CN110304388B - Intelligent scheduling system for unmanned warehouse - Google Patents
Intelligent scheduling system for unmanned warehouse Download PDFInfo
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- CN110304388B CN110304388B CN201910621371.4A CN201910621371A CN110304388B CN 110304388 B CN110304388 B CN 110304388B CN 201910621371 A CN201910621371 A CN 201910621371A CN 110304388 B CN110304388 B CN 110304388B
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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
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Abstract
The invention belongs to the technical field of intelligent warehousing and logistics, and particularly relates to an intelligent unmanned warehouse dispatching system which comprises a warehouse body, a goods transfer mechanism, a detection module, a goods information reading module, a control center and input equipment, wherein the warehouse body comprises a support and a plurality of layers of storage platforms arranged on the support at intervals along the vertical direction, each layer of storage platform comprises at least two annular rotary platforms arranged concentrically, and each annular rotary platform is respectively in rotating fit with the support. Greatly saves the equipment cost and makes the large-scale popularization of the intelligent warehouse possible.
Description
Technical Field
The invention belongs to the technical field of intelligent warehousing and logistics, and particularly relates to an intelligent scheduling system for an unmanned warehouse.
Background
With the development of internet and intelligent hardware technology, the traditional warehousing and logistics industry is also developing in the direction of gradually intelligentizing and intensification, for example, the invention patent application with the application number of 201510719047.8, namely three-dimensional warehouse with annular structure, and the invention patent application with the application number of 201711237976.0, namely 360-degree annular shelf cache system, both of which describe an intelligent warehousing system with annular structure, and both of which can realize automatic warehousing and ex-warehousing of goods, but have the defect that only one circle of goods can be placed in each layer of warehouse, which results in lower space utilization rate of the integrated warehousing system and indirectly improves equipment cost.
Disclosure of Invention
The invention aims to provide an intelligent unmanned warehouse scheduling system capable of effectively improving the space utilization rate.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent dispatching system for an unmanned warehouse comprises a warehouse body, a goods transfer mechanism, a detection module, a goods information reading module, a control center and an input device, the warehouse body is provided with a plurality of bins for storing goods, the goods transfer mechanism is used for transferring the goods from the warehouse entrance to the bins and transferring the goods from the bins to the warehouse exit, the detection module is arranged on the bin and is used for detecting whether goods exist in the bin or not, the detection module is connected with the control center, the goods information reading module is positioned at the entrance of the warehouse, the goods information reading module is used for reading the goods information and sending the goods information to the control center, the control center receives the goods information read by the goods information reading module and the idle bin position information detected by the detection module, then distributing an idle bin for the warehoused goods and controlling a goods transfer mechanism to transfer the warehoused goods to the bin; the input equipment is used for inputting goods delivery information to the control center, and the control center receives the goods delivery information and controls the goods transfer mechanism to transfer goods to the warehouse outlet;
the warehouse body comprises a support and a plurality of layers of storage platforms arranged on the support at intervals along the vertical direction, each layer of storage platform comprises at least two annular rotary platforms which are concentrically arranged, each annular rotary platform is respectively in rotating fit with the support, the rotary center is the common axis of each annular rotary platform, the bracket is provided with a plurality of driving units for driving the annular rotary platforms to rotate independently, the control signal input ends of the driving units are connected with the control center, the bin positions are arranged on the annular rotary platforms at intervals along the circumferential direction of the annular rotary platforms, and at least other annular rotary platforms except the outermost annular rotary platform are provided with vacant positions, the width of the gap at least can accommodate a group of goods (namely the goods carried on one pallet) to pass through the annular rotary platform along the radial direction of the annular rotary platform; the goods transfer mechanism comprises a lifting mechanism and a translation mechanism, the lifting mechanism is arranged at the center of each layer of annular rotary platform along the vertical direction, the translation mechanism is arranged along the radial direction of the annular rotary platform, and each layer of storage platform is correspondingly provided with the translation mechanism respectively.
