CN109649912A - A kind of unmanned warehouse management system - Google Patents
A kind of unmanned warehouse management system Download PDFInfo
- Publication number
- CN109649912A CN109649912A CN201910041719.2A CN201910041719A CN109649912A CN 109649912 A CN109649912 A CN 109649912A CN 201910041719 A CN201910041719 A CN 201910041719A CN 109649912 A CN109649912 A CN 109649912A
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- Prior art keywords
- management system
- capsule
- unmanned warehouse
- arc
- clinch
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses a kind of unmanned warehouse management systems, belong to unmanned warehouse field, a kind of unmanned warehouse management system, including unmanned warehouse system, the unmanned warehouse system includes background management system, AGV server, an apt word added to clinch the point mechanical arm server and mobile APP, the cooperative cooperating of AGV and mechanical arm can be passed through, to replace artificial outbound, storage, it makes an inventory, be conducive to improve access efficiency, prevent the error of warehouse materials quantity and reduces personal management cost, it can satisfy pursuit of the people to modern warehouse homework, simultaneously on an apt word added to clinch the point mechanical arm the self-deformation protection capsule of mechanical clamp hand inner wall use, allow mechanical clamp hand inner surface according to the shape self-deformation of surface of material, realize the effect of seamless clamping between material and mechanical clamp hand, reduction crushes the probability that material or material are fallen, and then improve this unmanned storehouse Library ties up to out the working efficiency in storage and inventory procedure.
Description
Technical field
The present invention relates to unmanned warehouse fields, more specifically to a kind of unmanned warehouse management system.
Background technique
The storage that goes out in traditional warehouse needs worker to complete, and the degree of automation of this mode is low, goes out storage low efficiency, and
It is also easy to occur making an inventory error, out storage error and the nonsynchronous problem of information；With the development of society, especially electronics quotient
The high speed development of business and logistic industry, traditional warehouse can no longer meet enterprise and the personal pursuit to efficiency and accuracy rate,
Efficiency, automation and synchronizing information chemical conversion are the pursuit to warehouse homework.
Although having occurred unmanned warehouse in the prior art, such unmanned warehouse is only equipped with AGV fork truck, by such
Fork truck replaces worker's picking stock, resolution identification can not be carried out to cargo, and can only pinpoint and mention to fixed cargo
Take transport, it is intelligent low, cannot achieve the accurate management to unmanned warehouse, the mechanical clamp hand on existing mechanical arm be so that
Clamp more steady when material, mechanical clamp hand usually has a radian of certain interior receipts, and this radian can make mechanical clamp hand with
A fixed gap is formed between material, so that material discontinuity is easily damaged, when mechanical clamp hand presss from both sides material tension, is easily pressed from both sides bad
Material due to the presence in gap, causes material easily to fall from mechanical clamp hand, this is not only when mechanical clamp hand folder material is excessively loose
Material can be damaged, working efficiency when material goes out storage can be also seriously affected.
Summary of the invention
1. technical problems to be solved
Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a kind of unmanned warehouse management system, it
To replace artificial outbound, be put in storage, make an inventory, it can be conducive to improve access efficiency, Du by the cooperative cooperating of AGV and mechanical arm
Exhausted warehouse materials quantity error and reduction personal management cost, can satisfy pursuit of the people to modern warehouse homework, simultaneously
The use of the self-deformation protection capsule of mechanical clamp hand inner wall, allows mechanical clamp hand inner surface according to material table on an apt word added to clinch the point mechanical arm
The shape self-deformation in face realizes the effect of seamless clamping between material and mechanical clamp hand, reduces crushing material or material falls
Probability to achieve the effect that protect material in going out storage and inventory procedure, and then improves this unmanned warehouse and ties up to discrepancy
Working efficiency in library and inventory procedure.
2. technical solution
To solve the above problems, the present invention adopts the following technical scheme that.
