CN110203600A - Suitable for spacecraft material be automatically stored and radio frequency - Google Patents
Suitable for spacecraft material be automatically stored and radio frequency Download PDFInfo
- Publication number
- CN110203600A CN110203600A CN201910490605.6A CN201910490605A CN110203600A CN 110203600 A CN110203600 A CN 110203600A CN 201910490605 A CN201910490605 A CN 201910490605A CN 110203600 A CN110203600 A CN 110203600A
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- Prior art keywords
- hopper
- subsystem
- standardization
- general assembly
- automatically
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention disclose it is a kind of suitable for spacecraft material be automatically stored and radio frequency, including automating counter subsystem, crawl executes subsystem, automatically deliver subsystem, handling of goods and materials subsystem and control subsystem, wherein, automation counter subsystem is responsible for completing the automated storing of general assembly material, crawl executes subsystem and is responsible for completing the sorting and crawl of general assembly material, it automatically delivers subsystem and is responsible for general assembly material and transmitted between each station, handling of goods and materials subsystem is responsible for material information control and warehouse-in instruction issues out, control subsystem is responsible for each subsystem operational order and is decomposed and state control.Compact layout of the present invention, operating efficiency is high, and has been able to achieve the automation access of general assembly material, has sorted and transmit, and automatization level is high.
Description
Technical field
The invention belongs to spacecraft equipment technical fields, specifically, the present invention relates to a kind of spacecraft objects
Material be automatically stored and radio frequency.
Background technique
Spacecraft be by hundreds of thousands of instruments, cable, directly under part, thermal control component, standard component and auxiliary material by
The process for being integrated into complete spacecraft stage by stage is required according to total coating process.Spacecraft because of function and configuration difference in material variety and
There are larger differences in quantity, and in addition to standard component and auxiliary material, other type materials are Special material.Spacecraft object
Material is by the mating store management of general assembly.Under traditional mode, the mating store management personnel of general assembly press spacecraft model, general assembly material type
The storage of development general assembly materiel warehouse-in and outbound sort work manually, and working efficiency is low, the accuracy and peace of material storage and sorting
Full property exists certain insufficient.It develops scale especially with China's spacecraft constantly to expand, more parallel general assemblies of spacecraft become normal
State, simultaneously because spacecraft function and configuration are integrated and complicate, the type and quantity of spacecraft material are quicklyd increase,
The mating storehouse handling of goods and materials mode of traditional general assembly can no longer meet spacecraft demand, and design is suitable for spacecraft thus
General assembly material be automatically stored and picking method is extremely necessary.
Summary of the invention
The purpose of the present invention is to provide be suitable for spacecraft material be automatically stored and radio frequency, and then meet
General assembly handling of goods and materials requirement under more parallel general assembly modes of spacecraft.
The present invention takes following technical scheme:
Suitable for spacecraft material be automatically stored and picking method relies on general assembly material and is automatically stored and sorts
System organization is implemented.Material is automatically stored and radio frequency, including automates counter subsystem, grab execution subsystem, is automatic
Transmit subsystem, handling of goods and materials subsystem and control subsystem, wherein automation counter subsystem is responsible for completing general assembly material
Automated storing, crawl execute subsystem and are responsible for completing the sorting and crawl of general assembly material, automatically deliver subsystem and be responsible for general assembly
Material transmits between each station, and handling of goods and materials subsystem is responsible for material information control and warehouse-in instruction issues out, control point
System is responsible for each subsystem operational order and is decomposed and state control.
Further, the automation counter subsystem is made of automation counter and standardization hopper, every automation
Multiple standardization pallets built in counter.Multiple standardization hoppers are stored on each pallet, each standardization hopper has uniquely
Identify and simultaneously corresponded with storage location in counter, general assembly material is both needed to be placed in standardization hopper, hopper and its inside deposit
The general assembly material put can integrally take out.
Further, the standardization hopper for standardizing pallet and storing thereon is moved integrally to counter body exterior, with reality
Now standardization hopper automatically grabs.
Further, the crawl executes subsystem and is made of mechanical arm, hopper automatic grabbing device and moving guide rail,
In, mechanical arm is multi-shaft interlocked mechanical arm, and hopper automatic grabbing device, which is installed on mechanical arm and cooperates with mechanical arm, realizes mark
The crawl of quasi- material case, hopper automatic grabbing device move on moving guide rail with mechanical arm.
Further, the subsystem that automatically delivers is by conveyer belt, infrared sensor, hopper mark identification sensor, material
Case device for adjusting posture, hopper limiting device and station composition, conveyer belt equidistantly install infrared sensor, and conveyer belt is ring
Shape is laid out but is divided into two sections by hopper limiting device, and side is that standardization hopper outbound transmits initial station, and the other side is to mark
Quasi- material case storage adjust automatically grabs station, and standardization hopper can only transmit on a moving belt along from standardization hopper outbound
It transmits in initial station to standardization hopper storage adjust automatically crawl station direction.
