CN110510313A - A kind of intelligence second level library - Google Patents
A kind of intelligence second level library Download PDFInfo
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- CN110510313A CN110510313A CN201910802749.0A CN201910802749A CN110510313A CN 110510313 A CN110510313 A CN 110510313A CN 201910802749 A CN201910802749 A CN 201910802749A CN 110510313 A CN110510313 A CN 110510313A
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- 239000000463 material Substances 0.000 claims abstract description 92
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 30
- 239000013077 target material Substances 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000000007 visual effect Effects 0.000 claims description 19
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 2
- 239000003814 drug Substances 0.000 description 6
- 229940079593 drug Drugs 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000011232 storage material Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 239000011358 absorbing material Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses a kind of intelligent second level library, including at least one overhead baggage rack unit, moving assembly, grabbing assembly and control unit, overhead baggage rack unit includes the storage lattice of several storage hoppers and the guide rail along the setting of shelf direction；Moving assembly is installed on the overhead baggage rack unit, is connect with the guide rail；Grabbing assembly includes pedestal and manipulator, and the pedestal is connect with the moving assembly, and the manipulator is connect with the pedestal；Control unit is previously stored with location information corresponding with material in hopper, with the moving assembly, the grabbing assembly communication connection, controls the moving assembly and the manipulator is driven to be moved to above target material, and the control manipulator grabs material.Intelligence second level library disclosed by the invention, which solves the problems, such as to look for, expects hardly possible, improves the accuracy of storage efficiency and crawl.
Description
Technical field
The present invention relates to logistics machinery field, in particular to a kind of intelligent second level library.
Background technique
Way to manage of the unit to consumptive material at present are as follows: each unit is typically provided central warehouse (level-one library) and in each portion
The middle database (second level library) of door, every grade of warehouse are equipped with special warehouseman, are managed to the storage that goes out of consumptive material.Traditional
Second level library is not smart enough, when spent material, needs manually to remove from shelf, artificial feeding need to spend a large amount of manpower and when
Between look for material, storage efficiency is extremely low.There are also some second level libraries to use robot feeding now, relies primarily on image recognition skill
Art identifies material, image recognition technology requirement: (1) the high recognizer of efficiency, accuracy rate；(2) camera of high quality.Currently,
It still needs further improvement for the efficiency and accuracy rate of recognizer, and its cost of the camera of high quality is general also higher, for intelligence
It can be badly in need of new technical solution for second level library to realize efficient, the accurate crawl of a large amount of materials.
Summary of the invention
In view of the above problems, the present invention is proposed, overcome the above problem in order to provide one kind or at least is partially solved
The intelligent second level library of the above problem.
A kind of intelligence second level library, including at least one overhead baggage rack unit, moving assembly, grabbing assembly and control unit, in which:
Overhead baggage rack unit stores lattice and along the guide rail of shelf direction setting including several storage hoppers；
Moving assembly is installed on the overhead baggage rack unit, is connect with the guide rail；
Grabbing assembly, including pedestal and manipulator, the pedestal are connect with the moving assembly, the manipulator with it is described
Pedestal connection；
Control unit is previously stored with location information corresponding with material in hopper, with the moving assembly, the crawl
Component communication connection controls the moving assembly and the manipulator is driven to be moved to above target material, and the control machine
Tool hand grabs material.
Further, the moving assembly includes X-axis mobile module, Y-axis mobile module and Z axis mobile module, in which:
X-axis mobile module includes and guide rail X-axis slide rail disposed in parallel and X-axis mobile sliding block that the X-axis is mobile to be slided
Block both ends are respectively embedded into the guide rail and the X-axis slide rail；
Y-axis mobile module includes the Y-axis sliding rail being fixedly connected with the mobile sliding block of the X-axis, the Y of the insertion Y-axis sliding rail
Axis moves sliding block, and the Y-axis sliding rail is vertically arranged with the X-axis slide rail；
Z axis mobile module includes the Z axis slide rail being fixedly connected with the mobile sliding block of the Y-axis, the Z of the insertion Z axis slide rail
Axis moves sliding block, and the Z axis slide rail is vertically arranged with the Y-axis sliding rail, and the mobile sliding block of the Z axis is connect with the pedestal.
Further, the intelligent second level library further includes device for visual identification, and the device for visual identification is installed on described
On pedestal, the device for visual identification and described control unit communication connection acquire in hopper the image of material and by acquisition
Image passes to control unit, control unit processing image and the motion profile for adjusting manipulator.