All be equipped with the bar fretwork portion that runs through annular rotary platform and set up on every position in a storehouse, the length direction of bar fretwork portion is radially perpendicular with annular rotary platform, translation mechanism includes the conveying roller that sets up with annular rotary platform is radial perpendicular and level, the conveying roller sets up a plurality ofly along annular rotary platform radial interval, the conveying roller sets up along vertical direction reciprocating motion, and its top roll surface can pass among the conveying roller reciprocating motion process fretwork portion and the upper and lower both sides of round in annular rotary platform top surface.
The translation mechanism comprises a plurality of lifting units arranged along the radial direction of the annular rotary platform at intervals, each lifting unit is correspondingly arranged below one annular rotary platform, a plurality of conveying rollers are arranged on each lifting unit, each lifting unit is arranged in a reciprocating mode along the vertical direction, and each lifting unit is assembled to be capable of driving all lifting units on the inner side of each lifting unit to lift simultaneously when one lifting unit lifts.
Each lift unit below is equipped with a base, each lift unit bottom is equipped with the wedge, be equipped with the drive block between lift unit and the base, the drive block sets up along annular rotary platform radial sliding, and the drive block can be by interior and the ascending lifting of each lift unit of outer drive in proper order along annular rotary platform radial by interior when sliding outward, and the wedge of each lift unit bottom extends and keeps off with the bottom surface of this inboard lift unit to its inboard lift unit's bottom respectively.
The two sides of the hollow-out part of each bin are also provided with a tray clamping mechanism, the tray clamping mechanism comprises two clamping plates which are opened and closed mutually, the two clamping plates are assembled to be capable of being away from two sides of the bin when the conveying roller is lifted upwards, and the two clamping plates can be close to the center of the bin when the conveying roller is lowered.
The clamping plate is hinged with a support beside the bin through a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are equal in length and are parallel to each other, hinge shafts between the first connecting rod and the second connecting rod and between the clamping plate and the support are not collinear with each other, so that the clamping plate, the first connecting rod, the second connecting rod and the support form a parallel four-bar mechanism together, and the plate surface of the clamping plate is always kept in a vertical posture; a torsion spring is arranged between the first connecting rod and/or the second connecting rod and the support, and the torsion spring is assembled to enable the elasticity of the torsion spring to drive the first connecting rod and/or the second connecting rod to swing towards the direction that the two clamping plates are close to each other; the lifting unit is provided with a mandril which protrudes upwards, the upper end of the mandril is provided with a roller which is abutted against the first connecting rod or the second connecting rod, so that when the lifting unit is lifted upwards, the roller can push the first connecting rod or the second connecting rod, and the two clamping plates are far away from the two sides of the bin position.
The lifting mechanism comprises a vertical guide rail arranged at the center of each layer of annular rotary platform along the vertical direction, and a lifting support which is in limit fit with the vertical guide rail along the vertical direction, a fork is arranged on the lifting support, the fork is in sliding fit with the lifting support along the horizontal direction, and a driving member for driving the fork to slide relative to the lifting support is arranged on the lifting support; and a winch is arranged at the top of the vertical guide rail, and the lifting support is connected with the winch through a steel wire rope.
The fork both sides are equipped with the pulley, be equipped with on the lifting support with the pulley constitutes roll complex channel-section steel shape track, drive component includes the lifting support and goes up the level and rotate the first lead screw that sets up to and the first nut piece that sets up on the fork, first lead screw and first nut piece constitute screw-thread fit, the one end of first lead screw is connected with the last main shaft drive of the first servo motor who sets up of lifting support, and this first servo motor's control signal input links to each other with control center.
The support is provided with a conical roller which is in rolling fit with the bottom surface of the outer side of the annular rotary platform and a vertical cylindrical roller which is in rolling fit with the annular surface of the inner side of the annular rotary platform, and the conical roller and the cylindrical roller are uniformly arranged along the circumferential direction of the annular rotary platform at intervals; the driving unit comprises a gear ring arranged on the side ring surface of the annular rotary platform and a gear which is arranged on the support and meshed with the gear ring, the gear is connected with a main shaft of the second servo motor, and a control signal input end of the second servo motor is connected with the control center.
