CN110065748B - A robot-assisted rotary automatic access method for goods and a three-dimensional container - Google Patents
A robot-assisted rotary automatic access method for goods and a three-dimensional container Download PDFInfo
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- CN110065748B CN110065748B CN201910249541.0A CN201910249541A CN110065748B CN 110065748 B CN110065748 B CN 110065748B CN 201910249541 A CN201910249541 A CN 201910249541A CN 110065748 B CN110065748 B CN 110065748B
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 210000000078 claw Anatomy 0.000 claims abstract description 46
- 238000005192 partition Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
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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
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Engineering & Computer Science (AREA)
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- Warehouses Or Storage Devices (AREA)
Abstract
本发明公开了一种机械手辅助的货物旋转式自动存取方法及立体货柜。现有货柜存取口多，存放包裹费时费力。本发明存取货的方法如下：打开盖板后，由驱动电机驱动货柜旋转，从而由货物存放口一次性存货；取货时，扫描证件或输入取货号，机械爪自动将货物送至取货箱。本发明立体货柜，包括盖体、座体、转轴、货柜、驱动电机、支撑杆、滑轨、取货箱、升降装置和机械爪；升降装置包括双轴电机、滑轮和滑块；机械爪包括电动推杆、步进电机、丝杠、基座、连杆和爪子。本发明简化了存取口，提高空间利用率，便于智能式自动存取。
The invention discloses a robot-assisted rotary automatic access method for goods and a three-dimensional container. Existing containers have many access ports, and it is time-consuming and labor-intensive to store packages. The method for storing and storing goods in the present invention is as follows: after opening the cover, the container is driven by the drive motor to rotate, so that the goods are stored at one time from the goods storage port; when picking up the goods, scan the certificate or input the pick-up number, and the mechanical claw automatically sends the goods to pick-up box. The three-dimensional container of the present invention includes a cover body, a base body, a rotating shaft, a container, a drive motor, a support rod, a slide rail, a cargo box, a lifting device and a mechanical claw; the lifting device includes a biaxial motor, a pulley and a slider; the mechanical claw includes Electric actuators, stepper motors, lead screws, bases, linkages and claws. The invention simplifies the access port, improves the space utilization rate, and facilitates intelligent automatic access.
Description
Technical Field
The invention belongs to the field of express logistics, and particularly relates to a manipulator-assisted rotary automatic cargo storing and taking method and a three-dimensional container.
Background
At present, online shopping is more and more popular, the number of small packages to be stored and taken is more and more large, and the small packages are particularly used in areas with more and more dense population, such as schools, companies and the like. Some vegetable and bird stagers often need to process thousands of small packages one day, which consumes a large amount of manpower and material resources; the traditional containers are all plane containers, and the storage and the taking of the packages are inconvenient. For self-service storage and taking of small packages, although a plurality of planar intelligent containers are available in the market, due to the fact that a plurality of storage and taking ports are provided, workers need to store the packages in a scattered mode, and time and labor are wasted; moreover, the positions of part of the access ports are higher, so that the access is very inconvenient; in addition, because of the planar container, the space utilization rate is far lower than that of the three-dimensional container.
Disclosure of Invention
The invention aims to provide a manipulator-assisted rotary automatic goods storing and taking method and a three-dimensional container, which simplify a storing and taking port, improve the space utilization rate and facilitate intelligent automatic storing and taking.
The technical scheme of the invention is as follows:
the invention relates to a manipulator-assisted rotary automatic goods storing and taking method, which comprises two processes of stock storing and goods taking;
the inventory process is specifically as follows:
1. a worker manually opens the cover plate at the position of the goods storage opening at the side part of the cover body through a key;
2. the control panel is operated, the driving motor is controlled to rotate through the control module, so that the stock area with the empty storage cabin body is rotated to the goods storage opening, and goods are placed into the empty storage cabin body in the stock area; the container is provided with n stock areas which are uniformly distributed along the circumferential direction, each stock area consists of m storage cabin bodies, n is more than or equal to 6, and m is more than or equal to 6.
3. If all the storage cabin bodies in the stock area at the goods storage opening are placed with goods and still need to store the goods, returning to the step 2; after all the goods are put in, the cover plate is manually closed.