Further, the device for visual identification uses 3D camera.
Further, the device for visual identification uses 2D camera, and the intelligence second level library further includes being set to the bottom
Laser range finder on seat, for measuring the distance between manipulator and material, the laser range finder and described control unit
Communication connection.
Further, the intelligent second level library further includes crawl judgment means, for judging whether the manipulator grabs
Success.
Further, the manipulator uses sucker, and the crawl judgment means use baroswitch；Or the manipulator
Using clamping jaw, the crawl judgment means use magnetic switch.
Further, further include transmitting device, carry and convey the material of the grabbing assembly crawl, the transmitting device
It is installed on the overhead baggage rack unit bottom.
Further, the moving assembly be installed on the overhead baggage rack unit over top or top below or side.
Further, the transmitting device two sides are equipped with baffle.
Based on the above-mentioned technical proposal, the present invention having the beneficial effect that compared with the prior art
Intelligence second level library disclosed by the invention, including at least one overhead baggage rack unit, moving assembly, grabbing assembly and control are single
Member, overhead baggage rack unit include the storage lattice of several storage hoppers and the guide rail along the setting of shelf direction, and moving assembly is installed on described
On overhead baggage rack unit, and it is connect with the guide rail；Grabbing assembly includes pedestal and manipulator, and manipulator can be in the drive of moving assembly
Lower mobile to target material, the pedestal is connect with the moving assembly, and the manipulator is connect with the pedestal；Control is single
Member is previously stored with location information corresponding with material in hopper, and the moving assembly, the grabbing assembly communication connection,
Controlling the moving assembly drives the manipulator to be moved to above target material, and the control manipulator grabs material.
Since the location information of material in hopper has been stored in control unit, material need to be only matched in a control unit when grabbing material
Location information, manipulator can accurately arrive above target and take out material, without complicated image recognition algorithm
And equipment, solve the problems, such as to look for that material is difficult with low cost, and the corresponding coordinate of each material, the accuracy of crawl is also very
It is high.
Detailed description of the invention
Fig. 1 is the schematic perspective view in intelligent second level library in some embodiments；
Fig. 2 is the moving assembly in intelligent second level library and the structural schematic diagram of grabbing assembly in some embodiments；
Fig. 3 is the moving assembly in intelligent second level library and the partial enlargement diagram of grabbing assembly in some embodiments.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment one
A kind of intelligence second level library, as shown in Figure 1, including at least one overhead baggage rack unit 10, moving assembly 20, grabbing assembly 30
With control unit 40, in which:
Overhead baggage rack unit 10 stores lattice 11 and along the guide rail 12 of shelf direction setting including several storage hoppers.In order to more
More storage materials, in the present embodiment, overhead baggage rack unit 10 is provided with 4 layers.
Moving assembly 20 is installed on overhead baggage rack unit 10, is connect with guide rail 12.Every layer of overhead baggage rack unit 10 is all correspondingly arranged one
A moving assembly 20.There was only one layer of the case where for overhead baggage rack unit 10, can be hollow out, moving assembly at the top of overhead baggage rack unit 10
20 can be installed on the over top of overhead baggage rack unit 10；The case where being equipped with multilayer for overhead baggage rack unit 10, moving assembly 20 can be with
It is installed on the top lower section or side of overhead baggage rack unit 10, certainly, in order to preferably utilize space, preferably moving assembly 20 is installed on
The scheme of 10 top lower section of overhead baggage rack unit.
In some embodiments, in conjunction with shown in Fig. 2 and Fig. 3, moving assembly 20 includes X-axis mobile module 21, the mobile mould of Y-axis
Block 22 and Z axis mobile module 23, in which:
X-axis mobile module 21 includes and the X-axis slide rail 211 disposed in parallel of guide rail 12 and X-axis mobile sliding block 212 X-axis
Mobile 212 both ends of sliding block are respectively embedded into guide rail 12 and X-axis slide rail 211；
Y-axis mobile module 22 includes the Y-axis sliding rail 221 being fixedly connected with the mobile sliding block 212 of X-axis, insertion Y-axis sliding rail 221
The mobile sliding block 222 of Y-axis, Y-axis sliding rail 221 is vertically arranged with X-axis slide rail 211；
Z axis mobile module 23 includes the Z axis slide rail 231 being fixedly connected with the mobile sliding block of Y-axis, the Z for being embedded in Z axis slide rail 231
Axis moves sliding block 232, and Z axis slide rail is vertically arranged with Y-axis sliding rail 221, and the mobile sliding block 232 of Z axis is connect with pedestal 31.