The bottom of the lifting unit is provided with a vertical guide pillar, the guide pillar and a guide sleeve arranged on the base form sliding fit, the driving block is provided with a second nut block, the bottom plate is provided with a second lead screw arranged along the radial direction of the annular rotary platform piece, the second nut block is in threaded fit with the second lead screw, one end of the second lead screw is connected with a third servo motor, and the control signal input end of the third servo motor is connected with a control center.
The invention has the technical effects that: according to the intelligent warehouse, each layer of storage platform is arranged into a plurality of concentric ring structures, each ring can independently rotate, the goods can be circulated among any bin by matching with the goods transfer mechanism, the number of the bins is increased, and the normal in-out of the goods in each bin is ensured.
Drawings
Fig. 1 is a schematic diagram of an intelligent scheduling system for an unmanned warehouse provided by an embodiment of the present invention;
fig. 2 is a side view of an unmanned warehouse provided by an embodiment of the present invention;
FIG. 3 is a top view of an unmanned warehouse provided by an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a cargo transfer mechanism provided by an embodiment of the present invention;
FIG. 5 is a partial side view of a translation mechanism provided by an embodiment of the present invention;
FIG. 6 is a partial front view of a translation mechanism provided by an embodiment of the present invention;
FIG. 7 is a perspective view of a translation mechanism provided by an embodiment of the present invention;
FIG. 8 is a perspective view of a lift mechanism provided by an embodiment of the present invention;
fig. 9 is an exploded view of an annular rotating platform and support assembly provided by an embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
As shown in fig. 1, an intelligent dispatching system for an unmanned warehouse comprises a warehouse body 10, a goods transfer mechanism 20, a detection module 30, a goods information reading module 40, a control center 50 and an input device 60, wherein the warehouse body 10 is provided with a plurality of positions 101 for storing goods, the goods transfer mechanism 20 is used for transferring goods from an entrance of the warehouse to the positions 101 and transferring goods from the positions 101 to an exit of the warehouse, the detection module 30 is installed on the positions 101 for detecting whether goods exist in the positions 101, the detection module 30 is connected with the control center 50, the goods information reading module 40 is located at the entrance of the warehouse, the goods information reading module 40 is used for reading goods information and transmitting the goods information to the control center 50, the control center 50 receives the goods information read by the goods information reading module 40 and the free position 101 information detected by the detection module 30, then, distributing an idle bin 101 for the warehoused goods and controlling the goods transfer mechanism 20 to transfer the warehoused goods to the bin 101; the input device 60 is used for inputting the goods delivery information to the control center 50, and the control center 50 receives the goods delivery information and controls the goods transfer mechanism 20 to transfer the goods to the warehouse exit; preferably, the detection module 30 may be a position sensor disposed on a bottom plate of each warehouse 101, and the cargo information reading module 40 may be a radio frequency signal detection device, a barcode scanning device or a two-dimensional code scanning device, where the cargo needs to be correspondingly posted with a radio frequency tag, a barcode or a two-dimensional code before being put in a warehouse; the input device 60 may be a keyboard button, a mouse, or other human-computer interaction hardware, or may be a host computer for issuing a goods fetching instruction in a downstream pipeline.