A kind of unmanned warehouse management system, including unmanned warehouse system, the unmanned warehouse system include back-stage management system
System, AGV server, an apt word added to clinch the point mechanical arm server and mobile APP, the background management system includes user management, task pipe
Reason, handling of goods and materials, in-out-storehouse management, log management and fork truck management, the mobile APP and background management system signal connect
It connects, the AGV server and an apt word added to clinch the point mechanical arm server has been electrically connected AGV fork truck and an apt word added to clinch the point mechanical arm, described an apt word added to clinch the point
Mechanical arm is mounted on AGV fork truck, and the AGV fork truck is connect with background management system by wireless signal, and described that an apt word added to clinch the point is mechanical
Arm front end is equipped with infrared scanner, and the infrared scanner is connect with background management system by wireless signal, and described an apt word added to clinch the point
Mechanical arm lower end is electrically connected with mechanical clamp hand, and the machinery clamp hand inner wall is equipped with self-deformation and protects capsule, can pass through AGV and machine
The cooperative cooperating of tool arm is conducive to improve access efficiency, prevents warehouse materials quantity and go out to replace artificial outbound, be put in storage, make an inventory
It is wrong and reduce personal management cost, it can satisfy pursuit of the people to modern warehouse homework, while mechanical on an apt word added to clinch the point mechanical arm
The use of the self-deformation protection capsule of clamp hand inner wall allows mechanical clamp hand inner surface according to the shape self-deformation of surface of material,
Realize the effect of seamless clamping between material and mechanical clamp hand, reduction crushes the probability that material or material are fallen, to reach
The effect of material is protected in storage and inventory procedure out, and then improves this unmanned warehouse and ties up to out in storage and inventory procedure
Working efficiency.
Further, the background management system and AGV server-side are communicated by Socket, using Socket communication with
AGV server is communicated, and reads AGV fork truck state in real time, by status information storage into memory, then by the data in memory
It reads out, is shown to front-end interface, that is, moves the interface of APP.
Further, the material interface of arriving at a station on the mobile APP uses the function of the periodic refreshing page, the refresh page
It is divided between face 1 second, as long as the interface can be refreshed once every 1 second into material interface of arriving at a station, obtains the material that arrives at a station in real time
Information.
Further, the state of task entry and AGV fork truck is stored in memory in the task management, described interior
It deposits and uses redis.
Further, the self-deformation protection capsule includes arc compensation capsule, the arc compensation capsule and mechanical clamp hand inner wall
It is fixedly connected, arc compensation capsule has just filled up the radian of mechanical clamp hand, so that machinery clamp hand will not be with object when clamping material
Gap is formed between material, while when clamping material, arc compensates capsule can be according to the shape of material and arc compensation capsule contact surface
Shape self-deformation, so that the effect of seamless clamping may be implemented between mechanical clamp hand and material, so that clamping effect is more preferable, institute
It states mechanical clamp hand inner wall and is fixedly connected with multiple equally distributed fixed point struts, multiple fixed point struts are respectively positioned on arc compensation
Intracapsular side, when an apt word added to clinch the point mechanical arm carries out clamping material using mechanical clamp hand when, arc compensation capsule can be contacted with material, arc compensation
It can be compressed at contact point on capsule, until material offsets across arc compensation capsule and fixed point strut, while arc compensation capsule is certainly
The compressed outside outer surface extended and be attached to material at contact point, so that there is no skies between mechanical clamp hand and material
Gap, then cooperate the elastic reaction of arc compensation capsule, the probability that material is pinched or falls is significantly reduced, reaches and to be put in storage
And the effect of material is protected in inventory procedure, and then improve the work that this unmanned warehouse ties up to out in storage and inventory procedure
Efficiency.
Further, the fixed point strut includes fixed point top and support tail end, and the fixed point top and support tail end are solid
Fixed connection, and tail end is supported to be fixedly connected with mechanical clamp hand inner wall, the support tail end is column, and support tail end is to fixed point top
Play a supporting role, the fixed point top be it is spherical, smooth surface without corner angle, on the one hand can protect arc compensation capsule, make
Arc is not easy to be scratched when compensating capsule with fixed point tip contact, on the other hand can protect material, in clamping process, material meeting
It is in contact across arc compensation capsule with fixed point top, spherical surface can protect the contact point of material therewith and be not easy stress collection
In and be pinched.
Further, the fixed point top is soft materials so that in clamping process, material across arc compensation capsule with
Contact when, be not easy to be pinched because its hardness is excessive, at the same also can protect arc compensation capsule be not easy to be extruded aging, it is described
Supporting tail end is rigid material, and the intensity of fixed point strut can be improved in support tail end, so that entirely fixed point strut is being squeezed
Shi Buyi integrally deforms, to improve clamping effect.