Further, standardization hopper storage adjust automatically crawl station is mounted with hopper device for adjusting posture, hopper appearance
It is air-leg formula structure that state, which adjusts device, the pose adjustment before realizing standardization hopper crawl.Station and transmission band connection,
For realizing general assembly material is manually placed into standardization hopper or takes out general assembly material out of standardization hopper, hopper mark is identified
Sensor standardizes hopper unique identification for identification.
Further, the handling of goods and materials subsystem is B/S Schema information management system, completes general assembly materiel warehouse-out, enters
Library information management, and generate outbound, in-stockroom operation instruction.
Further, it is connected between the control subsystem and other subsystems by Ethernet interface.
The beneficial effects of the present invention are:
1) compact layout, operating efficiency are high.
2) suitable for spacecraft material be automatically stored and picking method realize general assembly material automation access,
It sorts and transmission, automatization level is high.
3) suitable for spacecraft material be automatically stored and picking method realize general assembly material three-dimensional storage, greatly
Width improves general assembly material storage capacity, meets material storage demand under the parallel general assembly mode of more spacecrafts.
4) suitable for spacecraft material be automatically stored and picking method rely on automation counter and standardization hopper
The standardization storage for realizing multiple types, more specification general assembly materials, improves general assembly material storage quality and safety.
5) integrated application various kinds of sensors realizes that general assembly material is automatically stored and sorts the accurate monitoring of state, safety
It is high.
6) various information transmitting is carried out using Ethernet interface, system expansion is good, and versatility is high.
Detailed description of the invention
Fig. 1 is automatically stored for general assembly material of the invention and radio frequency schematic layout pattern.
Fig. 2 is automatically stored for general assembly material of the invention and radio frequency operation position schematic diagram.
Marginal data
In Fig. 1,1. automation counters, 2. moving guide rails, 3. mechanical arms, 4. hopper automatic grabbing devices, 5. conveyer belts, 6.
Hopper limiting device, 7. hopper device for adjusting posture, 8. infrared sensors, 9. standardization hoppers, 10. handling of goods and materials subsystems letter
Recording device, 11. control subsystem cabinets are ceased, 12. hoppers identify identification sensor, 13. stations, and 21. standardization hoppers go out
It is put in storage manual operation station, 22. standardization hopper outbound manual operation stations, 23. standardization hopper storage adjust automatically crawls
Station, 24. standardization hopper outbounds transmit initial station, 25. material information manual entry stations, and 26. standardization hoppers enter and leave
Library automatically grabs station.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific examples, these explanations are only exemplary, and
It is not intended to be limited to protection scope of the present invention.
Show that Fig. 1 is that general assembly material of the invention is automatically stored and radio frequency schematic layout pattern referring to Fig. 1, Fig. 1.It is suitable
For spacecraft material be automatically stored and picking method relies on that general assembly material is automatically stored and radio frequency tissue is real
It applies.The general assembly material is automatically stored and radio frequency, including automation counter subsystem, crawl execute subsystem, automatically deliver
Subsystem, handling of goods and materials subsystem and control subsystem.
Referring to Fig. 1, the automation counter subsystem is made of more automation counters 1 and several standardization hoppers 9, often
One standardization hopper 9 has unique identification and corresponds with storage location in automation counter 1.More automation counters 1
It is symmetrically distributed in crawl and executes subsystem two sides.The crawl executes subsystem by mechanical arm 3,4 and of hopper automatic grabbing device
Moving guide rail 2 forms.Mechanical arm 3 is sixdegree-of-freedom simulation, and 3 end effector of mechanical arm and hopper automatic grabbing device 4 connect
It connects, the two can integrally be moved back and forth in moving guide rail 2, and then realize each standardization hopper crawl.Described automatically deliver point be
System identifies identification sensor 12, hopper device for adjusting posture 7, hopper limiting device 6 by conveyer belt 5, infrared sensor 8, hopper
It is formed with station 13.Conveyer belt 5 is drum-type structure, equidistantly installs infrared sensor 8 at conveyer belt cylinder gap.Transmission
Band 5 takes over transmission mode using segmented, and infrared sensor 8 starts this section of conveyer belt transmission after sensing standardization hopper.It passes
It send band to be annular layout but is divided into two sections by hopper limiting device 6, side is that standardization hopper outbound transmits initial station, separately
Side be standardization hopper be put in storage adjust automatically grab station, standardization hopper on a moving belt can only along from standardization hopper
Outbound transmits initial station to standardization hopper storage adjust automatically crawl station direction transmission.Standardize the automatic tune of hopper storage
Whole crawl station is mounted with hopper device for adjusting posture 7.Hopper device for adjusting posture 7 is air-leg formula structure, is limited with hopper
The position mutual cooperation of device 6, which is realized, standardizes the pose adjustment before hopper automatically grabs.Non-athletic group of station 13 and conveyer belt 5
Part rigid connection, for realizing general assembly material is manually placed into standardization hopper or takes out general assembly material out of standardization hopper.
