CN111661546A - Intelligent robot storage letter sorting unit - Google Patents
Intelligent robot storage letter sorting unit Download PDFInfo
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- CN111661546A CN111661546A CN202010653074.0A CN202010653074A CN111661546A CN 111661546 A CN111661546 A CN 111661546A CN 202010653074 A CN202010653074 A CN 202010653074A CN 111661546 A CN111661546 A CN 111661546A
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- warehouse
- paw
- robot
- control system
- sorting unit
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
Abstract
The invention discloses an intelligent robot storage sorting unit which comprises a three-dimensional counter for storing finished products and a goods shelf plane library for storing raw materials, wherein the three-dimensional counter is a vertical lifting cabinet, the goods shelf plane library comprises a goods shelf and an automatic AGV (automatic guided vehicle) carrying system, and the goods shelf plane library comprises an industrial robot system, a paw placing table, a material turnover table, a material conveying system, an electrical control system and a master control system. The industrial robot system comprises an industrial robot, a robot electric control cabinet, a robot paw, a paw quick-change device and a vision camera. The material conveying system is connected with the warehouse and the production workshop through a workshop transportation type AGV. The electrical control system comprises an electrical control system of the industrial robot system and an electrical control system of the material transfer system. On the basis of the traditional plane warehouse and the three-dimensional warehouse, the intelligent robot is used for realizing storage and sorting, replacing a manual material taking link, realizing full-automatic unmanned warehousing and ex-warehouse, and achieving the effect of a black light warehouse.
Description
Technical Field
The invention relates to an intelligent warehousing system, in particular to an intelligent robot warehousing sorting unit.
Background
In the modern warehousing industry, although an AGV carrying system, a translation power system and the like are used in a warehouse to improve the energy storage capacity of an automatic warehouse and realize goods arrival, a warehouse pipe station still needs to be set in an warehouse entry area and a warehouse exit area, manual sorting and management of products are performed by manual sorting and manual carrying, manual detection and manual sorting, the efficiency is low, the sorting quality is low, the labor intensity is high, the automatic operation from the warehouse to a production line cannot be closely combined with an automatic production field, and the full-automatic operation from the warehouse to the production line is broken due to manual participation.
The first prior art is as follows:
the utility model provides an automatic warehouse system of industrial robot, by the robot letter sorting district, doubly fast chain, the AGV dolly, intelligence stereoscopic warehouse and central controller constitute, wherein, the robot letter sorting district contains the flat belt conveyor, the robot, the vision recognition device, the flat belt conveyor directly carries the material, the robot relies on the vision recognition device directly to discern the material, use sucking disc formula hand claw to snatch the material, place in the tray on doubly fast chain, will be equipped with the tray of different materials and transport at intelligence stereoscopic warehouse by the AGV dolly.
The prior art has the following disadvantages:
in the prior art, the first flat belt conveyor can move in one direction at the same time, the flat belt conveyor can move in one direction, the flat belt conveyor can move in and out of a warehouse at the same time, the flat belt conveyor can not simultaneously move in and out of the warehouse, a large amount of materials are borne by the tray during warehouse-out, a visual recognition system cannot recognize single materials, the efficiency of grabbing the single materials by the sucker claws is too low, the flat belt conveyor can only wholly hold the single materials out of the warehouse when the single materials are out of the warehouse, and the difficulty in realizing the non-.
The second prior art is:
the utility model provides an intelligence warehouse letter sorting system based on robot, contains one or more letter sorting station, and a letter sorting station has the material frame, has the material box on the material frame, is provided with the material car that is used for the transportation between the material frame, and material frame one side has the letter sorting box that is used for the letter sorting, and letter sorting box upper portion has the letter sorting robot. The smallest unit for sorting by the sorting robot is a material box, and the system is suitable for warehouses of network electricity purchasing merchants.
