CN110980081A - Intelligent transfer robot for warehouse logistics, transfer method and transfer system - Google Patents
Intelligent transfer robot for warehouse logistics, transfer method and transfer system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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Abstract
The utility model provides a warehouse commodity circulation intelligence transfer robot and transport method and complex transfer system thereof, belongs to intelligent logistics technique, including mobile mechanical arm, frame, year thing tray, power and controller, wherein mobile mechanical arm sets up in the frame, reciprocates along the frame, and mobile mechanical arm includes scalable manipulator, and the one end of manipulator stretches out, stretches out along the horizontal direction, and the manipulator downside is provided with folding hook, it sets up in mobile mechanical arm below to carry the thing tray, reciprocates along the frame, separable being fixed with of frame one side removes goods shelves, is provided with the multilayer platform of horizontal arrangement above the removal goods shelves, and power and controller set up in the frame lower part, including task receiving element, execution unit, target identification unit and obstacle avoidance unit, and the bottom of frame and removal goods shelves is provided with drive wheel and driven universal wheel. The invention has novel structure, ingenious conception, good flexibility, high automation degree, high working efficiency and strong adaptability.
Description
Technical Field
The invention relates to the technical field of intelligent logistics, in particular to an intelligent carrying robot.
Background
The warehouse is a center of modern logistics operation, and along with the rapid rise of electronic commerce, the scale of the warehouse is continuously enlarged, and meanwhile, the warehouse has the characteristics of miniaturization, multiple varieties, small batch, multiple batches, short period and the like, so that the warehouse data operation is frequently updated, the information structure is not only complex, but also is diversified, and the commodity sorting task is heavy. The conventional manual goods picking mode is that an operator pushes a trolley provided with a form container, corresponding articles are found one by one in a storehouse according to the form and are loaded into the corresponding form container, and the AGV trolley also adopts a tracking method to replace the process of carrying out the above by the operator. The sorting mode needs operators to walk multiple paths, is high in labor intensity, low in efficiency and high in error rate, and the AGV trolley is replaced by the AGV trolley, so that the efficiency is improved to a certain extent, but the problem is not solved fundamentally. Therefore, the conventional warehousing systems adopting manual operation, conveyor belt type or AGV type warehousing logistics modes are not enough to deal with the current problems, and people urgently need a novel intelligent automatic warehousing logistics with low error rate and low labor cost and capable of improving the overall operation efficiency of the warehousing system. Under the background, an intelligent warehousing system which uses a warehousing logistics robot to replace manual work for sorting and carrying works is produced, and the carrying robot is an important component in the intelligent warehousing system, and the intelligence degree of the carrying robot determines the intelligence degree of the warehousing logistics.
At present, there are robots facing warehouse sorting and handling on the market, such as the published patents: the existing intelligent carrying robots are designed for newly built warehouses, and are required to have high matching degree between a goods shelf and a carrying trolley, so that the following defects exist: (1) the traditional transfer robot needs not to be flexible enough, and a goods shelf needs to be accurately aligned in operation, for example, auxiliary devices such as a reflecting plate and a laying track need to be installed to increase alignment, however, the equipment not only increases the cost, but also is easily limited by space and field; (2) the traditional transfer robot can only transfer one piece of goods at a time and cannot transfer a plurality of pieces of goods at a time according to the required quantity, so that the transfer efficiency is low; (3) the traditional carrying trolley cannot be suitable for carrying goods with different sizes, so that goods to be carried are placed in a special storage box, the goods cannot be carried according to the required quantity, and the goods taking process is complicated; (4) most of traditional transport intelligent vehicle can only carry one side goods shelves, can not carry letter sorting both sides goods simultaneously, and this influences warehouse space utilization and letter sorting efficiency.
When a plurality of existing warehouses are built, a plurality of logistics enterprises do not consider that a robot replaces human beings to sort and carry goods in the early period, so that room for warehouse transformation is not reserved, the arranged storage racks also adopt different specifications, and the flexible logistics carrying robot suitable for the nonstandard storage racks is urgently needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a full-automatic bidirectional logistics intelligent transfer robot which can be flexibly suitable for transferring goods shelves and goods of different specifications.