Further, the arc compensation is intracapsular is filled with gas, so that arc compensates capsule in the extruding by material,
Arc compensates intracapsular gas and can arrange outward from stress point, so that arc compensation capsule extends outwardly from contact point and adaptive object
The shape of material contact surface keeps clamping effect more preferable to realize the seamless clamping of mechanical clamp hand and storeroom, and reduction crushes material
Or the probability that material is fallen.
Further, the arc compensation capsule is woven by nylon wire, and nylon wire has strong tensile property, to make
It is more preferable to obtain arc compensation capsule intensity, so that arc compensation capsule is non-aging when being squeezed by material or splits, the arc is mended
Intracapsular surface is repaid coated with seal rubber, so that arc compensation capsule has leakproofness, the gas for keeping it internal is not easy to be leaked, from
And the ability of the stress self-deformation of arc compensation capsule is kept, arc compensation capsule outer surface is coated with LINE-X paint coatings,
LINE-X coating has excellent impact resistance and brilliant tensile strength (up to 6600 pounds), makes its outstanding abrasion resistance,
To effectively improve the wearability of arc compensation capsule, it is made to be not easy to can effectively improve self-deformation protection capsule because being added by material
Service life.
Further, steel ball is enclosed at the inside center of the fixed point top, outside the edge and fixed point top of the steel ball
The distance between surface is 5-8mm, and the intensity on fixed point top can be improved in steel ball, makes to pinpoint top with outer soft interior hard property
Can, the clamping effect of mechanical clamp hand is improved, so that material is not easy to fall.
3. beneficial effect
Compared with the prior art, the present invention has the advantages that
(1) this programme can be by the cooperative cooperating of AGV and mechanical arm, to replace artificial outbound, be put in storage, make an inventory, favorably
In improving access efficiency, preventing the error of warehouse materials quantity and reducing personal management cost, it can satisfy people to modern storehouse
The pursuit of library operation, at the same on an apt word added to clinch the point mechanical arm the self-deformation protection capsule of mechanical clamp hand inner wall use so that in mechanical clamp hand
Surface can realize the effect of seamless clamping between material and mechanical clamp hand, reduce folder according to the shape self-deformation of surface of material
Hurt the probability that material or material are fallen, to achieve the effect that protect material in going out storage and inventory procedure, and then improves
This unmanned warehouse ties up to out the working efficiency in storage and inventory procedure.
(2) background management system and AGV server-side are communicated by Socket, using Socket communication and AGV server into
Row communication, reads AGV fork truck state in real time, and status information storage is come out into memory, then by the reading data in memory, is shown
Show front-end interface, that is, moves the interface of APP.
(3) the material interface of arriving at a station on mobile APP uses the function of the periodic refreshing page, is divided into 1 second between refresh page,
As long as the interface can be refreshed once every 1 second into material interface of arriving at a station, the material information that arrives at a station is obtained in real time.
(4) state of task entry and AGV fork truck is stored in memory in task management, and memory uses redis.
(5) self-deformation protection capsule includes arc compensation capsule, and arc compensates capsule and is fixedly connected with mechanical clamp hand inner wall, and arc is mended
The radian that capsule has just filled up mechanical clamp hand is repaid, so that machinery clamp hand will not form gap between material when clamping material,
Simultaneously when clamping material, arc compensates capsule can be according to the shape self-deformation of material and arc compensation capsule contact surface, to make
The effect that seamless clamping may be implemented between mechanical clamp hand and material is obtained, so that clamping effect is more preferable, mechanical clamp hand inner wall is fixed
Multiple equally distributed fixed point struts are connected with, multiple fixed point struts are respectively positioned on arc and compensate intracapsular side, and mechanical arm makes when an apt word added to clinch the point
When carrying out clamping material with mechanical clamp hand, arc compensation capsule can be contacted with material, can be pressed at the contact point on arc compensation capsule
Contracting, until material offsets across arc compensation capsule and fixed point strut, while arc compensation capsule is compressed to extension from contact point
The outer surface of material is opened up and be attached to, so that gap is not present between mechanical clamp hand and material, then cooperates arc compensation capsule
Elastic reaction significantly reduces the probability that material is pinched or falls, and reaches the protection in going out storage and inventory procedure
The effect of material, and then improve the working efficiency that this unmanned warehouse ties up to out in storage and inventory procedure.