Specifically, as shown in fig. 2 and 3, the warehouse body 10 includes a support 11 and a plurality of layers of storage platforms 12 arranged on the support 11 at intervals in the vertical direction, each layer of storage platform 12 includes at least two annular rotary platforms 121 concentrically arranged, each annular rotary platform 121 forms a rotating fit with the support 11, and the center of rotation is a common axis of each annular rotary platform 121, the support 11 is provided with a plurality of driving units for driving each annular rotary platform 121 to rotate independently, the control signal input ends of the driving units are connected to the control center 50, the bins 101 are arranged on each annular rotary platform 121 at intervals in the circumferential direction of each annular rotary platform 121, and each annular rotary platform 121 except for at least the outermost annular rotary platform 121 is provided with a gap 122, the width of the gap 122 can accommodate at least one group of goods (i.e. goods carried on one pallet) to pass through the annular rotary platform 121 in the radial direction of the annular rotary platform 121, the vacant sites 122 in the invention do not need to be specially designed, and only need to ensure that at least one vacant site is reserved on each annular rotary platform 121 except for the outermost annular rotary platform 121 in each layer in the use process of the warehouse; the goods transfer mechanism 20 comprises a lifting mechanism 21 and a translation mechanism 22, wherein the lifting mechanism 21 is arranged at the center of each layer of annular rotary platform 121 along the vertical direction, the translation mechanism 22 is arranged along the radial direction of the annular rotary platform 121, and each layer of storage platform 12 is correspondingly provided with the translation mechanism 22. According to the intelligent warehouse, each layer of the storage platform 12 is arranged into a plurality of concentric ring structures, each ring can independently rotate, the goods can be circulated among any bin 101 by matching with the goods transfer mechanism 20, the number of the bins 101 is increased, and meanwhile, the goods in and out of each bin 101 can be ensured to be normally loaded and unloaded.
Preferably, as shown in fig. 5, each bin 101 is provided with a strip-shaped hollow portion penetrating through the annular rotary platform 121, a length direction of the strip-shaped hollow portion is perpendicular to a radial direction of the annular rotary platform 121, the translation mechanism 22 includes a plurality of conveying rollers 220 perpendicular to the radial direction of the annular rotary platform 121 and horizontally disposed, the plurality of conveying rollers 220 are radially disposed along the annular rotary platform 121 at intervals, the plurality of conveying rollers 220 are disposed in a reciprocating manner along the vertical direction, and a top roller surface of each conveying roller 220 can pass through the hollow portion and move to and fro between an upper side and a lower side of a top surface of the annular rotary platform 121 in a reciprocating manner during the reciprocating movement of the conveying rollers 220. When the conveying roller 220 is located the superposition, can lift the goods on the position of storehouse 101 to along with the rotation of conveying roller 220 radially shifts the goods along annular rotary platform 121, when the conveying roller 220 is located the next position, the goods can be by steady bracketing on position of storehouse 101 floor, avoid the goods to rock.
Further, as shown in fig. 4, 5, 6, and 7, the translation mechanism 22 includes a plurality of lifting units 221 disposed along the annular rotary platform at intervals in the radial direction, each lifting unit 221 is disposed below one annular rotary platform 121, each lifting unit 221 is provided with a plurality of conveying rollers 220, each lifting unit 221 is disposed in a reciprocating manner in the vertical direction, and each lifting unit 221 is configured to drive all lifting units 221 inside thereof to lift simultaneously when one lifting unit 221 lifts. According to the invention, the translation mechanism 22 is arranged to be of a sectional structure corresponding to each annular rotary platform 121 one by one, when goods on one bin 101 are put in and out of a warehouse, only the annular rotary platform 121 where the bin 101 is located and the conveying rollers 220 corresponding to the annular rotary platforms 121 on the inner sides of the annular rotary platforms are required to be lifted, and the conveying rollers 220 of the whole translation mechanism 22 are not required to be completely lifted, so that on one hand, redundant actions can be reduced, the energy consumption of a system is reduced, and on the other hand, the interference of goods on the translation mechanism 22 on other annular rotary platforms 121 can be avoided.