The technical problem to be solved by the invention is realized by the following technical scheme:
the utility model provides an intelligent transfer robot is flowed to storehouse, includes and removes arm, frame, year thing tray, power and controller, wherein removes the arm setting in the frame, reciprocates along the frame, removes the arm and includes scalable manipulator, and the one end of manipulator stretches out, stretches out and draws back along the horizontal direction, and the manipulator downside is provided with folding hook, it reciprocates along the frame to carry the thing tray setting in removal arm below, separable being fixed with in frame one side removes goods shelves, is provided with the multilayer platform that the level was arranged above removing goods shelves, and power and controller set up in the frame lower part, including task receiving element, execution unit, target identification unit and keep away the barrier unit, and the bottom of frame and removal goods shelves is provided with drive wheel and driven universal wheel.
In the invention, the rack comprises a base and a door-shaped frame arranged on the base, one side of the door-shaped frame is provided with a movable mechanical arm and a carrying tray, the other side of the door-shaped frame is provided with a movable goods shelf, two vertical beams of the door-shaped frame are respectively provided with a first rack, and the movable mechanical arm moves up and down along the first rack.
Furthermore, a sliding rail and a second rack in the horizontal direction are arranged on the movable mechanical arm, the mechanical arm is embedded on the sliding rail and the second rack through a connecting frame and horizontally moves along the sliding rail and the second rack, and the mechanical arm can be horizontally arranged on the connecting frame in a rotating mode.
Further, the manipulator is syllogic extending structure, including first arm, second arm and third arm, and first arm rotates with the link to be connected, and the telescopic embedding of second arm is in first arm, and the telescopic embedding of third arm is in the second arm, and the both ends of third arm set up folding hook respectively, connect with the connecting rod between two hooks, and under the drive of connecting rod, a hook is folding, and another hook stretches out.
In the invention, the carrying tray is arranged below the moving mechanical arm, moves up and down along the first rack, and comprises a moving tray and a supporting tray, wherein the moving tray and the supporting tray are vertically overlapped, a motor is arranged below the supporting tray, a motor shaft is connected to the moving tray, and the moving tray horizontally rotates under the driving of the motor.
Furthermore, the movable tray is rectangular, three side edges are turned upwards, one side edge is opened to form a drawer shape, and the goods are moved into the movable tray from the opening and then moved out of the movable tray from the opening.
According to the invention, a driving wheel positioned right below a door-shaped frame and driven universal wheels arranged at four corners of the lower side surface of the base are arranged on the base of the rack, the driving wheel is driven by a motor and driven by an execution unit of a controller, an electromagnet is arranged on one side, close to a movable goods shelf, of the driving wheel, four movable goods shelf supporting legs are arranged at the bottom of the movable goods shelf, the universal wheels are arranged at the bottom ends of the movable goods shelf supporting legs, the movable goods shelf supporting legs comprise adsorption mechanisms matched with the electromagnet, and the movable goods shelf and the rack are detachably connected by adsorbing the movable goods shelf supporting legs onto the electromagnet.
In the invention, the target identification unit is used for identifying the goods shelf so as to take goods from the goods shelf where the goods are located, and the obstacle avoidance unit is used for tracing when the intelligent transfer robot moves.
Based on the structure, the carrying method of the intelligent carrying robot for the warehouse logistics comprises the following steps:
the first step is as follows: the intelligent carrying robot receives the task of carrying goods, and determines the position, the placing state, the quantity and the size of a goods shelf with the carried goods by matching the quantity, the variety and the specification of the carried goods with a warehousing database management system;
the second step is that: planning a path based on the shortest path principle according to the position, the placing state, the quantity and the size of the goods to be carried;
the third step: determining the quantity of the varieties of the goods, and if the variety of the goods to be transported is more than 1, optimizing the movable goods shelf according to the size and the quantity of the goods to be taken so as to improve the efficiency of taking the goods at one time; if the category of the goods to be taken is equal to 1, directly taking the goods without optimizing the path;
the fourth step: the intelligent robot arrives at a goods taking place, and if the goods taking amount is equal to 1, the goods are taken directly; if the goods taking quantity is more than 1, planning the single goods taking quantity according to the size, the weight and the prevention and control state of the goods;
the fifth step: and forming a goods taking instruction of the intelligent transfer robot, feeding back to the database by the system to update data information if the goods taking is successful, and otherwise, alarming to remind a worker to maintain.
