 415 and lifting support 414 are rotatablely connected, the lifting motor 416 being set on bracket 410 and with liter
The elevating drive mechanism 418 that motor 416 and lifting support 414 connect, moving direction and the lifting support 414 of pressure pin 415 drop
Moving direction is perpendicular, and pressure pin 415 is arranged to be moved in a second direction.Bracket 410 is fixedly connected with Z axis slide unit 405,
Lifting support 414 and bracket 410 be to be slidably connected and the moving direction of lifting support 414 is vertical direction, and 410 pairs of bracket go up and down
Bracket 414 play the guiding role.Lifting motor 416 is to be fixed on bracket 410, and lifting motor 416 makes to go up and down for providing
Bracket 414 carries out mobile driving force along the vertical direction, and the axis of lifting motor 416 is parallel with first direction, lifting and driving
Mechanism 418 is preferably gear and rack teeth mechanism, and the rack gear of elevating drive mechanism 418 is fixedly connected with lifting support 414, lifting and driving
The gear of mechanism 418 is fixedly connected with the motor shaft of lifting motor 416.Pressure pin 415 is located at the lower section of lifting support 414, transmission
Between lifting support 414 and pressure pin 415, the upper end of drive rod 417 and the lower end of lifting support 414 are rotatablely connected bar 417,
The lower end of drive rod 417 and pressure pin 415 are rotatablely connected.Pressure pin 415 has certain length, the length direction of pressure pin 415 and the
One direction is parallel, and pressure pin 415 is stretched out towards the outside of bracket 410, facilitates the storage chamber for holding up cargo and being inserted into locker 7
In.Bracket 410 has the sliding slot for allowing the end of pressure pin 415 to be embedded in, which is the length extended in a second direction on bracket 410
Slot, bracket 410 play guiding role to pressure pin 415.
Preferably, multiple and all pressure pins 415, which are arranged, in pressure pin 415 is in sustained height position, all pressure pins 415 are
It is arranged side by side, position-adjustable of the pressure pin 415 on bracket 410, and then the distance between two neighboring pressure pin 415 is adjustable
Section is suitable for holding up various sizes of cargo, improves stability and reliability, and cargo is fallen when avoiding end effector mobile.
In the present embodiment, pressure pin 415 is arranged two, and the quantity of drive rod 417 is identical as the quantity of pressure pin 415, each drive rod 417
Lower end be rotatablely connected respectively with pressure pin 415, the upper end of each drive rod 417 is rotated with the lower end of lifting support 414
Connection.
Above structure to deposit 4 structure of goods taking device simple, it is easy to operate, it is at low cost, can be with save the cost, the access of use
Goods device is matched with end effector, be can be realized the automatic storage of cargo ball and is taken out, improves work efficiency, Er Qiecun
Goods taking device uses screw mechanism, and stability is good, high reliablity, can be realized accurate positionin when cargo is put, easily controllable
Each cargo is put on locker 7 by the position of setting.
As shown in Figure 1, warehousing system of the invention further includes the solar panels 5 being set on container 2, solar panels 5
In container 2 top and solar panels 5 be fixedly connected with top cover 201, on container 2 and be equipped with the battery for storing electric energy.
The bottom of container 2 is equipped with castor 1, and castor 1 is fixedly connected with the bottom plate 204 of container 2, and castor 1 is arranged multiple, and castor 1 can roll
Dynamic, castor 1 provides container 2 stable supporting role, and is integrally moved convenient for warehousing system.
As shown in Figure 1, the side plate 203 of container 2 is equipped with the access port 202 for allowing cargo to pass through, which is rectangle
Hole and access port 202 are along plate thickness direction on the side plate 203 of container 2 on the through-hole being arranged, the side plate 203 and equipped with one
A cover board 6 for latch access port 202, the area of cover board 6 are not less than the area of access port 202, cover board 6 with 203 turns of side plate
The rotation centerline of dynamic connection and cover board 6 is parallel with first direction, and cover board 6 can be rotated up and down, and realizes opening for access port 202
Close control.The end effector for depositing goods taking device 4 can move back and forth between access port 202 and the storage chamber of locker 7, realize
The access of cargo.