Specifically, each lift unit 221 below is equipped with a base 225, each lift unit 221 bottom is equipped with wedge 222, be equipped with drive block 223 between lift unit 221 and the base 225, drive block 223 sets up along annular revolving platform 121 radial sliding, and drive block 223 can drive each lift unit 221 upwards lifting by interior and outside in proper order when annular revolving platform 121 radially from interior to exterior slides along drive block 223, and the wedge 222 of each lift unit 221 bottom extends and keeps off with the bottom surface of this inboard lift unit 221 to the bottom of its inboard lift unit 221 respectively. The bottom of the lifting unit 221 is provided with a vertical guide post 224, the guide post 224 and a guide sleeve arranged on a base 225 form a sliding fit, the driving block 223 is provided with a second nut block, the bottom plate is provided with a second lead screw arranged along the radial direction of the annular rotary platform 121, the second nut block is in threaded fit with the second lead screw, one end of the second lead screw is connected with a third servo motor 226, and a control signal input end of the third servo motor 226 is connected with the control center 50. According to the invention, the lifting units 221 are lifted from inside to outside in sequence by skillfully utilizing the matching of the wedge-shaped block 222 and the driving block 223, and the lifting units 221 can be controlled to realize staged actions by only one set of driving device, so that the equipment cost is reduced and the control flow is simplified. As shown in fig. 7, in order to meet the requirement of stroke design, the driving block 223 of the present invention is configured in two parts, namely, a first driving block 2231 matched with the bottom wedge block 222 of the innermost lifting unit 221, and a second driving block 2232 matched with the bottom wedge block 222 of the other lifting unit 221, wherein the first driving block 2231 is located at both sides of the second driving block 2232, and the outer end of the second driving block 2232 protrudes out of the outer end of the first driving block 2231, and in order to make the wedge block 222 at the bottom of the innermost lifting unit 221 face the first driving block 2231, the wedge block 222 is also configured in two split structures, so that: the driving block 223 must ensure that the inner lifting unit 221 cannot descend before the outer lifting unit 221 is lifted during the sliding process from inside to outside, so the driving block 223 has a certain length, and when the driving block 223 is located at the innermost side, the driving block 223 cannot protrude into the central channel of the annular rotary platform 121 (to avoid interference with the lifting mechanism 21).
As shown in fig. 6, two sides of the hollow portion of each storage space 101 are further provided with a tray clamping mechanism, the tray clamping mechanism includes two clamping plates 123 which are opened and closed, the two clamping plates 123 are assembled such that the two clamping plates 123 can be away from each other towards two sides of the storage space 101 when the conveying roller 220 is lifted upwards, and the two clamping plates 123 can be close to each other towards the center of the storage space 101 when the conveying roller 220 is lowered, so that the tray 1 at the bottom of the goods can be clamped, and the tray 1 is prevented from shaking in the rotation process of the annular rotary platform 121. Specifically, the clamp plate 123 is hinged to the support 1233 beside the cabin 101 through a first connecting rod 1231 and a second connecting rod 1232, the first connecting rod 1231 and the second connecting rod 1232 are equal in length and parallel to each other, and hinge shafts between the first connecting rod 1231 and the second connecting rod 1232 and between the clamp plate 123 and the support 1233 are not collinear with each other, so that the clamp plate 123, the first connecting rod 1231, the second connecting rod 1232 and the support 1233 jointly form a parallel four-bar linkage mechanism, and the plate surface of the clamp plate 123 is always kept in a vertical posture; a torsion spring is arranged between the first connecting rod 1231 and/or the second connecting rod 1232 and the support 1233, and the torsion spring is assembled such that the elasticity of the torsion spring can drive the first connecting rod 1231 and/or the second connecting rod 1232 to swing towards the direction that the two clamping plates 123 approach each other; the lifting unit 221 is provided with a top rod 227 which protrudes upwards, the upper end of the top rod 227 is provided with a roller 228, and the roller 228 is abutted against the first connecting rod 1231 or the second connecting rod 1232, so that when the lifting unit 221 is lifted upwards, the first connecting rod 1231 or the second connecting rod 1232 can be pushed, and the two clamping plates 123 are far away from two sides of the bin 101. According to the invention, the linkage between the tray 1 clamping mechanism and the conveying roller 220 is realized by using the ejector rod 227, the first connecting rod 1231, the second connecting rod 1232 and the torsion spring, the two clamping plates 123 can be far away from each other towards the two sides of the bin 101 when the conveying roller 220 is lifted upwards, and the two clamping plates 123 can be close to each other towards the center of the bin 101 when the conveying roller 220 is lowered, so that no additional driving device is required to be arranged in the whole process, and the equipment cost is further reduced.