The process of picking up goods is as follows:
firstly, a goods taker scans a certificate at an identity recognizer or inputs a goods taking number on a control panel, so that a control module reads goods taking information;
the control module controls the driving motor, so that the inventory area corresponding to the goods taking information of the goods taker is driven to rotate to the goods taking port;
the control module controls the opening of an electric cabin door at the top of the cover body at the cargo taking port;
the control module controls the double-shaft motor to rotate, and the double-shaft motor drives the pulley, so that the sliding block and the mechanical claw are driven to move to the position right above the storage cabin body corresponding to the goods taking information of the goods taker along the sliding rail; then, the control module controls a piston rod of the electric push rod to push out, so that the mechanical claw is driven to integrally descend into a storage cabin body corresponding to the goods taking information of the goods taker; then, the control module controls the stepping motor to rotate, the stepping motor drives the screw rod, so that the base is driven to move upwards, and each claw of the mechanical claw is driven to be closed through the connecting rod, so that goods are grabbed;
the control module controls the electric push rod to drive the mechanical claw to integrally move out of the storage cabin body and the goods taking hatch upwards, and then the control module controls the double-shaft motor to enable the sliding block and the mechanical claw to move to the position right above the goods taking box along the sliding rail;
sixthly, the control module controls the electric push rod to drive the mechanical claw to move downwards to be close to the container taking box, and then the control module controls the stepping motor to rotate reversely, so that the claws of the mechanical claw are opened, and the goods fall into the container taking box;
resetting the driving motor, the stepping motor, the double-shaft motor and the electric push rod;
the control module judges whether goods taking information is input from the identity recognizer or the control panel within t time after the goods are taken, t takes a value within 10-15 s, and if yes, the step ninthly is executed; otherwise, executing step (R);
ninthly, repeatedly executing the steps of firstly, secondly, fourthly, fifthly, sixthly, seventhly and eighthly;
and the control module controls the electric cabin door to close.
The invention relates to a manipulator-assisted rotary automatic goods storing and taking three-dimensional goods cabinet, which comprises a cover body, a base body, a rotating shaft, a goods cabinet, a driving motor, a supporting rod, a sliding rail, a goods taking box, a lifting device and a mechanical claw. The base is fixed on the supporting platform, and the cover body is detachably fixed on the base; both ends of the cover body are fixed with a sealing plate; four support rods are arranged in an array; the tops of the two support rods on one side of the cover body are welded with one slide rail, and the tops of the two support rods on the other side of the cover body are welded with the other slide rail; the bottoms of the four support rods are welded with the support platform; the rotating shaft is supported on a bearing seat through a bearing, and the bearing seat is fixed on the seat body; the base of the driving motor is fixed with the cover body, and the output shaft of the driving motor is fixed with the rotating shaft; the container is arranged in the cover body and the seat body and is fixed on the rotating shaft; the bottom of the cover body is provided with an arc-shaped surface, the top of the seat body is provided with an arc-shaped surface, and the radial distances between the two arc-shaped surfaces and the circular container are equal and are both smaller than 10 mm; the side part of the cover body is provided with a goods storage opening, and the bottom of the cover plate is connected with the cover body at the position below the goods storage opening through a hinge; the top of the cover plate is connected with the cover body through a lock; a goods taking hatch is formed in the top of the cover body; an electric cabin door is arranged at the cargo taking opening; the container is provided with n stock areas which are uniformly distributed along the circumferential direction, each stock area consists of m storage cabin bodies, n is more than or equal to 6, m is more than or equal to 6, and adjacent storage cabin bodies are separated by a partition plate. A goods taking box is arranged at one end of the base body and is fixed on the supporting platform; a control panel is arranged on the closing plate at the front part and is in communication connection with a control module, and a control signal end of a driving motor is connected with the control module; the motorized hatch is controlled by the control module.
The lifting device comprises a double-shaft motor, a pulley and a sliding block; the base of the double-shaft motor is fixed with the sliding block, the output shafts at two ends of the double-shaft motor are respectively fixed with a pulley, and the two pulleys and the two sliding rails respectively form a sliding pair. And the control signal end of the double-shaft motor is connected with the control module.
