CN111038893A - Automatic stacking system and method based on dynamic scheduling - Google Patents
Automatic stacking system and method based on dynamic scheduling Download PDFInfo
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- CN111038893A CN111038893A CN201911242854.XA CN201911242854A CN111038893A CN 111038893 A CN111038893 A CN 111038893A CN 201911242854 A CN201911242854 A CN 201911242854A CN 111038893 A CN111038893 A CN 111038893A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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Abstract
The invention provides an automatic stacking system and method based on dynamic scheduling. The warehouse comprises a plurality of warehouse areas, and each warehouse area is provided with a plurality of warehouse positions; the stacking robot can freely move in the warehouse, dynamically schedules the stacking robot and controls the stacking robot to carry out stacking operation according to the attribute of stacked objects, the real-time state of the warehouse area and the working state of the stacking robot, wherein the attribute of the stacked objects comprises the volume of the stacked objects, the real-time state of the warehouse area comprises whether the warehouse is idle, and the working state of the stacking robot comprises whether the stacking robot is static; and the goods clamping part on the palletizing robot is arranged in a suspended manner, so that the influence on goods in the process of walking and carrying the palletizing robot can be prevented, and the palletizing robot has important significance for the transportation of precise parts and valuable parts and has a very good application prospect.
Description
Technical Field
The invention relates to the field of intelligent warehousing, in particular to an automatic stacking system and method based on dynamic scheduling.
Background
As an important component of the palletizing robot, the working performance of the palletizing manipulator, including parameters such as high reliability, simple and novel structure, stable transportation, small quality, small vibration and the like, has very important significance on the overall working performance of the palletizing robot. Different types of mechanical claws can be designed according to different products, so that the stacking robot has the advantages of high efficiency, good quality, stable transportation, wide application range, low cost, small vibration and the like, can well complete stacking work, and is widely applied to automatic production enterprises of chemical industry, beverages, foods, beer, plastics and the like; is suitable for various shapes of packages such as various cartons, bags, cans, beer boxes and the like.
However, in the prior art, although the efficiency is improved and the labor cost is reduced by using the palletizing robot for palletizing, the palletizing efficiency still needs to be further improved because the robot is simply used to replace workers in the current palletizing system; in the stacking of precision instruments and valuables, the vibration in the walking of the precision instruments has certain influence on the goods, and the improvement on the stable transportation of the precision instruments and the reduction of the influence of the vibration on the goods is needed.
Disclosure of Invention
The invention aims to provide an automatic stacking system and method for a warehouse dynamic scheduling stacking robot, which aim at specific layout and reduce the influence of vibration on goods. In order to achieve the aim, the technical scheme of the invention is as follows:
an automatic stacking system based on dynamic scheduling comprises a conveying subsystem, a stacking subsystem, a scheduling subsystem and a warehouse subsystem, wherein the conveying subsystem comprises a stacked article warehousing conveying line and a stacked article ex-warehouse conveying line, the warehouse subsystem comprises a warehouse, the warehouse has a plurality of warehouse real-time states, the warehouse comprises a plurality of warehouse areas, and each warehouse area is provided with a plurality of bin positions; the stacking subsystem comprises a stacking robot, the stacking robot can freely move in the warehouse, the stacked article warehousing conveying line is used for inputting stacked articles into the warehouse or outputting the stacked articles from the warehouse, and the scheduling subsystem dynamically schedules the stacking robot and controls the stacking robot to carry out stacking operation according to the attributes of the stacked articles, the real-time state of the warehouse and the working state of the stacking robot;
the warehouse areas comprise a first stacking warehouse area, a second stacking warehouse area, a third stacking warehouse area and a fourth stacking warehouse area; the warehouse real-time state comprises a first state, a second state and a third state, wherein the first state comprises that a third stacking warehouse area or a fourth stacking warehouse area has an idle position and a warehousing conveying line for stacking articles is in an idle state; the second state comprises that the third stacking storage area or the fourth stacking storage area has an idle position and the stacked article warehousing conveying line is not in an idle state; the third state comprises that the third stacking warehouse area and the fourth stacking warehouse area have no idle positions and the first stacking warehouse area or the second stacking warehouse area have idle positions; the fourth state comprises that the first stacking storage area, the second stacking storage area, the third state and the fourth stacking storage area have no idle bin positions;