The second prior art has the following defects:
in the prior art, the two sorting robots pick up materials in the material boxes to the sorting boxes, the application range of the sorting robot paw is not clear, the warehouse form is limited by a material rack and a material box type warehouse, the application range is in the warehouse of the network e-commerce, and the application range is not clear to the general mechanical manufacturing industry and the applicability.
In the prior art, the traditional plane warehouse or three-dimensional warehouse can realize that materials are delivered to and stored in the warehouse from goods to people by carrying electric lifting equipment, automatic handling equipment and the like, but the manual participation is still needed in the material sorting links at the beginning and the end of the delivery.
Disclosure of Invention
The invention aims to provide an intelligent robot warehousing and sorting unit.
The purpose of the invention is realized by the following technical scheme:
the intelligent robot storage sorting unit comprises a three-dimensional counter for storing finished products and a goods shelf plane library for storing raw materials, wherein the three-dimensional counter is a vertical lifting cabinet, the goods shelf plane library comprises a goods shelf and an automatic AGV (automatic guided vehicle) carrying system, and the goods shelf plane library comprises an industrial robot system, a paw placing table, a material turnover table, a material conveying system, an electrical control system and a master control system.
According to the technical scheme provided by the invention, the intelligent robot storage and sorting unit provided by the embodiment of the invention realizes intelligent robot storage and sorting on the basis of the traditional plane warehouse and the traditional three-dimensional warehouse, replaces a manual material taking link, realizes full-automatic unmanned warehousing and ex-warehouse, and achieves the effect of a black light warehouse.
Drawings
Fig. 1 is a plan layout view of a warehousing sorting unit of an intelligent robot according to an embodiment of the present invention;
FIGS. 2a and 2b are schematic diagrams of a material gripper and a pallet gripper, respectively, according to embodiments of the present invention;
fig. 3 is a structural diagram of an electrical control system according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
The invention discloses an intelligent robot storage sorting unit, which has the following preferred specific implementation modes:
including the goods shelves plane storehouse of the three-dimensional packing cupboard of storage finished product and storage raw materials, the three-dimensional packing cupboard is the vertical lift cabinet, goods shelves plane storehouse includes goods shelves and AGV automatic handling system, places platform, material turnover platform, material transfer system, electric control system and total control system including industrial robot system, hand claw.
The industrial robot system comprises an industrial robot, a robot electric control cabinet, a robot paw, a paw quick-change device and a vision camera.
The robot paw is a pneumatic paw and comprises a raw material paw and a tray paw; the raw material paw adopts a structure form of one dragging two, and is respectively connected with the profiling paw and the blank paw; the tray paw is a universal paw, and the paw structure is irrelevant to materials carried on the paw and only relevant to the size of the tray.
Material transfer system includes doubly fast chain transfer chain, material detection photoelectric switch, jacking cylinder, stopper and fixed sign indicating number ware, material transfer system passes through workshop transportation type AGV and connects warehouse and workshop.
The electrical control system comprises an electrical control system of an industrial robot system and an electrical control system of a material conveying system;
the electric control system of the industrial robot system transmits pneumatic control signals to the robot paw and the cylinder, the electromagnetic valve and the air path element of the paw quick-change device, the pneumatic control signals are connected into an external control module of the robot body control system, and the robot realizes control through an external signal correlation mode;
and the electrical control system of the material conveying system is used for controlling the speed-multiplying chain conveying line, a photoelectric switch, a jacking cylinder and a stop device which are arranged on the speed-multiplying chain conveying line, and simultaneously controlling the safety door lock.
The master control system comprises an interface for an upper-layer service application system and an interface for a lower-layer device, the upper-layer service application system comprises an RMWMS system, an FPWMS system and an AGV management control system, and the lower-layer device comprises an industrial robot, a PLC and a code scanner.
The paw placing table is used for temporarily placing the paw which is not used.
The material turnover table is used for material arrangement when raw materials are not discharged from the whole disc.
The intelligent robot storage sorting unit disclosed by the invention realizes intelligent robot storage sorting on the basis of the traditional plane warehouse and the three-dimensional warehouse, replaces a manual material taking link, realizes full-automatic unmanned warehousing and ex-warehouse, and achieves the effect of a black light warehouse.