Preferably, as shown in fig. 4 and 8, the lifting mechanism 21 includes a vertical guide rail 213 disposed at the center of each layer of the annular rotary platform 121 along the vertical direction, and a lifting bracket 212 forming a limit fit with the vertical guide rail 213 along the vertical direction, the lifting bracket 212 is provided with a fork 211, the fork 211 forms a sliding fit with the lifting bracket 212 along the horizontal direction, and the lifting bracket 212 is provided with a driving member for driving the fork 211 to slide relative to the lifting bracket 212; a winch 214 is arranged on the top of the vertical guide rail 213, and the lifting bracket 212 is connected with the winch 214 through a steel wire rope. Specifically, pulleys 217 are arranged on two sides of the fork 211, a channel steel-shaped track 216 in rolling fit with the pulleys 217 is formed on the lifting support 212, the driving component comprises a first lead screw horizontally and rotatably arranged on the lifting support 212 and a first nut block arranged on the fork 211, the first lead screw is in threaded fit with the first nut block, one end of the first lead screw is in transmission connection with a spindle of a first servo motor 215 arranged on the lifting support 212, and a control signal input end of the first servo motor 215 is connected with the control center 50.
Preferably, as shown in fig. 9, the support 11 is provided with a conical roller 111 which forms a rolling fit with the outer bottom surface of the annular rotary platform 121, and a vertical cylindrical roller 112 which forms a rolling fit with the inner annular surface of the annular rotary platform 121, and the conical roller 111 and the cylindrical roller 112 are respectively and uniformly arranged along the circumferential direction of the annular rotary platform 121 at intervals; the driving unit comprises a gear ring arranged on the side ring surface of the annular rotary platform 121 and a gear 113 arranged on the support 11 and meshed with the gear ring, the gear 113 is connected with a main shaft of a second servo motor 114, and a control signal input end of the second servo motor 114 is connected with the control center 50.
And finally, the action process of each component in the warehousing process of the goods is combined for detailed description:
firstly, goods attached with identification labels are conveyed to a warehouse entrance, a goods information reading module 40 reads goods information through the identification labels and sends the goods information to a control center 50, the control center 50 allocates a free bin 101 for the goods, controls a lifting mechanism 21 to lift the goods to a layer where the bin 101 is located, then controls an annular rotary platform 121 where the bin 101 is located and an annular rotary platform 121 on the inner side of the annular rotary platform 121 to rotate, enables a free position 122 on the bin 101 and the annular rotary platform 121 on the inner side of the bin 101 to rotate to be above a translation mechanism 22, then controls conveying rollers 220 below and on the inner side of the bin 101 to lift, controls a fork 211 to push the goods to the conveying rollers 220, then controls the conveying rollers 220 to rotate, translates the goods to the free bin 101, then the conveying rollers 220 descend, the goods fall on a bottom plate of the bin 101, and the goods are put in storage.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (9)
1. The utility model provides an unmanned warehouse intelligence dispatch system which characterized in that: the warehouse comprises a warehouse body (10), a goods transfer mechanism (20), a detection module (30), a goods information reading module (40), a control center (50) and an input device (60), wherein the warehouse body (10) is provided with a plurality of bin positions (101) for storing goods, the goods transfer mechanism (20) is used for transferring the goods from an entrance of the warehouse to the bin positions (101) and transferring the goods from the bin positions (101) to an exit of the warehouse, the detection module (30) is installed on the bin positions (101) and used for detecting whether the goods exist in the bin positions (101), the detection module (30) is connected with the control center (50), the goods information reading module (40) is located at the entrance of the warehouse, the goods information reading module (40) is used for reading the goods information and sending the goods information to the control center (50), and the control center (50) receives the goods information read by the goods information reading module (40) and the idle bin positions (101) detected by the detection module (30), then, distributing an idle bin (101) for the warehoused goods and controlling a goods transfer mechanism (20) to transfer the warehoused goods to the bin (101); the input device (60) is used for inputting goods delivery information to the control center (50), and the control center (50) receives the goods delivery information and controls the goods transfer mechanism (20) to transfer goods to the warehouse outlet;