(6) fixed point strut includes fixed point top and support tail end, and fixed point top is fixedly connected with support tail end, and supports tail
End is fixedly connected with mechanical clamp hand inner wall, and support tail end is column, and support tail end plays a supporting role to fixed point top, fixed point top
It is spherical for holding, on the one hand smooth surface can protect arc compensation capsule without corner angle, makes arc compensation capsule and pinpoints tip contact
Shi Buyi is scratched, and on the other hand can protect material, and in clamping process, material can compensate capsule and fixed point top across arc
It is in contact, spherical surface can protect the contact point of material therewith and be not easy stress concentration and be pinched.
(7) fixed point top is soft materials, so that in clamping process, when material is contacted across arc compensation capsule,
It is not easy to be pinched because its hardness is excessive, while also can protect arc compensation capsule and being not easy to be extruded aging, support tail end is hard
Property material, support tail end can be improved fixed point strut intensity so that entirely fixed point strut whole hair is not easy when being squeezed
Change shape, to improve clamping effect.
(8) arc compensation is intracapsular is filled with gas, so that arc compensates capsule in the extruding by material, arc compensates capsule
Interior gas can arrange outward from stress point, so that arc compensates capsule and extends outwardly from contact point and adaptive material contact surface
Shape keeps clamping effect more preferable to realize the seamless clamping of mechanical clamp hand and storeroom, and reduction crushes material or material is fallen
Probability.
(9) arc compensation capsule is woven by nylon wire, and nylon wire has strong tensile property, so that arc compensates
Capsule intensity is more preferable, so that arc compensation capsule is non-aging when being squeezed by material or splits, arc compensates intracapsular surface coating
There is seal rubber, so that arc compensation capsule has leakproofness, the gas for keeping it internal is not easy to be leaked, so that arc be kept to compensate
The ability of the stress self-deformation of capsule, arc compensation capsule outer surface are coated with LINE-X paint coatings, and LINE-X coating has excellent
Impact resistance and brilliant tensile strength (up to 6600 pounds), make its outstanding abrasion resistance, to effectively improve arc benefit
The wearability for repaying capsule makes it be not easy to can effectively improve the service life of self-deformation protection capsule because being added by material.
(10) it pinpoints and is enclosed with steel ball at the inside center of top, the distance between edge and fixed point top outer surface of steel ball
For 5-8mm, the intensity on fixed point top is can be improved in steel ball, is made to pinpoint top with outer soft interior hard performance, is improved mechanical clamp hand
Clamping effect so that material is not easy to fall.
Detailed description of the invention
Fig. 1 is main system block diagram of the invention；
Fig. 2 is the broad flow diagram for being created that inbound task of the invention；
Fig. 3 is the broad flow diagram for going out inbound task of the invention；
Fig. 4 is the structural schematic diagram of AGV fork truck of the invention and an apt word added to clinch the point mechanical arm；
Fig. 5 is the structural schematic diagram of the mechanical clamp hand on AGV fork truck of the invention；
Fig. 6 is the structural schematic diagram in Fig. 5 at A.