the automatic stacking system further comprises an identification subsystem, the identification subsystem identifies the real-time state of the warehouse in real time, and the scheduling subsystem is configured to put the goods into the warehouse in a third stacking warehouse area or a fourth stacking warehouse area if the warehouse subsystem is in the first state; if the warehouse subsystem is in the second state, when the first stacking warehouse area or the second stacking warehouse area has an idle position, warehousing is carried out in the first stacking warehouse area or the second stacking warehouse area; when the first stacking storage area or the second stacking storage area has no idle bin, waiting for the warehousing conveying line for palletizing the goods to be in an idle state, and warehousing the goods in the third stacking storage area or the fourth stacking storage area; if the warehouse subsystem is in the third state, warehousing the goods in the first stacking warehouse area or the second stacking warehouse area, and taking the goods in the first stacking warehouse area or the second stacking warehouse area out of the warehouse preferentially to the goods in the third area and the fourth area; if the warehouse subsystem is in the fourth state, stopping the warehousing conveyor line for the stacked goods to enter; if the warehouse subsystem is in the third state, when warehousing and ex-warehouse tasks exist at the same time, the palletizing robot preferentially executes the warehousing task;
the palletizing robots are provided with positioning devices, the dispatching subsystem dispatches the responding palletizing robots to execute palletizing operation according to the working states and/or real-time positions of the palletizing robots, and the working states comprise static states and moving states.
Optionally, the pile up neatly machine people is including weighing platform and the transportation platform that is located on portable and rotatory revolving stage, set up lift, horizontal sideslip, horizontal vertical movement servo structure between clamp splice on weighing platform and the transportation platform and the revolving stage respectively, set up the weigher between weighing platform and the clamp splice of weighing, set up the shock attenuation machinery clamp splice that avoids goods vibrations when being used for the transportation on the transportation platform.
Further, the damping mechanical clamping block comprises a box body, a balance rod, a fixed seat, a rotating shaft, a supporting permanent magnet, a supporting electromagnetic block, a contact block, a balance permanent magnet, a balance electromagnetic block and an auxiliary spring, wherein the fixed seat is arranged at an opening at one side of the box body, the balance rod is rotatably connected onto the fixed seat through the rotating shaft, the supporting permanent magnet is arranged on the outer wall of each of two ends of the rotating shaft, the supporting electromagnetic blocks corresponding to the supporting permanent magnet are arranged in grooves for accommodating the two ends of the balance rod on the fixed seat, the supporting permanent magnet and the supporting electromagnetic block are arranged in a non-contact manner, the contact block for clamping goods is arranged at one end of the balance rod, the balance permanent magnet is arranged on the upper surface of the other end of the balance rod, the balance electromagnetic block corresponding to the balance permanent magnet is arranged on the inner wall of the top of the box body, and an auxiliary spring is arranged between one end of the balancing rod, which is positioned in the box body, and the box body.
Further, the supporting permanent magnet and the supporting electromagnetic block are different in magnetism, and the balancing permanent magnet and the balancing electromagnetic block are different in magnetism.
Further, a goods clamping method based on an automatic stacking system is characterized by comprising the following steps:
s1: the controller controls the weighing clamping block on the weighing platform to clamp the goods, and the goods are weighed by the weighing device;
s2: after weighing, the controller controls the damping mechanical clamping blocks on the transportation platform to clamp the goods between the weighing clamping blocks, and simultaneously adjusts the currents on the supporting electromagnetic blocks and the balancing electromagnetic blocks to be matched with the weight of the goods so as to keep the balance state of the balancing rods and the non-contact state between the supporting permanent magnets and the supporting electromagnetic blocks and between the balancing permanent magnets and the balancing electromagnetic blocks.