the warehouse body (10) comprises a support (11) and a plurality of layers of storage platforms (12) arranged on the support (11) at intervals along the vertical direction, each layer of storage platform (12) comprises at least two annular rotary platforms (121) arranged concentrically, each annular rotary platform (121) forms a rotating fit with the support (11) respectively, the rotating center of each annular rotary platform (121) is a common axis of each annular rotary platform (121), the support (11) is provided with a plurality of driving units used for driving each annular rotary platform (121) to rotate independently, the control signal input ends of the driving units are connected with a control center (50), the bin positions (101) are arranged on each annular rotary platform (121) at intervals along the circumferential direction of each annular rotary platform (121), and the other annular rotary platforms (121) except for the outermost annular rotary platform (121) at least are provided with vacant positions (122), the width of the vacant position (122) can at least accommodate a group of cargos to pass through the annular rotary platform (121) along the radial direction of the annular rotary platform (121); the goods transfer mechanism (20) comprises a lifting mechanism (21) and a translation mechanism (22), the lifting mechanism (21) is arranged at the center of each layer of annular rotary platform (121) along the vertical direction, the translation mechanism (22) is arranged along the radial direction of the annular rotary platform (121), and each layer of storage platform (12) is correspondingly provided with the translation mechanism (22) respectively;
every all be equipped with the bar fretwork portion that runs through annular revolving platform (121) setting on position in storehouse (101), the length direction of bar fretwork portion is radially perpendicular with annular revolving platform (121), translation mechanism (22) include with annular revolving platform (121) radial perpendicular and horizontal setting's conveying roller (220), conveying roller (220) set up a plurality ofly along annular revolving platform (121) radial interval, conveying roller (220) set up along vertical direction reciprocating motion, and its top roll surface can pass in conveying roller (220) reciprocating motion process fretwork portion and round the upper and lower both sides in annular revolving platform (121) top surface.
2. The intelligent scheduling system of unmanned warehouse of claim 1, wherein: translation mechanism (22) include along a plurality of lift unit (221) of annular revolving platform (121) radial interval setting, every lift unit (221) corresponds respectively and sets up in an annular revolving platform (121) below, respectively is equipped with a plurality ofly on every lift unit (221) conveying roller (220), and each lift unit (221) set up along vertical direction reciprocating motion, and each lift unit (221) are assembled and can drive all lift unit (221) of its inboard and lift simultaneously when one of them lift unit (221) lifts.
3. The intelligent scheduling system of unmanned warehouse of claim 2, wherein: each lift unit (221) below is equipped with a base (225), each lift unit (221) bottom is equipped with wedge (222), be equipped with drive block (223) between lift unit (221) and base (225), drive block (223) set up along annular revolving platform (121) radial sliding, and drive block (223) can drive each lift unit (221) upwards lifting by interior and outside in proper order when annular revolving platform (121) is radially slided by interior and outside along annular revolving platform (121), and wedge (222) of each lift unit (221) bottom extend to the bottom of its inboard lift unit (221) respectively and keep off with the bottom surface of this inboard lift unit (221) and connect.
4. The intelligent scheduling system of unmanned warehouse of claim 3, wherein: tray (1) clamping mechanisms are further arranged on two sides of the hollow-out portion of each bin (101), each tray (1) clamping mechanism comprises two clamping plates (123) which are opened and closed mutually, the two clamping plates (123) are assembled to enable the two clamping plates (123) to be away from each other towards two sides of the bin (101) when the conveying roller (220) is lifted upwards, and the two clamping plates (123) can be close to each other towards the center of the bin (101) when the conveying roller (220) is lowered.
5. The intelligent scheduling system of unmanned warehouse of claim 4, wherein: the clamping plate (123) is hinged to a support (1233) beside the bin (101) through a first connecting rod (1231) and a second connecting rod (1232), the first connecting rod (1231) and the second connecting rod (1232) are equal in length and are parallel to each other, hinge shafts between the first connecting rod (1231) and the second connecting rod (1232) and between the clamping plate (123) and the support (1233) are not collinear with each other, so that the clamping plate (123), the first connecting rod (1231), the second connecting rod (1232) and the support (1233) jointly form a parallel four-bar mechanism, and the plate surface of the clamping plate (123) is always in a vertical posture; a torsion spring is arranged between the first connecting rod (1231) and/or the second connecting rod (1232) and the support (1233), and the torsion spring is assembled in a way that the elasticity of the torsion spring can drive the first connecting rod (1231) and/or the second connecting rod (1232) to swing towards the direction that the two clamping plates (123) are close to each other; the lifting unit (221) is provided with a push rod (227) which protrudes upwards, the upper end of the push rod (227) is provided with a roller (228), and the roller (228) is abutted to the first connecting rod (1231) or the second connecting rod (1232), so that when the lifting unit (221) is lifted upwards, the first connecting rod (1231) or the second connecting rod (1232) can be pushed, and the two clamping plates (123) are far away from two sides of the bin (101).