Figure label explanation:
1AGV fork truck, 2 an apt word added to clinch the point mechanical arms, 3 mechanical clamp hands, 4 arcs compensation capsule, 5 fixed point struts, 501 fixed point tops, 502
Support tail end, 6 infrared scanners.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention；Technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description；Obviously；Described embodiments are only a part of the embodiments of the present invention；Instead of all the embodiments, it is based on
Embodiment in the present invention；It is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment；It shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the instruction such as term " on ", "lower", "inner", "outside" " top/bottom end "
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and cannot understand
For indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " is set
Be equipped with ", " be arranged/connect ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, be also possible to removable
Connection is unloaded, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be in
Between medium be indirectly connected, can be the connection inside two elements.It for the ordinary skill in the art, can be specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
Embodiment 1:
Referring to Fig. 1, a kind of unmanned warehouse management system, including unmanned warehouse system, unmanned warehouse system include backstage
Management system, AGV server, an apt word added to clinch the point mechanical arm server and mobile APP, are realized by unmanned warehouse system to AGV fork truck 1
Mechanical arm 2 carries out intelligent control with an apt word added to clinch the point, and background management system includes user management, task management, handling of goods and materials, enters and leaves depositary management
Reason, log management and fork truck management, mobile APP are connect with background management system signal, and background management system is managed for user
Reason, task management, handling of goods and materials, in-out-storehouse management, log management and fork truck management；AGV server is for dispatching intelligent fork
Vehicle, and feedback intelligent fork truck state；An apt word added to clinch the point, and 2 server of mechanical arm is used to dispatch mechanical arm and intelligent forklift cooperative cooperating, mobile
APP goes out to be put in storage for material, storage log is written out and sends instruction allows fork truck Hui Ku.Then administrative staff are moved by hand-held
The all working of unmanned storekeeper management can be completed in dynamic APP, and the material interface of arriving at a station on mobile APP is using the periodic refreshing page
Function is divided into 1 second between refresh page, if into material interface of arriving at a station, the interface can refresh every 1 second it is primary, in real time
Acquisition is arrived at a station material information, and the state of task entry and AGV fork truck 1 is stored in memory in task management, and memory uses
redis。
Fig. 2-3 is please referred to, corresponding item number is attached on cargo, realizes the one-to-one correspondence of item number and cargo, convenient for subsequent
Infrared scanner 6 on an apt word added to clinch the point mechanical arm 2 identifies that item number may recognize that cargo, then material list is established according to item number, in cargo
When needing to be put in storage out, material list is input to background management system, and inputs corresponding task, is given to idle AGV fork truck 1, reads in real time
1 state of AGV fork truck is taken, status information storage is come out into memory, then by the reading data in memory, is shown to front end circle
Face, that is, move the interface of APP, so that whether monitor AGV fork truck 1 idle, idle AGV can Automatic-searching free time shelf place the goods
Object, an apt word added to clinch the point on AGV fork truck 1, and mechanical arm 2 is accurately put into the cargo of corresponding item number on shelf, and AGV fork truck 1, which records, places position
It sets and shelf and passes to background management system, correspondence when convenient for subsequent outbound and making an inventory；Correspondingly, carrying out outbound handle
When making an inventory, AGV fork truck 1 is driven at an apt word added to clinch the point mechanical arm 2 to the cargo for needing outbound or making an inventory, and by an apt word added to clinch the point, mechanical arm 2 is identified,
It is grabbed if outbound, or makes an inventory and carry out corresponding record, so controlled by the management of background system, AGV fork truck 1 and point
Eyeball mechanical arm 2 cooperates the storage for completing cargo, outbound and makes an inventory, and can be accurately positioned each item number, background management system
It is communicated with AGV server-side by Socket, is communicated using Socket and communicated with AGV server.
Referring to Fig. 4, AGV server and an apt word added to clinch the point mechanical arm server has been electrically connected AGV fork truck 1 and that an apt word added to clinch the point is mechanical
Arm 2, an apt word added to clinch the point, and mechanical arm 2 is mounted on AGV fork truck 1, and AGV fork truck 1 is connect with background management system by wireless signal, an apt word added to clinch the point machine
2 front end of tool arm is equipped with infrared scanner 6, and infrared scanner 6 is connect with background management system by wireless signal, and it is mechanical that an apt word added to clinch the point
2 lower end of arm is electrically connected with mechanical clamp hand 3, and mechanical 3 inner wall of clamp hand is equipped with self-deformation and protects capsule.