Optionally, the number of the palletizing robots is more than two, the palletizing robots are provided with radio frequency identifiers, the palletizing robots send radio frequency signals in real time when the warehouse moves, the palletizing robots are configured to calculate distances from other palletizing robots according to received radio frequency signals sent by other palletizing robots, and the palletizing robots adjust the movement routes in real time so that the distances from the other palletizing robots are greater than a safety distance.
Optionally, the scheduling subsystem preferentially schedules the palletizing robot in a static state.
Optionally, the attribute of the stacked articles includes a three-dimensional shape and/or a volume of the stacked articles, and the sizes of the bin positions of the first stacking reservoir area, the second stacking reservoir area, the third stacking reservoir area and the fourth stacking reservoir area are different.
Optionally, first pile up neatly storehouse district, second pile up neatly storehouse district, third pile up neatly storehouse district, fourth pile up neatly storehouse district are in division rule in the warehouse includes: and the path distance of the palletizing robot for completing palletizing operation.
Optionally, the first stacking warehouse area, the second stacking warehouse area, the third stacking warehouse area and the fourth stacking warehouse area are stereoscopic warehouses.
A method for carrying out automatic stacking by adopting the automatic stacking system comprises the following steps: dividing a warehouse into a plurality of warehouse areas, wherein the warehouse areas are provided with a plurality of bin positions; dynamically allocating a reservoir area and dynamically scheduling the palletizing robot; and executing warehousing and/or ex-warehousing operations.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the above-mentioned method.
Compared with the prior art, the invention has the advantages that,
1. the warehouse comprises a plurality of warehouse areas, and each warehouse area is provided with a plurality of warehouse positions; the stacking robot can freely move in the warehouse, dynamically dispatches the stacking robot and controls the stacking robot to carry out stacking operation according to the attribute of stacked objects, the real-time state of the warehouse area and the working state of the stacking robot, wherein the attribute of the stacked objects comprises the volume of the stacked objects, the real-time state of the warehouse area comprises whether the warehouse is idle, and the working state of the stacking robot comprises whether the stacking robot is static. The invention aims at the warehouse dynamic scheduling palletizing robot with specific layout, and the palletizing efficiency is higher.
2. The damping transportation clamping block is arranged on the palletizing robot, the goods clamping part of the damping transportation clamping block is suspended, the goods clamping part is separated from the walking part of the robot, the influence on the goods in the process of walking and carrying the palletizing robot can be prevented, and the damping transportation clamping block is particularly significant for the transportation of precise parts and valuable parts and has a very good application prospect.
Drawings
FIG. 1 is a schematic structural diagram of the front side of a palletizing robot in the invention;
FIG. 2 is a schematic structural diagram of the front side of the palletizing robot in the invention;
FIG. 3 is a schematic structural view of a shock absorbing transport clamp block in the palletizing robot in the present invention;
FIG. 4 is a schematic structural view of a shock absorption transport clamping block rotating shaft in the palletizing robot in the invention;
fig. 5 is a schematic structural diagram of the damping transportation clamping block box in the palletizing robot.