As shown in Figure 3 and Figure 4, pushing handle telescopic control mechanism further includes for switching scissor type telescopic mechanism by elongation state
To the first back-moving spring 314 of contraction state, first back-moving spring 314 be set on locker 7 and first back-moving spring 314 with
The upper end of first scissor arms 312 or sliding shoe 311 connect, first back-moving spring 314 be used for the upper ends of the first scissor arms 312 or
Sliding shoe 311 applies the active force moved it up, pushes the first scissor arms 312 and sliding shoe 311 to be resetted, sliding shoe
311 promotion drive blocks 310 are moved, and the final reset for realizing locker 7, locker 7 returns to initial position, two neighboring storage
The distance between object cabinet 7 is in minimum state, and locker 7 and locker 7 rely closely, and improves space utilization rate.First is multiple
Position spring 314 is preferably cylindrically coiled spring and is pressure spring, and first back-moving spring 314 is clipped in locker 7 and the first scissor arms 312
Upper end between.Pushing handle telescopic control mechanism further include for displacement rack gear 307 apply pulling force second back-moving spring 315, second
Reset spring 315 is connect with locker 7 and displacement rack gear 307, the pulling force that 315 pairs of second back-moving spring displacement rack gears 307 apply
So that displacement rack gear 307 is during scissor type telescopic mechanism switches to contraction state by elongation state towards close to reinforcement bar
308 direction is moved, and realizes the reset of displacement rack gear 307 and pull rod 316.Second back-moving spring 315 is preferably tension spring.
As shown in Figure 3 and Figure 4, for every two adjacent lockers 7, between one of locker 7 and power assembly
Distance be less than the distance between another locker 7 and power assembly, i.e., a locker 7 is closer apart from power assembly, separately
Farther out apart from power assembly, reinforcement bar 308, drive block 310, sliding shoe 311 and first back-moving spring 314 are set one locker 7
Be placed on the closer locker 7 of power assembly, the lower end of the second scissor arms 313 with apart from the closer locker of power assembly
The upper end of 7 connections, the lower end of the first scissor arms 312 and the second scissor arms 313 connects with apart from the farther away locker 7 of power assembly
It connects.All displacement rack gears 307 of pushing handle telescopic control mechanism are all set in storing nearest apart from power assembly in all lockers 7
On cabinet 7.
Warehousing system of the invention further includes controller, scanner and miniature bar code printer, the first displacement motor 301,
Second displacement motor 302, first motor, the second motor, third motor and lifting motor 416 are under control of the controller, and first
Conjugating motor 301, second and conjugating motor 302, first motor, the second motor, third motor and lifting motor 416 is preferably stepping
Motor.Scanner and miniature bar code printer are set on container 2, and printer is scanned for printing storing bar code receipt
Device is for being scanned to the bar code on storing bar code receipt, and bar code is stored with code scaning information, and code scaning information is goods
Object is stored in the coordinate information of some storage chamber in locker 7.The structure of scanner and miniature bar code printer is such as this field
As well known to technical staff, details are not described herein.
The present invention also provides a kind of stock methods of warehousing system, and warehousing system using the above structure needs stock
When, cargo is placed at the access port 202 of container 2 deposits goods taking device 4 first, then deposited goods taking device 4 and bring into operation, with
At goods handling to specified locker 7；Displacement device 3 is run, and displacement device 3 makes specified locker 7 and adjacent storage
The distance between object cabinet 7 is in maximum rating, finally accesses goods dress and places goods on specified locker 7.
The present invention also provides a kind of picking methods of warehousing system, and warehousing system using the above structure needs picking
When, displacement device 3 is run first, and displacement device 3 makes the distance between specified locker 7 and adjacent locker 7 in most
Big state；The operation of goods taking device 4 is deposited, access goods dress removes cargo from specified locker 7, and then depositing goods taking device 4 will
At goods handling to the access port 202 of container 2, cargo is finally taken out at access port 202.