Referring to Fig. 5, self-deformation protection capsule includes arc compensation capsule 4, arc compensation capsule 4 is woven by nylon wire, Buddhist nun
Imperial line has strong tensile property, so that arc compensation capsule semi-finals degree is more preferable, so that arc compensates capsule 4 and squeezes by material
Non-aging or split when pressure, arc compensates 4 inner surface of capsule and is coated with seal rubber, so that arc compensation capsule 4 has leakproofness,
The gas for keeping it internal is not easy to be leaked, to keep the ability of the stress self-deformation of arc compensation capsule 4, arc is compensated outside capsule 4
Surface is coated with LINE-X paint coatings, and LINE-X coating has excellent impact resistance and brilliant tensile strength (up to
6600 pounds), make its outstanding abrasion resistance, to effectively improve the wearability of arc compensation capsule 4, is not easy it because being added by material
On, can effectively improve the service life of self-deformation protection capsule, arc, which compensates, is filled with gas in capsule 4, which can be air,
It can be carbon dioxide, nitrogen and inert gas etc., so that arc compensates capsule 4 in the extruding by material, arc compensates capsule 4
Interior gas can arrange outward from stress point, so that arc compensation capsule 4 extends outwardly from contact point and adaptive material contact surface
Shape keep clamping effect more preferable to realize the seamless clamping of mechanical clamp hand 3 with storeroom, reduction crushes material or material
The probability fallen, arc compensate capsule 4 and are fixedly connected with mechanical 3 inner wall of clamp hand, and arc compensation capsule 4 has just filled up mechanical clamp hand 3
Radian so that when clamping material, machinery clamp hand 3 will not form gap between material, while when clamping material, arc
Compensate capsule 4 can according to the shape self-deformation of material and arc compensation 4 contact surface of capsule so that mechanical clamp hand 3 and material it
Between the effect of seamless clamping may be implemented so that clamping effect is more preferable.
Mechanical 3 inner wall of clamp hand is fixedly connected with multiple equally distributed fixed point struts 5, and multiple fixed point struts 5 are respectively positioned on arc
Shape compensates the inside of capsule 4, when an apt word added to clinch the point mechanical arm 2 carries out clamping material using mechanical clamp hand 3 when, arc compensation capsule 4 can connect with material
Touching, arc compensates can be compressed at the contact point on capsule 4, until material offsets across arc compensation capsule 4 and fixed point strut 5, together
When arc compensation capsule 4 compressed outside extension and be attached to the outer surface of material from contact point so that mechanical clamp hand 3 and object
Between material be not present gap, then cooperate arc compensation capsule 4 elastic reaction, significantly reduce material be pinched or fall it is several
Rate, achieve the effect that go out storage and inventory procedure in protect material, and then improve this unmanned warehouse tie up to out storage and
Working efficiency in inventory procedure.
Referring to Fig. 6, fixed point strut 5 includes fixed point top 501 and support tail end 502, fixed point top 501 and support tail end
502 are fixedly connected, and tail end 502 is supported to be fixedly connected with mechanical 3 inner wall of clamp hand, and support tail end 502 is column, support tail end
502 pairs of fixed point tops 501 are played a supporting role, fixed point top 501 be it is spherical, on the one hand smooth surface can be protected without corner angle
It protects arc and compensates capsule 4, make arc compensation capsule 4 be not easy to be scratched when contacting with fixed point top 501, on the other hand can protect object
Material, in clamping process, material can compensate capsule 4 across arc and be in contact with fixed point top 501, and spherical surface can protect object
The contact point of material therewith is not easy stress and concentrates and be pinched, and fixed point top 501 is soft materials, so that in clamping process,
When material is contacted across arc compensation capsule 4, it is not easy to be pinched because its hardness is excessive, while also can protect arc compensation
Capsule 4 is not easy to be extruded aging, and support tail end 502 is rigid material, and support tail end 502 can be improved the intensity of fixed point strut 5, make
It entirely fixed point strut 5 must be not easy integrally to deform when being squeezed, to improve clamping effect, pinpoint inside top 501
Steel ball is enclosed at center, the distance between edge and fixed point 501 outer surface of top of steel ball are 7mm, and steel ball can be improved fixed
The intensity on point top 501 makes to pinpoint top 501 with outer soft interior hard performance, improves the clamping effect of mechanical clamp hand 3, so that
Material is not easy to fall.