20 energy band of moving assembly is moved manipulator 32 and is moved along three X-axis, Y-axis, Z axis directions, only needs in a control unit
The location information of material is matched, 20 energy band of moving assembly is moved manipulator 32 and reached above target material, to realize the crawl of material.
Grabbing assembly 30, in conjunction with shown in Fig. 2 and Fig. 3, including pedestal 31 and manipulator 32, pedestal 31 and moving assembly 20 connect
It connects, manipulator 32 is connect with pedestal 31.Manipulator 32 can use sucker or clamping jaw, due to being not take up object when sucker grabs material
Space around expecting, material can be put more compact, and identical space can place more materials, therefore preferably use
Sucker.
40 (not shown) of control unit is previously stored with location information corresponding with material in hopper, with mobile group
Part 20,30 communication connection of grabbing assembly, control moving assembly 20 drives manipulator 32 to be moved to above target material, and control
Manipulator 32 grabs material.
Location information can use coordinate form, due to each hopper specification it is known that each hopper in shelf
The position of unit 10 also can know that, if pressing certain regularly placing material in hopper, it is corresponding can also to extrapolate each material
Coordinate range.In some embodiments, it is preferably provided with the hopper of baffle, material can be piled up fitly in hopper, and control is single
Member 40 can instruct corresponding position crawl material by required material based on the received.For example, the overhead baggage rack unit upper right corner is in Fig. 1
No. 1 hopper, coordinate are that hopper is No. 2 hoppers.The drug A of proper alignment (3 rows 2 column), No. 2 hoppers are stored in No. 1 hopper
It is inside stored with the drug B of proper alignment (4 rows 3 column), when the size of hopper and type, the placement regulation input control list of material
After member 40, control unit 40 just can calculate the corresponding coordinate range of each material.It in some embodiments, can be by each object
In the coordinate deposit control unit 40 of the position of the coordinate range or central point of material.When control unit 40 has received required material
After instruction, required material will be matched with the material location information of storage, the location information of target material is being determined,
Control unit 40 just can control moving assembly 20 and drive manipulator 32 to accurately arrive above material and take out material.For example, control
Unit 40 processed receives the instruction for needing two box drug A, then control unit 40 finds 6 location informations corresponding with drug A, reads
After taking 1 location information, just control moving assembly 20 drives manipulator 32 to accurately arrive at No. 1 one box drug A of hopper crawl and send
To material outlet, then control unit 40 reads next location information again, then controls moving assembly 20 and drive manipulator 32 accurate
Ground reaches the position of the second box drug A.
Certainly, a hopper is interior even can store various material, as long as these materials are by certain regularly arranged, control list
Member 40 can conveniently calculate the location information of material, to ensure that subsequent grasping manipulation can accurately be implemented.
It should be understood that in some cases, material and its corresponding location information can also be pre-entered into control list
In member 40, calculated without control unit.
Intelligence second level library disclosed by the invention, including at least one overhead baggage rack unit 10, moving assembly 20,30 and of grabbing assembly
Control unit 40, overhead baggage rack unit 10 include the storage lattice 11 of several storage hoppers and the guide rail 12 along the setting of shelf direction, movement
Component 20 is installed on overhead baggage rack unit 10, and is connect with guide rail 12；Grabbing assembly 30 includes pedestal 31 and manipulator 32, manipulator
32 can be mobile to target material under the drive of moving assembly 20, and pedestal 31 is connect with moving assembly 20, manipulator 32 and pedestal
31 connections；Control unit 40 is previously stored with location information corresponding with material in hopper, with moving assembly 20, grabbing assembly
30 communication connections, control moving assembly 20 drive manipulator 32 to be moved to above target material, and control manipulator 32 grabs
Material.It, only need to be in control unit 40 when grabbing material since the location information of material in hopper has been stored in control unit 40
The location information manipulator 32 of middle matching material can accurately arrive above target and take out material, without complicated figure
It as recognizer and equipment, solves the problems, such as to look for material difficult with low cost, and the corresponding coordinate of each material, the standard of crawl
True property is also very high.