In the figure: 1. a base plate; 2. a rotating table; 3. a heavy platform; 4. a transport platform; 5. damping the transport clamp block; 31. a first lift cylinder; 32. a first horizontal traverse block; 33. a first horizontal longitudinal movement block; 34. weighing the clamping block; 41. a second lift cylinder; 42. a second horizontal traverse block; 43. a second horizontal longitudinal movement block; 51. a box body; 52. a balancing pole; 53. a fixed seat; 54. a rotating shaft; 55. supporting a permanent magnet; 56. balancing the electromagnetic block; 57. a contact block; 58. A balancing permanent magnet; 59. balancing the electromagnetic block; 510 assist the spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Example one
An automatic stacking system based on dynamic scheduling comprises a conveying subsystem, a stacking subsystem, a scheduling subsystem and a warehouse subsystem, wherein the conveying subsystem comprises a stacked article warehousing conveying line and a stacked article ex-warehouse conveying line, the warehouse subsystem comprises a warehouse, the warehouse has a plurality of warehouse real-time states, the warehouse comprises a plurality of warehouse areas, and each warehouse area is provided with a plurality of bin positions; the stacking subsystem comprises a stacking robot, the stacking robot can freely move in the warehouse, the stacked article warehousing conveying line is used for inputting stacked articles into the warehouse or outputting the stacked articles from the warehouse, and the scheduling subsystem dynamically schedules the stacking robot and controls the stacking robot to carry out stacking operation according to the attributes of the stacked articles, the real-time state of the warehouse and the working state of the stacking robot;
the warehouse areas comprise a first stacking warehouse area, a second stacking warehouse area, a third stacking warehouse area and a fourth stacking warehouse area; the warehouse real-time state comprises a first state, a second state and a third state, wherein the first state comprises that a third stacking warehouse area or a fourth stacking warehouse area has an idle position and a warehousing conveying line for stacking articles is in an idle state; the second state comprises that the third stacking storage area or the fourth stacking storage area has an idle position and the stacked article warehousing conveying line is not in an idle state; the third state comprises that the third stacking warehouse area and the fourth stacking warehouse area have no idle positions and the first stacking warehouse area or the second stacking warehouse area have idle positions; the fourth state comprises that the first stacking storage area, the second stacking storage area, the third state and the fourth stacking storage area have no idle bin positions;
the automatic stacking system further comprises an identification subsystem, the identification subsystem identifies the real-time state of the warehouse in real time, and the scheduling subsystem is configured to put the goods into the warehouse in a third stacking warehouse area or a fourth stacking warehouse area if the warehouse subsystem is in the first state; if the warehouse subsystem is in the second state, when the first stacking warehouse area or the second stacking warehouse area has an idle position, warehousing is carried out in the first stacking warehouse area or the second stacking warehouse area; when the first stacking storage area or the second stacking storage area has no idle bin, waiting for the warehousing conveying line for palletizing the goods to be in an idle state, and warehousing the goods in the third stacking storage area or the fourth stacking storage area; if the warehouse subsystem is in the third state, warehousing the goods in the first stacking warehouse area or the second stacking warehouse area, and taking the goods in the first stacking warehouse area or the second stacking warehouse area out of the warehouse preferentially to the goods in the third area and the fourth area;
if the warehouse subsystem is in the fourth state, stopping the warehousing conveyor line for the stacked goods to enter; if the warehouse subsystem is in the third state, when warehousing and ex-warehouse tasks exist at the same time, the palletizing robot preferentially executes the warehousing task;
the palletizing robots are provided with positioning devices, the dispatching subsystem dispatches the responding palletizing robots to execute palletizing operation according to the working states and/or real-time positions of the palletizing robots, and the working states comprise static states and moving states.
Illustratively, the number of the palletizing robots is more than two, the palletizing robots are provided with radio frequency identifiers, the palletizing robots send radio frequency signals in real time when the warehouse moves, the palletizing robots are configured to calculate distances from other palletizing robots according to received radio frequency signals sent by other palletizing robots, and the palletizing robots adjust the movement routes in real time so that the distances from the other palletizing robots are greater than safe distances.
Illustratively, the scheduling subsystem preferentially schedules palletizing robots that are in a stationary state.
Illustratively, the attribute of the stacked articles comprises a three-dimensional shape and/or volume of the stacked articles, and the sizes of the bin positions of the first stacking reservoir area, the second stacking reservoir area, the third stacking reservoir area and the fourth stacking reservoir area are different.
Illustratively, the first palletizing warehouse area, the second palletizing warehouse area, the third palletizing warehouse area and the fourth palletizing warehouse area are divided according to the dividing rule in the warehouse, including: and the path distance of the palletizing robot for completing palletizing operation.