The specific embodiment is as follows:
(1) the system comprises the following components:
the system plane layout is shown in figure 1 and comprises an industrial robot system, a paw placing table, a material turnover table, a material conveying line, an electric control system and a master control system, and the system can be used for automatic warehousing and sorting of a three-dimensional counter and a shelf plane library at the same time, wherein the three-dimensional counter is a vertical lifting cabinet and is used for storing finished products, and the shelf plane library is composed of shelves and an AGV automatic handling system and is used for storing raw materials.
In the intelligent robot storage sorting system, a 6-axis industrial robot system replaces manpower to carry out tasks such as three-dimensional container material inlet and outlet placement, planar container material loading and unloading, material automatic identification, material sorting and the like; the material conveying line mutually transfers materials in a warehouse and other transfer equipment (AGV is conveyed in a workshop in the invention); the electric control system performs overall coordination control on the robot system, the material conveying system and related equipment, and the master control system can perform information interaction with a warehouse management system (the total control system comprises a raw material warehouse management system and a finished product warehouse management system which are respectively abbreviated as RMWMS and FPWMS in the following) and an AGV scheduling system so as to realize automatic warehouse entry and exit and automatic transfer of materials in a three-dimensional container and a shelf plane warehouse.
(2) Detailed design of system components:
1) robot system
The robot system is used as the most key automatic execution system in the invention and consists of an industrial robot, a robot electric control cabinet, a robot paw, a paw quick-change device and a vision camera.
The industrial robot adopts a standard 6-axis joint robot on the market, selects a proper arm exhibition and a proper load, and selects an industrial robot of a KR-60 model of KUKA company; the robot paw is arranged on a flange at the tail end of the robot, 4 sets of the robot paw are provided, namely 3 sets of finished product paws and 1 set of tray paw, the finished product paw can adapt to 3 products with different shapes, the tray paw can grab a raw material tray, and the sizes of the grabbed bearing trays can be unified although the sizes of the raw materials are different; the gripper quick-change device is a key device for realizing gripper change, the robot can only be attached with 1 set of grippers at the same time, different products need to be adapted, and non-stop quick change is required; the vision system is the eyes of the robot, has the functions of reading the two-dimensional code and positioning, distinguishes different raw materials and products by scanning and analyzing the code value of the two-dimensional code, and realizes positioning and position compensation by identifying the characteristics of the products and parts.
2) Robot paw
The robot paw is a pneumatic paw, the raw material paw adopts a one-to-two mode, and the raw material paw is respectively connected with the profiling paw and the blank paw, so that the space is saved, and the robot paw is economical and practical. The design of tray hand claw adopts double-cylinder design to guarantee clamp force and stationarity in the transportation, and the gas circuit one minute two controls furthest's the synchronism of assurance cylinder action. The paw and the last axis of the robot are arranged in parallel, so that the depth of the pallet placed in the goods shelf can be guaranteed.
As shown in fig. 2a and 2b, the design of the material paw and the pallet paw is schematically illustrated. For practical application and popularization, the copying claw and the blank claw do not need to be redesigned, the gripping structural part is designed according to different material shapes, and the tray claw can be universal within the size change range of the tray.
3) Material conveying system
The material conveying system is connected with a warehouse and a production workshop through a workshop transportation type AGV and consists of a speed chain conveying line, a material detection photoelectric switch, a jacking cylinder, a stopper and a fixed code scanner.
The speed-multiplying chain conveying line is divided into a warehousing line and a warehousing line, the moving directions of the line bodies are opposite, and the line bodies enter one warehouse and exit one warehouse; the material detection photoelectric switches are arranged at the beginning and the end of each line and used for detecting whether a material tray exists on the line body; the jacking cylinders are positioned at the tail end of the warehousing line and the starting end of the ex-warehouse line, when the jacking cylinders are jacked up, the robot places the tray, and the tray is conveyed when falling down; the backstop is only arranged at the tail end of the delivery line, and when the workshop transport type AGV is not butted with the delivery line, the backstop blocks the tray to prevent the tray from falling; and a fixed code scanner is arranged on each line, and is used for identifying and scanning the two-dimensional code of the tray and the two-dimensional code of the product and distinguishing the material type.