A warehouse logistics transfer system comprises an intelligent transfer robot, a movable goods shelf, a transfer station, a movable goods shelf storage area and a packing table, wherein the transfer station comprises upright post fixing pieces which are uniformly distributed along a straight line, the upright post fixing pieces are connected together through a cross beam, guide flanges are arranged on the cross beam, every two guide flanges form a group and are used for separating a parking position, a parking electromagnet matched with the movable goods shelf is arranged on the cross beam on the inner side of the parking position, the movable goods shelf storage area is used for parking the idle movable goods shelf, and the packing table is used for packing goods; after the goods are taken, the carrying robot carries the movable goods shelf to a packing table or a transfer station to pack or wait to pack according to the priority, wherein the priority is as follows: if the packing platform does not have the goods of packing, can directly get into the packing district by transfer robot and pack, otherwise, transfer robot drives and removes goods shelves and gets into the transfer station, stops removing goods shelves and berths at the transfer station and berth, then transfer robot breaks away from with removing goods shelves, goes again and removes goods shelves waiting district, carries overhead removal goods shelves and gets goods.
Further, storage commodity circulation transfer system still includes the AGV dolly, and the dolly activity is deposited between district and the packing platform in transfer station, removal goods shelves, carries the packing platform with the removal goods shelves of transfer station, carries the removal goods shelves storage area that removes of empty.
Furthermore, one end of the guide rib of the transfer station is fixed on the cross beam, the other end of the guide rib extends out in the horizontal direction, free ends of the guide ribs on two sides of each parking position are bent oppositely and matched with each other to form a horn shape, and moving goods shelves can conveniently enter and exit.
Compared with the prior art, the invention has novel structure and ingenious conception, can meet the carrying requirements of different goods shelves and different goods by adjusting the movable mechanical arm and the carrying tray, is not limited by the size of the goods shelves and the goods, and has good flexibility; a plurality of or a plurality of kinds of goods can be transported at a time, and the transporting efficiency is high; the special track does not need to be laid, the device can adapt to various plane warehouses, and the adaptability is strong; goods can be sorted and conveyed aiming at the goods shelves on the two sides simultaneously, and the utilization rate of warehouse space is high; with the cooperation of transfer station, make full use of storage commodity circulation intelligent transfer robot's operating condition greatly improves the efficiency of goods packing, and work efficiency is high, and degree of automation is high.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a mobile robotic arm and mounting location of the present invention;
FIG. 3 is a schematic view of a robot structure according to the present invention;
FIG. 4 is a schematic view of the tray mechanism and mounting location of the present invention;
FIG. 5 is a schematic view of the connecting structure of the movable shelf and the rack of the present invention;
FIG. 6 is a schematic view of a third arm of the robot of the present invention;
FIG. 7 is a schematic view of the mechanical hand cargo state of the present invention;
FIG. 8 is a schematic view of the state of the mechanical hand-pulling work bin of the present invention;
FIG. 9 is a schematic view of the pickup state of the present invention;
FIG. 10 is a flow chart of the pick-up and transport process of the present invention;
FIG. 11 is a schematic view of a transfer station according to the present invention;
FIG. 12 is a structural diagram of a transfer system according to the present invention;
fig. 13 is a schematic view of the operating state of the relay system according to the present invention.