Illustratively, the first stacking warehouse area, the second stacking warehouse area, the third stacking warehouse area and the fourth stacking warehouse area are stereoscopic warehouses.
Example two
Unlike embodiment 1, the palletizing robot in this embodiment is provided with a shock-absorbing transport function. Referring to fig. 1 and 2, pile up neatly machine people controller and mechanical part, mechanical part includes base 1, the lower extreme of base 1 sets up running gear and drive running gear's driving piece, the upper end of base 1 sets up revolving stage 2 and can drive the rotatory driving piece of revolving stage 2, set up weighing platform 3 and transportation platform 4 on the revolving stage 2, weighing platform 3 is located the below of transportation platform 4.
Further, set up the clamp splice 34 of weighing that is used for the centre gripping goods on the platform of weighing 3, set up first lift cylinder 31 between platform of weighing 3 and the revolving stage 2 for adjust the height of platform of weighing 3, set up the first horizontal sideslip piece 32 that can make clamp splice 34 lateral shifting on the platform of weighing 3, set up the first horizontal that can make clamp splice 34 longitudinal shifting on the first horizontal sideslip piece 32 and indulge the piece 33, the one end that the piece 33 was indulged to first horizontal sets up the clamp splice 34 of weighing, weigh platform 3 and with set up respectively between the revolving stage 2 and drive first lift cylinder 31 go up and down, drive first horizontal sideslip piece 32 and carry out horizontal sideslip, drive first horizontal to indulge the piece 33 and carry out horizontal vertical shifting servo structure and not draw out, be used for order to order about two clamp splices 34 cooperation clamps of weighing to get the goods.
Further, a weighing device is arranged between the weighing platform 3 and the weighing clamping block 34, and the weighing device is used for measuring the weight of the goods.
Further, the last shock attenuation machinery clamp splice 5 that is used for the centre gripping goods that sets up of transportation platform 4, set up second lift cylinder 41 between transportation platform 4 and the revolving stage 2 for adjust the height of transportation platform 4, set up the second horizontal sideslip piece 42 that can make shock attenuation machinery clamp splice 5 lateral shifting on the transportation platform 4, set up the second level that can make shock attenuation machinery clamp splice 5 longitudinal shifting on the second horizontal sideslip piece 42 and indulge the piece 43 that moves, the two ends that the piece 43 was indulged to the second level set up shock attenuation machinery clamp splice 5, transportation platform 4 with set up respectively between the revolving stage 2 and drive second lift cylinder 41 go up and down, drive second horizontal sideslip piece 42 carry out horizontal sideslip, drive second horizontal indulge the piece 43 and carry out horizontal vertical shifting servo structure and not draw, be used for order to two cooperation clamps of shock attenuation machinery clamp splice 5 and get the goods.
Referring to fig. 3-5, the shock-absorbing mechanical clamping block 5 is used for avoiding vibration of goods during transportation, and specifically includes a box body 51, a balance bar 52, a fixing seat 53, a rotating shaft 54, a supporting permanent magnet 55, a supporting electromagnetic block 56, a contact block 57, a balance permanent magnet 58, a balance electromagnetic block 59, and an auxiliary spring 510, wherein the box body 51 is a semi-sealed body with an opening at one side, the fixing seat 53 is arranged at an opening at one side of the box body 51, a through hole capable of allowing the balance bar 52 to pass through is formed in the fixing seat 53, grooves are formed in the side walls of the through hole and used for accommodating two ends of the rotating shaft 54, the balance bar 52 is rotatably connected with the fixing seat 53 through the rotating shaft 54, the supporting permanent magnet 55 is arranged on the outer wall of two ends of the rotating shaft 54, the supporting electromagnetic block 56 corresponding to the supporting permanent magnet 55 is arranged in, the supporting electromagnet blocks 56 are sleeved outside the supporting permanent magnets 55, and the supporting permanent magnets 55 and the supporting electromagnet blocks 56 are arranged in a non-contact mode. Wherein support the ring body that electromagnetism piece 5 formed for a plurality of independent little electro-magnets, when pivot 54 supports goods weight, the various different electric currents that let in of a plurality of independent little electro-magnets, produce the magnetic force of equidimension not, keep pivot 54 and fixing base 53 contactless, set up distance sensor between support permanent magnet 55 and support electromagnetism piece 56 in this embodiment, a distance for detecting between support permanent magnet 55 and the support electromagnetism piece 56, when detecting that the distance between certain side of support permanent magnet 55 and the support electromagnetism piece 56 is less than certain threshold, the electric current of the independent little electro-magnet of steerable this side increases, the electric current of the independent little electro-magnet of opposite side correspondingly reduces, keep supporting between permanent magnet 55 and the support electromagnetism piece 56 contactless.