Relative to the simple movement of former AGV fork truck 1, this system by the cooperative cooperating of AGV and an apt word added to clinch the point mechanical arm 2, and
Cooperate intelligentized management system, realize goods warehousing, outbound and make an inventory and accurately record, prevents warehouse materials number
Measure wrong situation；And the cooperation of AGV fork truck 1 and an apt word added to clinch the point mechanical arm 2, accurate cargo access can be carried out according to task；This
Outside, stock clerk only needs to hold management APP, inputs corresponding task, can be completed and goes out to be put in storage task of making an inventory, pole accordingly
Big reduces worker's cost, at the same on an apt word added to clinch the point mechanical arm 2 the self-deformation protection capsule of 3 inner wall of mechanical clamp hand use so that machine
3 inner surface of tool clamp hand can realize the effect of seamless clamping between material and mechanical clamp hand 3 according to the shape self-deformation of surface of material
Fruit, reduction crush the probability that material or material are fallen, thus achieve the effect that protect material in going out storage and inventory procedure,
And then improve the working efficiency that this unmanned warehouse ties up to out in storage and inventory procedure.
It is described above；It is merely preferred embodiments of the present invention；But scope of protection of the present invention is not limited thereto；
Anyone skilled in the art is in the technical scope disclosed by the present invention；According to the technique and scheme of the present invention and its
It improves design and is subject to equivalent substitution or change；It should be covered by the scope of protection of the present invention.
Claims (10)
1. a kind of unmanned warehouse management system, including unmanned warehouse system, it is characterised in that: after the unmanned warehouse system includes
Platform management system, AGV server, an apt word added to clinch the point mechanical arm server and mobile APP, the background management system include user's pipe
Reason, task management, handling of goods and materials, in-out-storehouse management, log management and fork truck management, the mobile APP and back-stage management system
It unites signal connection, the AGV server and an apt word added to clinch the point mechanical arm server has been electrically connected AGV fork truck (1) and an apt word added to clinch the point machinery
Arm (2), described an apt word added to clinch the point that mechanical arm (2) is mounted on AGV fork truck (1), and the AGV fork truck (1) and background management system pass through nothing
The connection of line signal, described an apt word added to clinch the point mechanical arm (2) that front end is equipped with infrared scanner (6), and the infrared scanner (6) and backstage are managed
Reason system is connected by wireless signal, and described an apt word added to clinch the point mechanical arm (2) that lower end is electrically connected with mechanical clamp hand (3), the mechanical folder
Hand (3) inner wall is equipped with self-deformation and protects capsule.
2. a kind of unmanned warehouse management system according to claim 1, it is characterised in that: the background management system and
AGV server-side is communicated by Socket.
3. a kind of unmanned warehouse management system according to claim 1, it is characterised in that: arriving at a station on the mobile APP
Material interface uses the function of the periodic refreshing page, is divided into 1s between the refresh page.
4. a kind of unmanned warehouse management system according to claim 1, it is characterised in that: taskbar in the task management
The state of mesh and AGV fork truck (1) is stored in memory, and the memory uses redis.
5. a kind of unmanned warehouse management system according to claim 1, it is characterised in that: self-deformation protection capsule includes
Arc compensates capsule (4), and arc compensation capsule (4) is fixedly connected with mechanical clamp hand (3) inner wall, described machinery clamp hand (3) inner wall
Multiple equally distributed fixed point struts (5) are fixedly connected with, multiple fixed point struts (5) are respectively positioned in arc compensation capsule (4)
Side.
6. a kind of unmanned warehouse management system according to claim 5, it is characterised in that: the fixed point strut (5) includes
Top (501) and support tail end (502) are pinpointed, the fixed point top (501) is fixedly connected with support tail end (502), and supports
Tail end (502) is fixedly connected with mechanical clamp hand (3) inner wall, and the support tail end (502) is column, the fixed point top (501)
It is spherical.
7. a kind of unmanned warehouse management system according to claim 6, it is characterised in that: the fixed point top (501) is
Soft materials, the support tail end (502) are rigid material.
8. a kind of unmanned warehouse management system according to claim 5, it is characterised in that: in arc compensation capsule (4)
Filled with gas.
9. a kind of unmanned warehouse management system according to claim 5, it is characterised in that: arc compensation capsule (4) by
Nylon wire weaves, and arc compensation capsule (4) inner surface is coated with seal rubber, and the arc compensates capsule (4) outer surface
It is coated with LINE-X paint coatings.
10. a kind of unmanned warehouse management system according to claim 6, it is characterised in that: in the fixed point top (501)
Steel ball is enclosed at portion center, the distance between edge and fixed point top (501) outer surface of the steel ball are 5-8mm.
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