4) Electrical control system
The electrical control system comprises a robot system electrical control system and a material conveying system electrical control system.
The robot body is a standard product, and the electric system of the robot body is provided by a robot manufacturer. The robot hand claw adopts a pneumatic hand claw, electric elements mainly comprise an electromagnetic valve and a gas circuit element used by a cylinder, a hand claw quick-change device is also opened and closed pneumatically, pneumatic control signals of the hand claw and the quick-change device are accessed into an external control module of a robot body control system in consideration of control real-time performance, and the robot realizes control through an external signal correlation mode.
The electrical control system of the material conveying system is used for controlling the warehouse-in and warehouse-out double-speed chain body and devices such as a photoelectric switch, a jacking cylinder, a stopper and the like arranged on the warehouse-out double-speed chain body, and simultaneously, the control of the safety door lock is considered.
As shown in FIG. 3, the main controller of the electrical control system is a Siemens S7-1200 series PLC, which is a structure diagram of the electrical control system. The system is connected with a speed multiplying chain line body controller through an RS485 interface, and the start, stop, steering and running speed of a line body are controlled through a modbus-RTU protocol; the material tray lifting, stopping and position judging functions and the like at fixed positions are realized by connecting the photoelectric switch, the jacking cylinder and the stopper through the IO input/output interface; the system is connected with an upper control host through a network port, is communicated with a master control system arranged on the control host through a TCP/IP protocol, receives a task system of the upper computer and automatically executes a material conveying task of entering and exiting a warehouse.
The electric control of robot hand claw passes through in the external IO module inserts KUKA robot body switch board, by the unified control of the host computer on the robot, selects for use the outside IO module of time fortune to merge seamlessly with KUKA robot body control system.
4) General control system
The master control system is an upper management control system of the intelligent robot storage sorting unit, is a brain of the whole unit, and realizes centralized management and control of the storage material sorting unit through coordination control of equipment inside the unit aiming at different application scenes.
The master control system mainly comprises functions of user management, log management, basic data management, parameter setting, application control logic, system remote control, system remote monitoring and the like. The external interface comprises three upper parts and three lower parts, the three upper parts refer to service application system interfaces, the master control system is integrated with the RMWMS system, the FPWMS system and the AGV management control system to realize the interaction of information such as production tasks, unit state data and production data, and the three lower parts refer to equipment interfaces which comprise an industrial robot, a PLC and a code scanner, and the master control system and the equipment interfaces to realize the functions of control logic, remote control, remote monitoring and the like.
5) Others
The gripper rack is used for temporarily placing the grippers which are not in use, needs to be capable of stabilizing bearing, and ensures the positioning accuracy when the grippers are placed and picked up. The framework is built by adopting 40-by-40 aluminum profiles, the bearing capacity is fully guaranteed, the positioning accuracy of paw picking up is guaranteed by adopting a hole pin structure, and the stability is guaranteed by fixing four leg foundation bolts.
The material turnover table is used for material arrangement when raw materials are not discharged from the whole disc. When the raw materials are not completely discharged, the robot needs to take out the whole raw materials, and places redundant raw materials into an empty tray on the turnover table, so that two trays can be placed in the material turnover table at the same time, and a connecting pin fixed to the bottoms of the trays needs to be arranged on the table top.