Furthermore, one end of the balancing rod 52 is provided with a contact block 57 for clamping goods, the two contact blocks 57 are matched for clamping goods, and one side of each contact block 57 is provided with a rubber pad for preventing slipping; the upper surface of the other end of the balance rod 52 is provided with a balance permanent magnet 58, the top inner wall of the box body 51 is provided with a balance electromagnetic block 59 corresponding to the balance permanent magnet 58, the balance permanent magnet 58 and the balance electromagnetic block 59 are arranged in a non-contact manner, a distance sensor is further arranged between the balance permanent magnet 58 and the balance electromagnetic block 59, when the distance between one side of the balance permanent magnet 58 and the balance electromagnetic block 59 is detected to be smaller than a certain threshold value, the current of the balance electromagnetic block 59 can be controlled to be increased, and the balance permanent magnet 58 and the balance electromagnetic block 59 are kept in non-contact.
Further, the supporting electromagnetic block 56 and the balancing electromagnetic block 59 are respectively electrified, so that the supporting permanent magnet 55 and the supporting electromagnetic block 56 have different magnetism, the balancing permanent magnet 58 and the balancing electromagnetic block 59 have different magnetism, the supporting permanent magnet 55 and the supporting electromagnetic block 56 and the balancing permanent magnet 58 and the balancing electromagnetic block 59 can be kept not in contact, the influence on goods during transportation and walking of the palletizing robot is reduced, meanwhile, the balancing electromagnetic block 59 can adjust the electrifying current and adjust the repulsive force between the balancing permanent magnet 58 and the balancing electromagnetic block 59, and the balancing rod 52 can be kept balanced when the damping mechanical clamping block 5 clamps the goods.
In this embodiment, the goods clamping part of the damping mechanical clamping block 5 is arranged in a suspended manner, and the goods clamping part is separated from the walking part of the robot, so that the influence on goods in the process of walking and carrying of the palletizing robot can be prevented, and the damping mechanical clamping block has important significance for the transportation of precise parts and valuable parts.
Further, an auxiliary spring 510 is arranged between one end of the balance bar 52 located inside the box body 51 and the box body 51, and the plurality of sets of auxiliary springs 510 are respectively located at the upper part and the lower part of the balance bar 52 and are used for assisting balance and shock absorption of the balance bar.
Driving piece and servo structure on the pile up neatly machine people in this embodiment all are connected with the controller, and electromagnetic block and distance sensor also link to each other with the controller, and the walking of the steerable pile up neatly machine people of controller, functions such as goods snatch, and the electric current in the electromagnetic block of simultaneous control and the information of accepting distance sensor are also controlled to the controller, and controller and this automatic pile up neatly system's total controller wireless connection accept this automatic pile up neatly system's wireless control.
Further, the goods clamping method of the palletizing robot in the embodiment is as follows:
(1) the controller controls the weighing clamping block 34 on the weighing platform 3 to clamp the goods, and the goods are weighed by the weighing machine,
(2) after weighing is finished, the controller controls the damping mechanical clamping blocks 5 on the transportation platform 4 to clamp the goods between the weighing clamping blocks 34, after the damping mechanical clamping blocks 5 clamp the goods, the weighing clamping blocks 34 release the goods, and meanwhile, the controller adjusts the current on the supporting electromagnetic blocks 56 and the balancing electromagnetic blocks 59 according to the weight of the goods, so that the current is matched with the weight of the goods, and the balance state of the balance rod 52, the non-contact state between the supporting permanent magnets 55 and the supporting electromagnetic blocks 56 and the non-contact state between the balancing permanent magnets 58 and the balancing electromagnetic blocks 59 are maintained.