In the figure: the automatic loading and unloading device comprises a mobile mechanical arm 1, a rack 2, a loading tray 3, a mobile shelf 4, a power supply and controller 5, a first motor 7, a second motor 8, a third motor 9, a fourth motor 10, a mechanical arm 11, a first rack 12, a slide rail 13, a second rack 14, a fourth motor 15, a first mechanical arm 16, a second mechanical arm 17, a third mechanical arm 18, a fifth motor 19, a supporting plate 20, a mobile tray 21, a third rack 22, a sixth motor 23, an electromagnet 24, a mobile shelf supporting leg 25, a seventh motor 26, a connecting rod 27, a connecting piece 28, a first hook 29, a second hook 30, a cargo 31, a stand fixing piece 32, a guide flange 33, a parking electromagnet 34, a beam 35, a transfer station 36, a packing area 37, an AGV 38 and a mobile shelf placing area 39.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
Referring to fig. 1-9, the intelligent warehouse logistics handling robot includes a mobile robot arm 1, a rack 2, a carrying tray 3, and a power supply and controller 5, wherein the rack 2 includes a base and a door-shaped frame disposed on the base, the mobile robot arm 1 and the carrying tray 3 are disposed on one side of the door-shaped frame, the mobile shelf 4 is disposed on the other side of the door-shaped frame, first racks 12 are disposed on two vertical beams of the door-shaped frame, and the mobile robot arm 1 is driven by a fourth motor 10 to move up and down along the first racks 12; the moving mechanical arm 1 is provided with a slide rail 13 and a second rack 14 in the horizontal direction, the mechanical arm 11 is embedded on the slide rail 13 and the second rack 14 through a connecting piece and horizontally moves along the slide rail 13 and the second rack 14 under the driving of a second motor 8, and the mechanical arm 11 is horizontally arranged on the connecting frame in a rotating mode; the manipulator 11 is a three-section telescopic structure and comprises a first mechanical arm 16, a second mechanical arm 17 and a third mechanical arm 18, wherein the first mechanical arm 16 is connected with a connecting frame and rotates under the drive of a first motor 7, the second mechanical arm 17 is telescopically embedded in the first mechanical arm 16, the third mechanical arm 18 is telescopically embedded in the second mechanical arm 17, a foldable first hook 29 is arranged at the near end of the third mechanical arm 18, a foldable second hook 30 is arranged at the far end of the third mechanical arm, the first hook 29 is connected with the second hook 30 through a connecting rod 27, the first hook 29 is driven by a seventh motor 26, the seventh motor 26 drives a connecting piece 28, the connecting piece 28 is connected with a pull rod bolt, power is transmitted to the first hook 29, the first hook 29 is changed from a closed state to an open state, and the connecting rod 27 is used for changing the second hook 30 from the open state to the closed state.
The carrying tray 3 is arranged below the moving mechanical arm 1, moves up and down along the first rack 12 under the drive of a sixth motor 23, and comprises a moving tray 21 and a supporting disc, wherein the moving tray 21 is vertically overlapped with the supporting disc 20, a fifth motor 19 is arranged under the supporting disc, a motor shaft of the fifth motor 19 is connected to the moving tray 21, and the moving tray 21 horizontally rotates by taking the fifth motor 19 as a center under the drive of the fifth motor 19; the movable tray is rectangular, three side edges are turned upwards, one side edge is opened to form a drawer shape, and the goods are moved into the movable tray from the opening and then moved out of the movable tray from the opening.
The power supply and controller 5 is arranged in a base of the rack 2 and comprises a task receiving unit, an execution unit, a target identification unit and an obstacle avoidance unit, a driving wheel positioned right below the door-shaped frame and driven universal wheels arranged at four corners of the lower side surface of the base are also arranged on the base of the rack 2, the driving wheel is driven by a motor and driven by the execution unit of the controller, and an electromagnet 24 is arranged on one side, close to the movable goods shelf 4, of the driving wheel; the bottom of removal goods shelves 4 is provided with 4 removal goods shelves landing legs 25, and the bottom of removing goods shelves landing leg 25 sets up to the universal wheel, removes goods shelves landing leg 25 and includes the adsorption apparatus who matches with electro-magnet 24, adsorbs to realize removing goods shelves 4 and frame 1's detachable through removing goods shelves landing leg 25 on electro-magnet 24 being connected.