During the stock of above-mentioned warehousing system and picking, specified locker 7 and adjacent locker 7 pass through scissor
The connection of formula telescoping mechanism is pushed specified locker 7 mobile by scissor type telescopic mechanism or is pushed adjacent with specified locker 7
Locker 7 it is mobile.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
1. the stock method of automated warehouse storage system, it is characterised in that: warehousing system includes container, for storing cargo and in goods
It is multiple lockers arranged side by side inside case, for picking up depositing goods taking device and being moved for controlling locker for cargo
To adjust the displacement device of the distance between two neighboring locker, container has the access port for allowing cargo to pass through；
When needing stock, cargo is placed at the access port of container deposits goods taking device first, then deposited goods taking device and start
Operation, at goods handling to specified locker；Displacement device operation, displacement device make specified locker and adjacent
The distance between locker is in maximum rating, finally accesses goods dress and places goods on specified locker.
2. the stock method of automated warehouse storage system according to claim 1, it is characterised in that: the displacement device includes
It the scissor type telescopic mechanism that is connect with two adjacent lockers and connect with scissor type telescopic mechanism and is cut for controlling
The pushing handle telescopic control mechanism that V shape telescoping mechanism is extended or shunk, scissor type telescopic mechanism are arranged multiple and each scissor-type and stretch
Contracting mechanism is connect with every two adjacent lockers respectively.
3. the stock method of automated warehouse storage system according to claim 2, it is characterised in that: the pushing handle telescopic control mechanism
Including power assembly, switching mechanism, force-increasing mechanism and power transfer mechanism, multiple and each force-increasing mechanism point is arranged in force-increasing mechanism
It is not connect with a scissor type telescopic mechanism, power transfer mechanism setting is multiple and each power transfer mechanism is respectively with one
A force-increasing mechanism connection, switching mechanism is for controlling power assembly and each power transfer mechanism in bonding state and discrete state
Between switch over.
4. the stock method of automated warehouse storage system according to claim 3, it is characterised in that: the power assembly includes
Drive shaft, the driving gear being sheathed in drive shaft and the first displacement motor with driving axis connection, drive gear and drive shaft
Synchronous rotary and driving gear can be move alonged the axial direction relative to drive shaft；The power transfer mechanism include and driving gear
The displacement rack gear of engagement, connect with the force-increasing mechanism and for the reinforcement bar that is rotatably arranged on the locker and with change
Position rack gear connection and the pull rod for applying the pulling force for rotating it to reinforcement bar, pull rod and displacement rack gear are horizontally disposed and draw
The axis perpendicular of the length direction of bar and the drive shaft；Force-increasing mechanism includes the driving being movably set on locker
Block and the sliding shoe for being movably arranged and matching with drive block, the moving direction of sliding shoe mutually hang down with the moving direction of drive block
Directly, sliding shoe is connect with the scissor type telescopic mechanism, and drive block is connect with the power transfer mechanism.
5. the stock method of automated warehouse storage system according to claim 4, it is characterised in that: the switching mechanism includes
Second conjugates motor, the screw shaft connecting with the second displacement motor and is sheathed in the drive shaft and is screw thread company with screw shaft
The nut seat connect, when the second displacement motor operates, the driving gear is pushed by nut seat and the axial direction along drive shaft is moved
It is dynamic.
6. the picking method of automated warehouse storage system, it is characterised in that: warehousing system includes container, for storing cargo and in goods
It is multiple lockers arranged side by side inside case, for picking up depositing goods taking device and being moved for controlling locker for cargo
To adjust the displacement device of the distance between two neighboring locker, container has the access port for allowing cargo to pass through；
When needing picking, first displacement device run, displacement device make between specified locker and adjacent locker away from
From in maximum rating；Goods taking device operation is deposited, access goods dress removes cargo from specified locker, then accesses goods dress
It sets at the access port of goods handling to container, cargo is finally taken out at access port.