The mechanical claw comprises an electric push rod, a stepping motor, a lead screw, a base, a connecting rod and a claw; the cylinder body of the electric push rod is fixed at the bottom of the sliding block, and the base of the stepping motor is fixed on the piston rod of the electric push rod; an output shaft of the stepping motor is fixed with the lead screw; the base and the screw rod form a screw pair; one end of each of the four connecting rods is hinged with the base, and the other end of each of the four connecting rods is hinged with the middle of each of the four claws; the four claws are uniformly distributed along the circumferential direction, and the tail parts of the four claws are hinged with a base of the stepping motor; and the control signal ends of the stepping motors are connected with the control module.
The bearing for supporting the rotating shaft is axially limited by an end cover, and the end cover is connected with the sealing plate through a screw.
A cushion pad is arranged in the goods taking box.
An identity recognizer is further arranged on the front sealing plate, and a signal output end of the identity recognizer is connected with the control module.
The two slide rails penetrate through the inner cavity of the slide block, and the base of the double-shaft motor is fixed in the inner cavity of the slide block.
The invention has the beneficial effects that:
1. the invention can reduce the burden of workers by reducing cargo access ports;
2. the invention can improve the space utilization rate through the three-dimensional goods shelf;
3. the invention can improve convenience through the three-dimensional goods shelf, and the goods can be easily taken by the goods taker only at the bottom;
4. the invention adopts a storage and taking port, and compared with the traditional goods shelf, the invention avoids the defects that the goods taking position is too high and the package taking by a goods taker is not facilitated.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a side view of the present invention with the cover removed;
FIG. 4 is a schematic view of the lift of the present invention;
fig. 5 is a perspective view of the gripper structure of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, a manipulator-assisted rotary type automatic goods storage and taking three-dimensional container comprises a cover body 1, a base body 16, a rotating shaft 15, a container 14, a driving motor 30, a support rod 6, a slide rail 7, a goods taking box 10, a lifting device and a mechanical claw 27. The base body 16 is fixed on the supporting platform 28, and the cover body 1 is detachably fixed on the base body 16 (through bolts); both ends of the cover body 1 are fixed with a closing plate 5; four support rods 6 are arranged in an array; the tops of two support rods 6 on one side of the cover body 1 are welded with one slide rail 7, and the tops of two support rods 6 on the other side are welded with the other slide rail 7; the bottoms of the four support rods 6 are welded with the support platform 28; the rotating shaft 15 is supported on a bearing seat 13 through a bearing, and the bearing seat 13 is fixed on a seat body 16; the end cover axially limits the bearing and is connected with the closing plate 5 through a screw; the base of the driving motor 30 is fixed with the cover body 1, and the output shaft of the driving motor is fixed with the rotating shaft 15; the container 14 is arranged in the cover body 1 and the base body 16 and is fixed on the rotating shaft 15; the driving motor drives the container 14 to rotate; the bottom of the cover body 1 is provided with an arc-shaped surface, the top of the seat body 16 is provided with an arc-shaped surface, and the radial distances between the two arc-shaped surfaces and the circular container 14 are equal and are both smaller than 10 mm; because the cover body 1 and the base body 16 cover the container 14, the container 14 can not fall down when being covered by the container. A goods storage opening 2 is formed in the side part of the cover body 1, and the bottom of the cover plate 4 is connected with the cover body 1 at the position below the goods storage opening through a hinge 3; after the cover plate 4 is turned upwards to cover the goods storage opening 2, the top of the cover plate 4 can be locked with the cover body 1 (through a lock); the top of the cover body 1 is provided with a goods taking hatch 31; an electric cabin door is arranged at the goods taking hatch 31; the container 14 is provided with six storage areas, respectively noted A, B, C, D, E, F, evenly distributed along the circumference; each inventory area consists of six storage compartments, designated a, b, c, d, e, f, with adjacent storage compartments separated by a partition 29. A goods taking box 10 is arranged at one end of the base body 16, and the goods taking box 10 is fixed on a supporting platform 28; a buffer pad is arranged in the goods taking box 10 and used for buffering packages, so that the damage to the packages caused by the goods taking box when the mechanical claws put down the packages is avoided; an identity recognizer 11 and a control panel 12 are arranged on the front closing plate 5, the signal output end of the identity recognizer 11 is connected with a control module 17, the control panel 12 is in communication connection with the control module, and the control signal end of a driving motor is connected with the control module 17; the motorized hatch is controlled by the control module.