EXAMPLE III
A method for carrying out automatic stacking by adopting the automatic stacking system comprises the following steps: dividing a warehouse into a plurality of warehouse areas, wherein the warehouse areas are provided with a plurality of bin positions; dynamically allocating a reservoir area and dynamically scheduling the palletizing robot; and executing warehousing and/or ex-warehousing operations.
Example four
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the above-mentioned method.
The embodiments of the present application are merely illustrative, and for example, the division of the units is only one logical functional division, and there may be other divisions when actually implementing, and for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An automatic stacking system based on dynamic scheduling comprises a conveying subsystem, a stacking subsystem, a scheduling subsystem and a warehouse subsystem, wherein the conveying subsystem comprises a stacked article warehousing conveying line and a stacked article ex-warehouse conveying line, the warehouse subsystem comprises a warehouse, the warehouse has a plurality of warehouse real-time states, the warehouse comprises a plurality of warehouse areas, and each warehouse area is provided with a plurality of bin positions; the stacking subsystem comprises a stacking robot, the stacking robot can freely move in the warehouse, the stacked article warehousing conveying line is used for inputting stacked articles into the warehouse or outputting the stacked articles from the warehouse, and the scheduling subsystem dynamically schedules the stacking robot and controls the stacking robot to carry out stacking operation according to the attributes of the stacked articles, the real-time state of the warehouse and the working state of the stacking robot; it is characterized in that the preparation method is characterized in that,
the warehouse areas comprise a first stacking warehouse area, a second stacking warehouse area, a third stacking warehouse area and a fourth stacking warehouse area; the warehouse real-time state comprises a first state, a second state and a third state, wherein the first state comprises that a third stacking warehouse area or a fourth stacking warehouse area has an idle position and a warehousing conveying line for stacking articles is in an idle state; the second state comprises that the third stacking storage area or the fourth stacking storage area has an idle position and the stacked article warehousing conveying line is not in an idle state; the third state comprises that the third stacking warehouse area and the fourth stacking warehouse area have no idle positions and the first stacking warehouse area or the second stacking warehouse area have idle positions; the fourth state comprises that the first stacking storage area, the second stacking storage area, the third state and the fourth stacking storage area have no idle bin positions;
the automatic stacking system further comprises an identification subsystem, the identification subsystem identifies the real-time state of the warehouse in real time, and the scheduling subsystem is configured to put the goods into the warehouse in a third stacking warehouse area or a fourth stacking warehouse area if the warehouse subsystem is in the first state; if the warehouse subsystem is in the second state, when the first stacking warehouse area or the second stacking warehouse area has an idle position, warehousing is carried out in the first stacking warehouse area or the second stacking warehouse area; when the first stacking storage area or the second stacking storage area has no idle bin, waiting for the warehousing conveying line for palletizing the goods to be in an idle state, and warehousing the goods in the third stacking storage area or the fourth stacking storage area; if the warehouse subsystem is in the third state, warehousing the goods in the first stacking warehouse area or the second stacking warehouse area, and taking the goods in the first stacking warehouse area or the second stacking warehouse area out of the warehouse preferentially to the goods in the third area and the fourth area; if the warehouse subsystem is in the fourth state, stopping the warehousing conveyor line for the stacked goods to enter; if the warehouse subsystem is in the third state, when warehousing and ex-warehouse tasks exist at the same time, the palletizing robot preferentially executes the warehousing task;
the palletizing robots are provided with positioning devices, the dispatching subsystem dispatches the responding palletizing robots to execute palletizing operation according to the working states and/or real-time positions of the palletizing robots, and the working states comprise static states and moving states.