6. The intelligent scheduling system of unmanned warehouse of claim 1, wherein: the lifting mechanism (21) comprises a vertical guide rail (213) arranged at the center of each layer of annular rotary platform (121) along the vertical direction, and a lifting support (212) in limit fit with the vertical guide rail (213) along the vertical direction, a fork (211) is arranged on the lifting support (212), the fork (211) forms sliding fit with the lifting support (212) along the horizontal direction, and a driving component for driving the fork (211) to slide relative to the lifting support (212) is arranged on the lifting support (212); and a winch (214) is arranged at the top of the vertical guide rail (213), and the lifting support (212) is connected with the winch (214) through a steel wire rope.
7. The intelligent scheduling system of unmanned warehouse of claim 6, wherein: fork (211) both sides are equipped with pulley (217), be equipped with on lifting support (212) with pulley (217) constitute roll complex channel-section steel shape track (216), driving member includes lifting support (212) and goes up the first lead screw that the level rotated the setting to and the first nut piece that sets up on fork (211), first lead screw and first nut piece constitute screw-thread fit, the one end of first lead screw is connected with the spindle drive of the first servo motor (215) that sets up on lifting support (212), and the control signal input of this first servo motor (215) links to each other with control center (50).
8. The intelligent scheduling system of unmanned warehouse of claim 1, wherein: the support (11) is provided with a conical roller (111) which is in rolling fit with the outer bottom surface of the annular rotary platform (121) and a vertical cylindrical roller (112) which is in rolling fit with the inner annular surface of the annular rotary platform (121), and the conical roller (111) and the cylindrical roller (112) are uniformly arranged at intervals along the circumferential direction of the annular rotary platform (121); the driving unit comprises a gear ring arranged on the side ring surface of the annular rotary platform (121) and a gear (113) which is arranged on the support (11) and meshed with the gear ring, the gear (113) is connected with a main shaft of a second servo motor (114), and the control signal input end of the second servo motor (114) is connected with the control center (50).
9. The intelligent scheduling system of unmanned warehouse of claim 3, wherein: the bottom of the lifting unit (221) is provided with a vertical guide post (224), the guide post (224) and a guide sleeve arranged on a base (225) form sliding fit, a second nut block is arranged on the driving block (223), a second lead screw radially arranged along the annular rotary platform (121) is arranged on the base (225), the second nut block is in threaded fit with the second lead screw, one end of the second lead screw is connected with a third servo motor (226), and a control signal input end of the third servo motor (226) is connected with the control center (50).
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| CN111768117A (en) * | 2020-07-02 | 2020-10-13 | 泰森日盛集团有限公司 | Finished product warehouse intelligent warehouse system convenient for allocating bin level |
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| CN112960322B (en) * | 2021-03-30 | 2022-08-12 | 青岛黄海学院 | Wisdom logistics storage system |
| CN113415569B (en) * | 2021-08-23 | 2021-11-02 | 江苏高科物流科技股份有限公司 | Intelligent stereoscopic warehouse with multiple object stages |
| CN115535513B (en) * | 2022-11-29 | 2023-03-21 | 南京良田吊装有限公司 | Combined lifting loading and unloading carrier and carrying method thereof |
| CN117022970B (en) * | 2023-10-09 | 2023-12-22 | 成都思越智能装备股份有限公司 | Material dynamic storage method and device |
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| CN110304388A (en) | 2019-10-08 |
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