7. the picking method of automated warehouse storage system according to claim 6, it is characterised in that: the displacement device includes
It the scissor type telescopic mechanism that is connect with two adjacent lockers and connect with scissor type telescopic mechanism and is cut for controlling
The pushing handle telescopic control mechanism that V shape telescoping mechanism is extended or shunk, scissor type telescopic mechanism are arranged multiple and each scissor-type and stretch
Contracting mechanism is connect with every two adjacent lockers respectively.
8. the picking method of automated warehouse storage system according to claim 7, it is characterised in that: the pushing handle telescopic control mechanism
Including power assembly, switching mechanism, force-increasing mechanism and power transfer mechanism, multiple and each force-increasing mechanism point is arranged in force-increasing mechanism
It is not connect with a scissor type telescopic mechanism, power transfer mechanism setting is multiple and each power transfer mechanism is respectively with one
A force-increasing mechanism connection, switching mechanism is for controlling power assembly and each power transfer mechanism in bonding state and discrete state
Between switch over.
9. the picking method of automated warehouse storage system according to claim 8, it is characterised in that: the power assembly includes
Drive shaft, the driving gear being sheathed in drive shaft and the first displacement motor with driving axis connection, drive gear and drive shaft
Synchronous rotary and driving gear can be move alonged the axial direction relative to drive shaft；The power transfer mechanism include and driving gear
The displacement rack gear of engagement, connect with the force-increasing mechanism and for the reinforcement bar that is rotatably arranged on the locker and with change
Position rack gear connection and the pull rod for applying the pulling force for rotating it to reinforcement bar, pull rod and displacement rack gear are horizontally disposed and draw
The axis perpendicular of the length direction of bar and the drive shaft；Force-increasing mechanism includes the driving being movably set on locker
Block and the sliding shoe for being movably arranged and matching with drive block, the moving direction of sliding shoe mutually hang down with the moving direction of drive block
Directly, sliding shoe is connect with the scissor type telescopic mechanism, and drive block is connect with the power transfer mechanism.
10. the picking method of automated warehouse storage system according to claim 9, it is characterised in that: the switching mechanism packet
It includes the second displacement motor, the screw shaft connecting with the second displacement motor and is sheathed in the drive shaft and is screw thread with screw shaft
The nut seat of connection, when the second displacement motor operates, the driving gear is pushed by nut seat and is carried out along the axial direction of drive shaft
It is mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810900323.4A CN109018800B (en) | 2018-08-09 | 2018-08-09 | Stock and goods taking method of automatic warehousing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810900323.4A CN109018800B (en) | 2018-08-09 | 2018-08-09 | Stock and goods taking method of automatic warehousing system |
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| Publication Number | Publication Date |
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| CN109018800A true CN109018800A (en) | 2018-12-18 |
| CN109018800B CN109018800B (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810900323.4A Active CN109018800B (en) | 2018-08-09 | 2018-08-09 | Stock and goods taking method of automatic warehousing system |
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| CN110422531A (en) * | 2019-08-20 | 2019-11-08 | 浙江台华新材料股份有限公司 | A kind of blank panel head automatic access frame and its working method |
| CN111711107A (en) * | 2020-05-09 | 2020-09-25 | 许继三铃专用汽车有限公司 | Centralized maintenance box and electric power operation vehicle with same |
| CN112758580A (en) * | 2021-01-20 | 2021-05-07 | 上海号息智能科技有限公司 | Goods storage and taking trolley adopting uninterrupted power supply and vertical warehouse |
| CN113627857A (en) * | 2021-08-24 | 2021-11-09 | 北京京东乾石科技有限公司 | Method for storing and taking out articles, stock system, device, equipment and medium |
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| CN113627857A (en) * | 2021-08-24 | 2021-11-09 | 北京京东乾石科技有限公司 | Method for storing and taking out articles, stock system, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109018800B (en) | 2020-04-21 |
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