Hopper mark identification sensor 12 is installed on the standardization hopper set on conveyer belt 5 and goes out to be put in storage manual operation station, standardization
Hopper outbound manual operation station and standardization hopper storage adjust automatically grab station, standardize hopper for identification and uniquely mark
Know.Described, handling of goods and materials subsystem is B/S Schema information management system, on handling of goods and materials subsystem Message Entry Device 10
General assembly materiel warehouse-out, storage information typing are completed, outbound is automatically generated, in-stockroom operation instructs and passes to control subsystem.Institute
Control subsystem overall package is stated in control subsystem cabinet 11, realizes that each subsystem operational order decomposes and state control
System, it is ensured that the orderly execution that general assembly materiel warehouse-in, outbound operate.
Below in conjunction with specific embodiment to be suitable for spacecraft material be automatically stored and picking method is illustrated:
Referring to fig. 2, it is as follows that specific implementation step is automatically stored in general assembly material:
Step 1: the mating store management personnel of general assembly in 1 typing general assembly material information of material information manual entry station, and
Selected general assembly material storage location, handling of goods and materials subsystem, which is automatically generated and issued to control subsystem, is automatically stored instruction；
Step 2: control subsystem decomposes and issues each subsystem operational order；
Step 3: selected standardization hopper is transported to standardization hopper according to operational order by automation counter subsystem
Storage automatically grabs station 6 out.At the same time, crawl execution subsystem reaches standardization hopper according to operational order and is put in storage out certainly
Dynamic crawl station 6；
Step 4: crawl executes subsystem and completes selected standardization hopper crawl, and carries it and be placed into transmission
The standardization hopper outbound transmission initial station 4 taken；
Step 5: subsystem is automatically delivered according to operational order, standardization hopper is sent to standardization hopper storage people out
Work operation position 1, and remind mating store management personnel that general assembly material is accurately put into the standardization hopper；
Step 6: after mating store management personnel are put into general assembly material, hopper transport will be standardized by automatically delivering subsystem
Station 3 is grabbed to standardization hopper storage adjust automatically, control point will be sent to regard to bit instruction after adjustment standardization hopper posture
System；
Step 7: standardization pallet is transported to mark where automation counter subsystem will standardize hopper according to operational order
Quasi- material case, which goes out to be put in storage, automatically grabs station 6.At the same time, crawl executes subsystem and is grabbed according to operational order by hopper is standardized
It takes and is transported to the set storage that goes out and automatically grab station 6 and place it in set storage location；
Step 8: pallet where automation counter subsystem will standardize hopper goes back to library and is stored in automation counter；
Step 9: step 3 is repeated to step 8, is automatically stored until completing whole general assembly materials.General assembly material is deposited automatically
When storage is related to multiple standardization hopper outbounds and goes back to library, interts and carry out and time library is preferential.
Referring to fig. 2, it is as follows to get specific implementation step automatically for general assembly material:
It is as follows that general assembly material gets specific implementation steps automatically:
Step 1: the mating store management personnel of general assembly select Unclaimed general assembly material in material information manual entry station 1
Information and material get station, and handling of goods and materials subsystem automatically generates and issues automatic withdrawing instruction to control subsystem；
Step 2: control subsystem decomposes and issues each subsystem operational order；
Step 3: the standardization hopper for storing general assembly material is transported to mark according to operational order by automation counter subsystem
Quasi- material case, which goes out to be put in storage, automatically grabs station 6.At the same time, crawl executes subsystem and reaches standardization hopper according to operational order
Storage automatically grabs station 6 out；
Step 4: crawl executes subsystem and completes selected standardization hopper crawl, and carries it and be placed into transmission
The standardization hopper outbound transmission initial station 4 taken；
Step 5: subsystem is automatically delivered according to operational order, standardization hopper is sent to standardization hopper storage people out
Work operation position 1 or standardization hopper outbound manual operation station 2, and remind operator by general assembly material from the standard material
It is taken out in case；
Step 6: after getting general assembly material, subsystem is automatically delivered by standardization hopper and is transported to standardization hopper storage
Adjust automatically grabs station 3, and control subsystem will be sent to regard to bit instruction after adjustment standardization hopper posture；
Step 7: standardization pallet is transported to mark where automation counter subsystem will standardize hopper according to operational order
Quasi- material case, which goes out to be put in storage, automatically grabs station 6.At the same time, crawl executes subsystem and is grabbed according to operational order by hopper is standardized
It takes and is transported to the set storage that goes out and automatically grab station 6 and place it in set storage location；
Step 8: pallet where automation counter subsystem will standardize hopper goes back to library and is stored in automation counter；
Step 9: step 3 is repeated to step 8, is got automatically until completing whole general assembly materials.General assembly material is led automatically
Take be related to multiple standardization hopper outbounds and return library when, intert carry out and return library it is preferential.