In some embodiments, as shown in Figure 1, intelligent second level library further includes transmitting device 70, transmitting device 70 is installed on
10 bottom of overhead baggage rack unit, is placed in by hopper, the material that the carrying crawl of manipulator 32 comes, and by material transferring to next station.
Baffle 71 can also be arranged in 70 two sides of transmitting device, prevent material from falling from 70 two sides of transmitting device.
Embodiment two
A large amount of material grasping manipulation, inevitably will appear the case where crawl fails, therefore setting crawl is also needed to sentence
Disconnected device grabs failure situation to inform, and solves the problems, such as crawl failure in time.
A kind of intelligence second level library, as shown in Figure 1, including at least one overhead baggage rack unit 10, moving assembly 20, grabbing assembly
30, control unit 40, crawl judgment means, in which:
Overhead baggage rack unit 10 stores lattice 11 and along the guide rail 12 of shelf direction setting including several storage hoppers.In order to more
More storage materials, in the present embodiment, overhead baggage rack unit 10 is provided with 4 layers.
Moving assembly 20 is installed on overhead baggage rack unit 10, is connect with guide rail 12.In the present embodiment, for more preferable land productivity
With space, preferably moving assembly 20 is installed on the scheme below 10 top of overhead baggage rack unit.
In some embodiments, in conjunction with shown in Fig. 2 and Fig. 3, moving assembly 20 includes X-axis mobile module 21, the mobile mould of Y-axis
Block 22 and Z axis mobile module 23, in which:
X-axis mobile module 21 includes and the X-axis slide rail 211 disposed in parallel of guide rail 12 and X-axis mobile sliding block 212 X-axis
Mobile 212 both ends of sliding block are respectively embedded into guide rail 12 and X-axis slide rail 211；
Y-axis mobile module 22 includes the Y-axis sliding rail 221 being fixedly connected with the mobile sliding block 212 of X-axis, insertion Y-axis sliding rail 221
The mobile sliding block 222 of Y-axis, Y-axis sliding rail 221 is vertically arranged with X-axis slide rail 211；
Z axis mobile module 23 includes the Z axis slide rail 231 being fixedly connected with the mobile sliding block of Y-axis, the Z for being embedded in Z axis slide rail 231
Axis moves sliding block 232, and Z axis slide rail is vertically arranged with Y-axis sliding rail 221, and the mobile sliding block 232 of Z axis is connect with pedestal 31.
20 energy band of moving assembly is moved manipulator 32 and is moved along three X-axis, Y-axis, Z axis directions, as long as wherein defeated controlling
Enter the X-axis, Y-axis, Z axis coordinate of target material, 20 energy band of moving assembly is moved manipulator 32 and reached above target material, to realize object
The crawl of material.
Grabbing assembly 30, in conjunction with shown in Fig. 2 and Fig. 3, including pedestal 31 and manipulator 32, pedestal 31 and moving assembly 20 connect
It connects, manipulator 32 is connect with pedestal 31.Manipulator 32 can use sucker or clamping jaw, due to being not take up object when sucker grabs material
Space around expecting, material can be put more compact, and identical space can place more materials, therefore preferably use
Sucker.
40 (not shown) of control unit is previously stored with location information corresponding with material in hopper, with mobile group
Part 20,30 communication connection of grabbing assembly, control moving assembly 20 drives manipulator 32 to be moved to above target material, and control
Manipulator 32 grabs material.
It grabs judgment means (not marked in figure), is connect with 40 electric signal of control unit, for judging the manipulator 32
Whether crawl is successful, and judging result is sent to control unit.
In some embodiments, manipulator 32 uses sucker, and crawl judgment means use baroswitch.When manipulator 32 is adopted
When with sucker, due to sucker using vacuum come absorbing material, baroswitch can be used by grabbing judgment means, pass through monitoring
The air pressure of sucker judges whether manipulator 32 grabs success, for example, when the atmospheric pressure value that baroswitch monitors reaches tens Mpa
When, illustrate that the vacuum degree of sucker is relatively high, manipulator 32 grabs material success；When the atmospheric pressure value that baroswitch monitors is zero point
Several Mpa or when negative value, illustrate that the vacuum degree of sucker is relatively low, manipulator 32 grabs material failure.