When the intelligent transfer robot for warehouse logistics is applied to transfer of goods, after the goods reach a shelf where the goods 31 are located, the manipulator 11 and the movable tray are rotated to the direction where the goods 31 are located after the heights of the manipulator 11 and the movable tray are adjusted, the manipulator 11 is extended, so that after the third manipulator 28 reaches the other side of the goods 31, the second hook 30 is opened, the first hook 29 is closed, and the goods are pulled to the movable tray along the opening of the movable tray; then the mobile pallet adjusts the height and rotates, so that the opening of the mobile pallet faces the mobile shelf 4, the mechanical arm 11 is closed, the second hook 30 of the third mechanical arm 28 is closed, the first hook 29 is opened, the goods 31 are pushed from the mobile pallet onto the mobile shelf 4, and then the carrying work of another goods 31 can be carried out.
Based on the above structure, as shown in fig. 10, the method for transporting the intelligent transporting robot for warehouse logistics includes the following steps:
the first step is as follows: the intelligent carrying robot receives the task of carrying goods, and determines the position, the placing state, the quantity and the size of a goods shelf with the carried goods by matching the quantity, the variety and the specification of the carried goods with a warehousing database management system;
the second step is that: planning a path based on the shortest path principle according to the position, the placing state, the quantity and the size of the goods to be carried;
the third step: determining the quantity of the varieties of the goods, and if the variety of the goods to be transported is more than 1, optimizing the movable goods shelf according to the size and the quantity of the goods to be taken so as to improve the efficiency of taking the goods at one time; if the category of the goods to be taken is equal to 1, directly taking the goods without optimizing the path;
the fourth step: the intelligent robot arrives at a goods taking place, and if the goods taking amount is equal to 1, the goods are taken directly; if the goods taking quantity is more than 1, planning the single goods taking quantity according to the size, the weight and the prevention and control state of the goods;
the fifth step: and forming a goods taking instruction of the intelligent transfer robot, feeding back to the database by the system to update data information if the goods taking is successful, and otherwise, alarming to remind a worker to maintain.
The utility model provides a warehouse logistics transfer system, including intelligent transfer robot, remove goods shelves 4, transfer station 36, remove goods shelves storage area 39, AGV dolly 38 and packing platform 37, as shown in fig. 11 and 12, wherein, remove goods shelves storage area 39 and be used for parking idle removal goods shelves 4, packing platform 37 is used for the packing of goods 31, transfer station 36 includes along straight line evenly distributed's stand mounting 32, stand mounting 32 links together through crossbeam 35, be provided with direction flange 33 on crossbeam 35, direction flange 33 one end is fixed on crossbeam 35, the other end horizontal direction stretches out, every two direction flanges 33 are a set of, divide out the berth position, the free end of the both sides direction flange 33 of every berth position is crooked relatively, mutually support and become loudspeaker form, be provided with the berth electro-magnet 34 with removal goods shelves 4 complex on the crossbeam 35 of berth position inboard, AGV dolly 38 moves about transfer station 36, Between the moving rack storage area 39 and the packing table 37, the moving rack 4 at the transfer station 36 is conveyed to the packing table 37, and the empty moving rack 4 is conveyed to the moving rack storage area 39.
In fig. 13, the transfer station is matched with the intelligent transfer robot for warehouse logistics, the intelligent transfer robot for warehouse logistics carries a mobile shelf 4 from the mobile shelf storage area 39 to follow, moves in the warehouse area, picks up goods from the shelf according to instructions, places the goods 31 on the mobile shelf 4 following, and after picking up goods is completed, if the goods 31 being packed and placed in the packing area 37 are not saturated, the intelligent transfer robot for warehouse logistics directly transports the mobile shelf 4 following to the packing area 37 to pack the goods; if the goods 31 placed in the packing area 37 are saturated, the warehouse logistics intelligent carrying robot carries the traveling movable goods shelf 4 to the transfer station 36, enters the parking position, the movable goods shelf 4 is adsorbed by the parking electromagnet 34, the movable goods shelf 4 is loosened by the electromagnet 24 at the bottom of the rack 2 at the moment, the movable goods shelf 4 is parked in the transfer station 36, then the warehouse logistics intelligent carrying robot leaves, the following goods taking work is carried out, and the automatic dormancy is completed until the task is completed. After the packing area 37 is idle, the AGV 38 transports the moving rack in the transfer station 36 away to the packing area 37 for packing, and the empty moving rack 4 after the goods taking is also transported back to the moving rack storage area 39 by the transfer AGV 38 for the intelligent transfer robot for storage logistics to carry and take goods.