As shown in fig. 1 and 4, the lifting device includes a biaxial motor (biaxial extension asynchronous motor) 20, a pulley 19, and a slider 9; the two slide rails 7 penetrate through the inner cavity of the slide block 9; the base of the double-shaft motor 20 is fixed in the inner cavity of the sliding block 9, the output shafts 18 at the two ends of the double-shaft motor 20 are both fixed with pulleys 19, and the two pulleys 19 and the two sliding rails 7 respectively form a sliding pair. The control signal end of the double-shaft motor 20 is connected with the control module 17.
As shown in fig. 1 and 5, the gripper 27 includes an electric push rod 24, a stepping motor 8, a lead screw 25, a base 23, a link 21, and a claw 22; the cylinder body of the electric push rod 24 is fixed at the bottom of the slide block 9, and the base of the stepping motor 8 is fixed on the piston rod 26 of the electric push rod 24; an output shaft of the stepping motor 8 is fixed with the screw rod 25; the base 23 and the screw 21 form a screw pair; one ends of the four connecting rods 21 are hinged with the base 23, and the other ends of the four connecting rods are hinged with the middle parts of the four claws 22 respectively; the four claws 22 are uniformly distributed along the circumferential direction, and the tail parts of the claws are hinged with the base of the stepping motor 8; the control signal ends of the stepping motors 8 are all connected with the control module 17.
The manipulator-assisted automatic goods storing and taking method for the rotary type automatic goods storing and taking three-dimensional container comprises two processes of storing goods and taking goods;
the inventory process is specifically as follows:
1. the worker manually opens the cover plate 4 to open the goods storage opening 2 by a key;
2. operating the control panel 12 to control the rotation of the driving motor through the control module, thereby rotating the stock area with the empty storage cabin body to the goods storage opening 2, and placing the goods into the empty storage cabin body of the stock area;
3. if all the storage cabin bodies in the stock area at the goods storage opening 2 are placed with goods and the goods still need to be stored, returning to the step 2; after all the goods are put in, the cover plate 4 is manually closed.
The process of picking up goods is as follows:
firstly, the goods taker scans the certificate at the identity recognizer 11 or inputs a goods taking number on the control panel 12, so that the control module 17 reads the goods taking information; here, inputting the goods taking number as another reading way when the goods taking person information cannot be smoothly read due to the problem of identity recognition;
secondly, the control module 17 controls the driving motor 30 to rotate the driving rotating shaft 15, so as to drive the stock area corresponding to the goods taking information of the goods taker to rotate to the goods taking hatch 31;
the control module 17 controls the opening of the electric cabin door;
the control module 17 controls the double-shaft motor 20 to rotate, and the double-shaft motor 20 drives the pulley 19, so that the sliding block 9 and the mechanical claw 27 are driven to move along the sliding rail 7 to be right above the storage cabin body corresponding to the goods taking information of the goods taker; then, the control module 17 controls the piston rod 26 of the electric push rod 24 to push out, so as to drive the mechanical claw 27 to integrally descend into the storage cabin body corresponding to the goods taking information of the goods taker; then, the control module 17 controls the stepping motor 8 to rotate, and the stepping motor 8 drives the screw rod 25, so as to drive the base 23 to move upwards, so that each claw of the mechanical claw 27 is driven to be closed through the connecting rod 21, and the goods are grabbed;
the control module 17 controls the electric push rod 24 to drive the mechanical claw 27 to move upwards integrally out of the storage cabin, and then the control module 17 controls the double-shaft motor 20 to enable the sliding block 9 and the mechanical claw 27 to move to the position right above the goods taking box 10 along the sliding rail 7;
sixthly, the control module 17 controls the electric push rod 24 to drive the mechanical claw 27 to move downwards to be close to the cargo taking box 10, and then the control module 17 controls the stepping motor 8 to rotate reversely, so that the mechanical claw 27 is opened, and the cargo falls into the cargo taking box 10; the cushion pad in the cargo taking box can effectively prevent the cargo from being damaged;
the driving motor, the stepping motor 8, the double-shaft motor 20 and the electric push rod 24 are reset;
judging whether goods taking information is input from the identity recognizer 11 or the control panel 12 within 15s after the goods are taken by the control module, and if yes, executing a step ninthly; otherwise, executing step (R);
ninthly, performing the steps of firstly, secondly, fourthly, fifthly, sixthly, seventhly and eighthly repeatedly to avoid repeatedly opening and closing the electric cabin door in a short time;
the hatch is closed.