Material under the parallel general assembly mode of more spacecrafts is automatically stored the present invention and picking method has carried out comprehensive test
Verifying has effectively pushed the mating storehouse handling of goods and materials mode upgrading of general assembly, has improved the storage of general assembly materiel warehouse-in and outbound sorts
Working efficiency, accuracy and safety.
Claims (9)
1. be suitable for spacecraft material be automatically stored and radio frequency, including automation counter subsystem, crawl execute
Subsystem automatically delivers subsystem, handling of goods and materials subsystem and control subsystem, wherein automation counter subsystem has been responsible for
At the automated storing of general assembly material, crawl executes subsystem and is responsible for completing the sorting and crawl of general assembly material, automatically delivers point
System is responsible for general assembly material and is transmitted between each station, and handling of goods and materials subsystem is responsible for material information control and out warehouse-in instruction
It issues, control subsystem is responsible for each subsystem operational order and is decomposed and state control.
2. being automatically stored and radio frequency as described in claim 1, wherein the automation counter subsystem is by automation goods
Cabinet and standardization hopper form, multiple standardization pallets built in every automation counter, store multiple standardization on each pallet
Hopper, each standardization hopper have unique identification and correspond with storage location in counter, and general assembly material is both needed to place
In standardization hopper, the general assembly material of hopper and its internal storage can integrally be taken out.
3. being automatically stored and radio frequency as claimed in claim 2, wherein standardization pallet and the standard material stored thereon
Case is moved integrally to counter body exterior, to realize that standardization hopper automatically grabs.
4. being automatically stored and radio frequency as described in claim 1, wherein the crawl execute subsystem by mechanical arm, expect
Case automatic grabbing device and moving guide rail composition, wherein mechanical arm is multi-shaft interlocked mechanical arm, the installation of hopper automatic grabbing device
In the crawl for cooperating realization standardization hopper on mechanical arm and with mechanical arm, hopper automatic grabbing device is as mechanical arm is in movement
It is moved on guide rail.
5. being automatically stored and radio frequency as described in claim 1, wherein the subsystem that automatically delivers is by conveyer belt, red
Outer sensor, hopper mark identification sensor, hopper device for adjusting posture, hopper limiting device and station composition, conveyer belt
Equidistant installation infrared sensor, conveyer belt is annular layout but is divided into two sections by hopper limiting device, and side is standardization
Hopper outbound transmits initial station, and the other side is that standardization hopper is put in storage adjust automatically crawl station, and standardization hopper is transmitting
Initial station can only be transmitted to standardization hopper storage adjust automatically crawl station direction along from standardization hopper outbound by taking
Transmission.
6. being automatically stored and radio frequency as claimed in claim 5, wherein standardization hopper storage adjust automatically grabs station
It is mounted with that hopper device for adjusting posture, hopper device for adjusting posture are air-leg formula structure, before realizing standardization hopper crawl
Pose adjustment.
7. being automatically stored and radio frequency as claimed in claim 5, wherein station and transmission band connection, for realizing will
General assembly material is manually placed into standardization hopper or takes out general assembly material out of standardization hopper, and hopper mark identification sensor is used for
Criterion of identification material case unique identification.
8. being automatically stored and radio frequency as claim 1-7 is described in any item, wherein the handling of goods and materials subsystem is B/
S Schema information management system completes general assembly materiel warehouse-out, storage information management, and generates outbound, in-stockroom operation instruction.
9. being automatically stored and radio frequency as claim 1-7 is described in any item, wherein the control subsystem and other points
It is connected between system by Ethernet interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910490605.6A CN110203600A (en) | 2019-06-06 | 2019-06-06 | Suitable for spacecraft material be automatically stored and radio frequency |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910490605.6A CN110203600A (en) | 2019-06-06 | 2019-06-06 | Suitable for spacecraft material be automatically stored and radio frequency |
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| CN110203600A true CN110203600A (en) | 2019-09-06 |
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| CN201910490605.6A Pending CN110203600A (en) | 2019-06-06 | 2019-06-06 | Suitable for spacecraft material be automatically stored and radio frequency |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110647851A (en) * | 2019-09-27 | 2020-01-03 | 普联技术有限公司 | Production line capacity monitoring method, device and system |
| CN115352795A (en) * | 2022-10-20 | 2022-11-18 | 一汽解放汽车有限公司 | Control method and system for tool ex-warehouse and computer equipment |
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Application publication date: 20190906 |