2. The automated palletizing system according to claim 1, wherein the palletizing robot comprises a weighing platform and a transporting platform which are arranged on a movable and rotatable rotating platform, wherein lifting, horizontal traversing and horizontal longitudinal moving servo structures are respectively arranged between clamping blocks on the weighing platform and the transporting platform and the rotating platform, a weighing device is arranged between the weighing platform and the weighing clamping blocks, and a shock-absorbing mechanical clamping block for avoiding goods vibration during transportation is arranged on the transporting platform.
3. The automatic stacking system of claim 2, wherein the shock-absorbing mechanical clamping block comprises a box body, a balance rod, a fixing seat, a rotating shaft, a supporting permanent magnet, a supporting electromagnetic block, a contact block, a balance permanent magnet, a balance electromagnetic block and an auxiliary spring, wherein the fixing seat is arranged at an opening at one side of the box body, the balance rod is rotatably connected to the fixing seat through the rotating shaft, the supporting permanent magnet is arranged on the outer wall of each of two ends of the rotating shaft, the supporting electromagnetic blocks corresponding to the supporting permanent magnet are arranged in grooves for accommodating the two ends of the balance rod on the fixing seat, the supporting permanent magnet and the supporting electromagnetic block are arranged in a non-contact manner, the contact block for clamping goods is arranged at one end of the balance rod, the balance permanent magnet is arranged on the upper surface of the other end of the balance rod, and the balance electromagnetic block corresponding to the balance permanent magnet is arranged, the balance permanent magnet and the balance electromagnetic block are arranged in a non-contact mode, and the balance rod is arranged between one end, located inside the box body, of the balance rod and the box body and provided with the auxiliary spring.
4. The automated palletization system according to claim 3, wherein the supporting permanent magnets are different in magnetism from the supporting electromagnetic blocks, and the balancing permanent magnets are different in magnetism from the balancing electromagnetic blocks.
5. A method of gripping a load in an automated palletization system according to claim 4, characterised in that it comprises the following steps:
s1: the controller controls the weighing clamping block on the weighing platform to clamp the goods, and the goods are weighed by the weighing device;
s2: after weighing, the controller controls the damping mechanical clamping blocks on the transportation platform to clamp the goods between the weighing clamping blocks, and simultaneously adjusts the currents on the supporting electromagnetic blocks and the balancing electromagnetic blocks to be matched with the weight of the goods so as to keep the balance state of the balancing rods and the non-contact state between the supporting permanent magnets and the supporting electromagnetic blocks and between the balancing permanent magnets and the balancing electromagnetic blocks.
6. The automated palletizing system according to claim 2, wherein the number of the palletizing robots is more than two, the palletizing robots are provided with radio frequency identifiers, the palletizing robots transmit radio frequency signals in real time when the warehouse moves, the palletizing robots are configured to calculate distances from other palletizing robots according to received radio frequency signals transmitted by other palletizing robots, and the palletizing robots adjust the movement routes in real time so that the distances from other palletizing robots are greater than safe distances.
7. The automated palletization system according to claim 6, wherein the attribute of the palletized objects comprises a three-dimensional shape and/or volume of the palletized objects, and the sizes of the positions of the first palletized library area, the second palletized library area, the third palletized library area and the fourth palletized library area are different.
8. The automated palletization system according to claim 7, wherein the division rules of the first palletizing store area, the second palletizing store area, the third palletizing store area and the fourth palletizing store area in the warehouse comprise: and the path distance of the palletizing robot for completing palletizing operation.
9. A method for automated palletization using the automated palletization system according to any one of claims 6 to 8, characterized in that the method comprises: dividing a warehouse into a plurality of warehouse areas, wherein the warehouse areas are provided with a plurality of bin positions; dynamically allocating a reservoir area and dynamically scheduling the palletizing robot; and executing warehousing and/or ex-warehousing operations.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of claim 7.
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