In further embodiments, manipulator 32 uses clamping jaw, and crawl judgment means use magnetic switch.When manipulator 32
When using clamping jaw, crawl judgment means can use magnetic switch, judge manipulator 32 by the distance between measurement clamping jaw
Whether crawl is successful, for example, then manipulator 32 grabs when among size range of the distance between the clamping jaw just at material
Material success；When the distance between clamping jaw is less than the size of material or when close to zero, then manipulator 32 grabs material failure.
In order to solve the problems, such as crawl failure, in conjunction with shown in Fig. 2 and Fig. 3, intelligent second level library further includes device for visual identification
50, device for visual identification 50 is connect with pedestal 31, device for visual identification 50 and 40 communication connection of control unit, when crawl fails,
Device for visual identification 50 is opened, and acquires the image of material in hopper and the image of acquisition is passed to control unit 40, Yong Huke
The reason of further appreciating that crawl failure with the image according to acquisition, for example material is sticky flexible material, certain mistakes in hopper
Operation causes in hopper material to squeeze, and a grasping manipulation has also grabbed the material on target material periphery, periphery material by
Crawl then must grab failure next time.After having understood crawl failure cause, control unit 40 adjusts the movement rail of manipulator 32
Mark grabs target material again.
In some embodiments, device for visual identification 50 can be 3D camera, and device for visual identification 50 is by the solid of acquisition
Image passes to control unit 40, and control unit 40 can analyze the accurate X-axis of material, Y according to the stereo-picture of acquisition
Axis, Z axis coordinate, and control manipulator 32 and move to target position crawl material.
In some embodiments, device for visual identification 50 is also possible to 2D camera, and device for visual identification 50 is put down acquisition
Face image passes to control unit 40, control unit 40 can only be analyzed according to the flat image of acquisition material accurate X-axis,
Y axis coordinate also lacks the information of Z-direction, therefore in order to realize that the standard of material goes to grab, then need to also be arranged in Z-direction and have
There is the device of distance measurement function.Preferably, which further includes laser range finder 60, and laser range finder 60 is set to pedestal
On 31, the distance between manipulator 32 and material can be obtained, control unit 40 can control manipulator 32 to be moved to corresponding distance,
Realize material crawl.
In order to reduce device failure, reduce unnecessary energy consumption, device for visual identification 50 can have crawl judgment means
Just start when judgement crawl failure.
It is disclosed by the invention intelligence second level library compared with embodiment one, can not only intelligently, low cost, efficiently find object
Material, moreover it is possible to judge whether crawl fails, some image datas can also be provided in material crawl failure for the case where crawl failure and supplied
Customer analysis, to solve the problems, such as that crawl unsuccessfully provides help in time.The high degree of automation in intelligent second level library of the invention,
Greatly improve inventory's efficiency in second level library.
In some embodiments, as shown in Figure 1, intelligent second level library further includes transmitting device 70, transmitting device 70 is installed on
10 bottom of overhead baggage rack unit, is placed in by hopper, the material that the carrying crawl of manipulator 32 comes, and by material transferring to next station.
Baffle 71 can also be arranged in 70 two sides of transmitting device, prevent material from falling from 70 two sides of transmitting device.
It should be understood that the particular order or level of the step of during disclosed are the examples of illustrative methods.Based on setting
Count preference, it should be appreciated that in the process the step of particular order or level can be in the feelings for the protection scope for not departing from the disclosure
It is rearranged under condition.Appended claim to a method is not illustratively sequentially to give the element of various steps, and not
It is to be limited to the particular order or level.
In above-mentioned detailed description, various features are combined together in single embodiment, to simplify the disclosure.No
This published method should be construed to reflect such intention, that is, the embodiment of theme claimed needs clear
The more features of the feature stated in each claim to Chu.On the contrary, that reflected such as appended claims
Sample, the present invention are in the state fewer than whole features of disclosed single embodiment.Therefore, appended claims is special
This is expressly incorporated into detailed description, and wherein each claim is used as alone the individual preferred embodiment of the present invention.
Description above includes the citing of one or more embodiments.Certainly, in order to describe above-described embodiment and description portion
The all possible combination of part or method is impossible, but it will be appreciated by one of ordinary skill in the art that each implementation
Example can do further combinations and permutations.Therefore, embodiment described herein is intended to cover fall into the appended claims
Protection scope in all such changes, modifications and variations.In addition, with regard to term used in specification or claims
The mode that covers of "comprising", the word is similar to term " includes ", just as " including " solved in the claims as transitional word
As releasing.In addition, the use of any one of specification in claims term "or" being to indicate " non-exclusionism
Or ".