In whole process, because get the goods cycle length, the packing cycle is short, consequently, storage commodity circulation intelligence transfer robot can 24 hours work, gets the goods and places packing area 37, perhaps places transfer station 36 temporarily and berths, and the packing area is packed by artifical on duty at the during operation. The AGV 38 runs on the transfer station 36, the packing area 37 and the movable goods shelf storage area 39, has a small moving range, carries the movable goods shelf 4, continuously supplements the goods 31 to the packing area 37, greatly improves the packing efficiency of the packing area 37, and further improves the overall working efficiency.
Therefore, by combining the structure, the working process and the carrying flow, the invention has the advantages of novel structure, ingenious design, good flexibility, high automation degree, high working efficiency, strong adaptability and high utilization rate of warehouse space, and can meet the carrying requirements of different goods shelves and different goods.
Claims (10)
1. The utility model provides an intelligent transfer robot is flowed to storage, its characterized in that: including moving arm, frame, year thing tray, power and controller, wherein move the arm setting in the frame, reciprocate along the frame, move the arm and include scalable manipulator, the one end of manipulator is stretched out, and is flexible along the horizontal direction, and the manipulator downside is provided with folding hook, it sets up in the removal arm below to carry the thing tray, reciprocates along the frame, separable being fixed with in frame one side removes goods shelves, is provided with the multilayer platform that the level was arranged above removing goods shelves, and power and controller setting are in the frame lower part, including task receiving element, execution unit, target identification unit and keep away the barrier unit, and the bottom of frame and removal goods shelves is provided with drive wheel and driven universal wheel.
2. The warehouse logistics intelligent handling robot of claim 1, wherein: the rack comprises a base and a door-shaped frame arranged on the base, wherein a movable mechanical arm and a loading tray are arranged on one side of the door-shaped frame, a movable goods shelf is arranged on the other side of the door-shaped frame, first racks are respectively arranged on two vertical beams of the door-shaped frame, and the movable mechanical arm moves up and down along the first racks.
3. The warehouse logistics intelligent handling robot of claim 2, wherein: the movable mechanical arm is provided with a sliding rail and a second rack in the horizontal direction, the mechanical arm is embedded on the sliding rail and the second rack through a connecting frame and horizontally moves along the sliding rail and the second rack, and the mechanical arm can be horizontally arranged on the connecting frame in a rotating mode.
4. The warehouse logistics intelligent handling robot of claim 3, wherein: the manipulator is syllogic extending structure, including first arm, second arm and third arm, and first arm rotates with the link to be connected, and the telescopic embedding of second arm is in first arm, and the telescopic embedding of third arm is in the second arm, and the both ends of third arm set up folding hook respectively, connect with the connecting rod between two hooks, and under the drive of connecting rod, a hook is folding, and another hook stretches out.
5. The warehouse logistics intelligent handling robot of claim 1, wherein: the carrying tray is arranged below the moving mechanical arm and moves up and down along the first rack, the carrying tray comprises a moving tray and a supporting plate, the moving tray and the supporting plate are vertically overlapped, a motor is installed below the supporting plate, a motor shaft is connected to the moving tray, the moving tray horizontally rotates under the driving of the motor, the moving tray is rectangular, three side edges are turned upwards, and one side edge is opened to form a drawer shape.
6. The warehouse logistics intelligent handling robot of claim 1, wherein: be provided with the drive wheel that is located under the door type frame and set up the driven universal wheel in base downside four corners position on the base of frame, the drive wheel is driven by the motor, and by the execution unit drive of controller, one side that the drive wheel is close to removal goods shelves is provided with the electro-magnet, the bottom of removing goods shelves is provided with four removal goods shelves landing legs, and the bottom of removing goods shelves landing leg sets up to the universal wheel, and the removal goods shelves landing leg includes the adsorption apparatus who matches with the electro-magnet, adsorbs to realize removing goods shelves and frame's detachable being connected on the electro-magnet through removing goods shelves landing leg.