Claims (6)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910249541.0A CN110065748B (en) | 2019-03-29 | 2019-03-29 | A robot-assisted rotary automatic access method for goods and a three-dimensional container |
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| CN201910249541.0A CN110065748B (en) | 2019-03-29 | 2019-03-29 | A robot-assisted rotary automatic access method for goods and a three-dimensional container |
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| CN110065748A CN110065748A (en) | 2019-07-30 |
| CN110065748B true CN110065748B (en) | 2021-02-09 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110742408B (en) * | 2019-10-23 | 2023-08-04 | 桂林电子科技大学 | Intelligent wardrobe based on image recognition technology and use method |
| CN111301551B (en) * | 2020-02-22 | 2021-05-25 | 杭州电子科技大学 | A fully magnetic control robot based on origami art with magnetic rod structure and its magnetic control method |
| CN111582783B (en) * | 2020-04-27 | 2023-06-20 | 贵州电网有限责任公司 | Intelligent tool management cabinet |
| CN111498360B (en) * | 2020-05-08 | 2021-11-19 | 江苏润翔软件技术有限公司 | Unmanned aerial vehicle connects goods platform |
| CN111674794A (en) * | 2020-05-26 | 2020-09-18 | 南京荣强仓储有限公司 | Storage loading and unloading high strength arm |
| CN112027705A (en) * | 2020-08-11 | 2020-12-04 | 宁夏飞姆斯自动化技术有限公司 | Flexible feeding and discharging control method for robot |
| CN112031441B (en) * | 2020-09-04 | 2021-11-02 | 清华大学 | A Large Stroke Clamping Mechanism with Brick Scale Adaptation |
| CN112716157B (en) * | 2020-12-23 | 2023-05-05 | 杭州电子科技大学 | Foldable lifting kitchen wall cabinet and its usage method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7165927B2 (en) * | 2002-06-19 | 2007-01-23 | Brooks Automation, Inc. | Automated material handling system for semiconductor manufacturing based on a combination of vertical carousels and overhead hoists |
| FR2900038A1 (en) * | 2006-04-19 | 2007-10-26 | Daniel Cote | Product e.g. water pack, access authorization mechanism for e.g. sweetmeat distributor, has link chain on which masks are fixed side by side, where chain is displaced for interval for allowing distribution of products stored in zone |
| DE102013008872B4 (en) * | 2013-05-27 | 2017-04-13 | Edmund Buscher | Device and method for unpacking and feeding articles |
| CN107253601B (en) * | 2017-06-29 | 2023-01-24 | 重庆交通大学 | Express self-access honeycomb unmanned vehicle |
| CN107539692A (en) * | 2017-09-13 | 2018-01-05 | 成都九十度工业产品设计有限公司 | A kind of automatic access express delivery drop-off box of building delivery system |
| CN107539695A (en) * | 2017-09-13 | 2018-01-05 | 成都九十度工业产品设计有限公司 | A kind of access storing casing of building delivery system |
| CN107777203A (en) * | 2017-12-06 | 2018-03-09 | 国网上海市电力公司 | A kind of intelligent standby redundancy access device |
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Effective date of registration: 20221110 Address after: 230000 b-1018, Woye Garden commercial office building, 81 Ganquan Road, Shushan District, Hefei City, Anhui Province Patentee after: HEFEI WISDOM DRAGON MACHINERY DESIGN Co.,Ltd. Address before: 310018 No. 2 street, Xiasha Higher Education Zone, Hangzhou, Zhejiang Patentee before: HANGZHOU DIANZI University |
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