Claims (10)
1. a kind of intelligence second level library, which is characterized in that including at least one overhead baggage rack unit, moving assembly, grabbing assembly and control
Unit, in which:
Overhead baggage rack unit stores lattice and along the guide rail of shelf direction setting including several storage hoppers；
Moving assembly is installed on the overhead baggage rack unit, is connect with the guide rail；
Grabbing assembly, including pedestal and manipulator, the pedestal are connect with the moving assembly, the manipulator and the pedestal
Connection；
Control unit is previously stored with location information corresponding with material in hopper, with the moving assembly, the grabbing assembly
Communication connection controls the moving assembly and the manipulator is driven to be moved to above target material, and the control manipulator
Grab material.
2. intelligence second level library as described in claim 1, which is characterized in that the moving assembly includes X-axis mobile module, Y-axis
Mobile module and Z axis mobile module, in which:
X-axis mobile module includes and guide rail X-axis slide rail disposed in parallel and X-axis mobile sliding block the mobile sliding block two of the X-axis
End is respectively embedded into the guide rail and the X-axis slide rail；
Y-axis mobile module includes the Y-axis shifting of the Y-axis sliding rail, the insertion Y-axis sliding rail that are fixedly connected with the mobile sliding block of the X-axis
Movable slider, the Y-axis sliding rail are vertically arranged with the X-axis slide rail；
Z axis mobile module includes the Z axis shifting of the Z axis slide rail, the insertion Z axis slide rail that are fixedly connected with the mobile sliding block of the Y-axis
Movable slider, the Z axis slide rail are vertically arranged with the Y-axis sliding rail, and the mobile sliding block of the Z axis is connect with the pedestal.
3. intelligence second level library as described in claim 1, which is characterized in that it further include device for visual identification, the visual identity
Device is installed on the pedestal, the device for visual identification and described control unit communication connection, acquires material in hopper
The image of acquisition is simultaneously passed to control unit, control unit processing image and the motion profile for adjusting manipulator by image.
4. intelligence second level library as claimed in claim 3, which is characterized in that the device for visual identification uses 3D camera.
5. intelligence second level library as claimed in claim 3, which is characterized in that the device for visual identification uses 2D camera, described
Intelligent second level library further includes the laser range finder being set on the pedestal, for measuring the distance between manipulator and material,
The laser range finder and described control unit communication connection.
6. intelligence second level library as described in claim 1, which is characterized in that further include the crawl being connect with control unit electric signal
Judgment means are sent to control unit for judging whether the manipulator grabs success, and by judging result.
7. intelligence second level library as claimed in claim 6, which is characterized in that the manipulator uses sucker, the crawl judgement
Device uses baroswitch；Or the manipulator uses clamping jaw, the crawl judgment means use magnetic switch.
8. such as the described in any item intelligent second level libraries claim 1-7, which is characterized in that further include transmitting device, carry and defeated
The material of the grabbing assembly crawl is sent, the transmitting device is installed on the overhead baggage rack unit bottom.
9. intelligence second level library as described in claim 1, which is characterized in that the moving assembly is installed on the overhead baggage rack unit
Below over top or top or side.
10. intelligence second level library as described in claim 1, which is characterized in that the transmitting device two sides are equipped with baffle.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439519A (en) * | 2020-03-31 | 2020-07-24 | 苏州艾隆科技股份有限公司 | Medicine taking method and device for medicine library, terminal and storage medium |
| CN111653024A (en) * | 2020-06-10 | 2020-09-11 | 创新奇智(成都)科技有限公司 | Warehouse management system, identification method, camera and readable storage medium |
| CN112967444A (en) * | 2021-05-10 | 2021-06-15 | 佛山市恒灏科技有限公司 | Automatic food taking method and device |
| CN113247520A (en) * | 2021-05-28 | 2021-08-13 | 江西金橡木业有限公司 | High-rise intelligent compact shelf and goods taking method |
| CN113421383A (en) * | 2021-06-23 | 2021-09-21 | 北京华兴长泰物联网技术研究院有限责任公司 | Medicine grabbing and positioning system for automatic medicine selling machine |
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