7. The utility model provides a handling method of intelligent transfer robot is flowed to storage, its characterized in that: the method comprises the following steps:
the first step is as follows: the intelligent carrying robot receives the task of carrying goods, and determines the position, the placing state, the quantity and the size of a goods shelf with the carried goods by matching the quantity, the variety and the specification of the carried goods with a warehousing database management system;
the second step is that: planning a path based on the shortest path principle according to the position, the placing state, the quantity and the size of the goods to be carried;
the third step: determining the quantity of the varieties of the goods, and if the variety of the goods to be transported is more than 1, optimizing the movable goods shelf according to the size and the quantity of the goods to be taken so as to improve the efficiency of taking the goods at one time; if the category of the goods to be taken is equal to 1, directly taking the goods without optimizing the path;
the fourth step: the intelligent robot arrives at a goods taking place, and if the goods taking amount is equal to 1, the goods are taken directly; if the goods taking quantity is more than 1, planning the single goods taking quantity according to the size, the weight and the prevention and control state of the goods;
the fifth step: and forming a goods taking instruction of the intelligent transfer robot, feeding back to the database by the system to update data information if the goods taking is successful, and otherwise, alarming to remind a worker to maintain.
8. The utility model provides a transfer system is flowed to storing which characterized in that: the intelligent goods handling system comprises an intelligent carrying robot, a movable goods shelf, a transfer station, a movable goods shelf storage area and a packing table, wherein the transfer station comprises upright post fixing pieces which are uniformly distributed along a straight line, the upright post fixing pieces are connected together through a cross beam, guide flanges are arranged on the cross beam, every two guide flanges form a group and are separated into parking positions, a parking electromagnet matched with the movable goods shelf is arranged on the cross beam on the inner side of each parking position, the movable goods shelf storage area is used for parking the idle movable goods shelf, and the packing table is used for packing goods; after the goods are taken, the carrying robot carries the movable goods shelf to a packing table or a transfer station to pack or wait to pack according to the priority, wherein the priority is as follows: if the packing platform does not have the goods of packing, can directly get into the packing district by transfer robot and pack, otherwise, transfer robot drives and removes goods shelves and gets into the transfer station, stops removing goods shelves and berths at the transfer station and berth, then transfer robot breaks away from with removing goods shelves, goes again and removes goods shelves waiting district, carries overhead removal goods shelves and gets goods.
9. The warehouse logistics transit system of claim 8, wherein: the warehouse logistics transfer system further comprises an AGV trolley, wherein the trolley moves between the transfer station, the storage area of the movable goods shelf and the packing platform, the movable goods shelf of the transfer station is conveyed to the packing platform, and the empty movable goods shelf is conveyed to the storage area of the movable goods shelf.
10. The warehouse logistics transit system of claim 8, wherein: one end of each guide rib is fixed on the cross beam, the other end of each guide rib extends out in the horizontal direction, and the free ends of the guide ribs on the two sides of each parking position are bent oppositely and matched with each other to form a horn shape.
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| CN112486124A (en) * | 2020-12-01 | 2021-03-12 | 瑞驰博方（北京）科技有限公司 | Material mixing method and device, transportation equipment and storage medium |
| CN112660675A (en) * | 2020-12-10 | 2021-04-16 | 福建大威科技有限公司 | Intelligent goods shelf |
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| CN113200275A (en) * | 2021-05-20 | 2021-08-03 | 深圳市库宝软件有限公司 | Packing box arranging method, device, equipment, storage system and storage medium |
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| CN113415563B (en) * | 2021-06-30 | 2023-02-17 | 苏州得尔达国际物流有限公司 | Method for dispatching and carrying disk fault robot |
| CN113733108A (en) * | 2021-07-13 | 2021-12-03 | 武汉理工大学 | Intelligent express delivery carrying robot and use method |
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