The invention provides an intelligent robot warehousing and sorting unit aiming at a traditional plane warehouse or a traditional three-dimensional warehouse, which brings the following beneficial effects:
1) the traditional plane warehouse or three-dimensional warehouse still needs manual work to carry out material sorting at the beginning and the end of going in and out the warehouse, because personnel's factor can bring inefficiency, the error rate is high, combine inseparable scheduling problem with the production process, an intelligent robot storage letter sorting unit can realize full automatization warehouse material sorting to dock with AGV automatic transportation system, be favorable to realizing that the material goes out the warehouse entry, the commodity circulation is delivered, manufacturing full automation is unmanned one-line production.
2) The utility model provides an intelligent robot storage letter sorting unit adopts modular design, can build fast according to the warehouse of difference and material letter sorting demand, and the customization degree is low, and reproducibility is strong.
3) The intelligent robot warehousing sorting unit can automatically complete warehouse-in and warehouse-out material sorting tasks according to production tasks of an upper business system (an MES system in the invention), can also locally operate a warehouse management system of a three-dimensional warehouse or a plane warehouse, automatically execute logistics sorting tasks, and has high system operability and flexibility.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides an intelligent robot storage letter sorting unit, is including the goods shelves plane storehouse of the finished three-dimensional packing cupboard of storage and storage raw materials, three-dimensional packing cupboard is the vertical lift cabinet, goods shelves plane storehouse includes goods shelves and the automatic handling system of AGV, its characterized in that places platform, material turnover platform, material conveying system, electrical control system and total control system including industrial robot system, hand claw.
2. The intelligent robotic warehousing sorting unit of claim 1 wherein the industrial robot system includes an industrial robot, a robotic electrical cabinet, a robotic gripper, a gripper quick-change device, and a vision camera.
3. The intelligent robotic warehousing sorting unit of claim 2, wherein the robotic gripper is a pneumatic gripper comprising a raw material gripper and a pallet gripper; the raw material paw adopts a structure form of one dragging two, and is respectively connected with the profiling paw and the blank paw; the tray paw is a universal paw, and the paw structure is irrelevant to materials carried on the paw and only relevant to the size of the tray.
4. The intelligent robotic warehouse sorting unit of claim 3 wherein the material transfer system includes a double speed chain conveyor line, a material detection photoelectric switch, a jacking cylinder, a stopper and a fixed scanner, the material transfer system connecting the warehouse with the production shop via a shop transportation type AGV.
5. The intelligent robotic warehouse sorting unit of claim 4 wherein the electrical control system comprises an electrical control system of an industrial robot system and an electrical control system of a material transfer system;
the electric control system of the industrial robot system transmits pneumatic control signals to the robot paw and the cylinder, the electromagnetic valve and the air path element of the paw quick-change device, the pneumatic control signals are connected into an external control module of the robot body control system, and the robot realizes control through an external signal correlation mode;
and the electrical control system of the material conveying system is used for controlling the speed-multiplying chain conveying line, a photoelectric switch, a jacking cylinder and a stop device which are arranged on the speed-multiplying chain conveying line, and simultaneously controlling the safety door lock.
6. The intelligent robotic warehouse sorting unit of claim 5 wherein the overhead control system includes an interface to upper level business applications including RMWMS systems, FPWMS systems and AGV management control systems and an interface to lower level equipment including industrial robots, PLCs and scanners.
7. The intelligent robotic warehouse sorting unit of claim 6 wherein the gripper placement station is configured to temporarily place a gripper that is not in use.
8. The intelligent robotic warehouse sorting unit of claim 7 wherein the material turnover table is used for material sorting when non-entire raw materials are delivered from the warehouse.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010653074.0A CN111661546A (en) | 2020-07-08 | 2020-07-08 | Intelligent robot storage letter sorting unit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010653074.0A CN111661546A (en) | 2020-07-08 | 2020-07-08 | Intelligent robot storage letter sorting unit |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112027466A (en) * | 2020-09-26 | 2020-12-04 | 赣州冠英智能科技有限公司 | Intelligent three-dimensional warehousing system based on intelligent cloud |
| CN114027638A (en) * | 2021-10-25 | 2022-02-11 | 苏州艾隆科技股份有限公司 | Automatic traditional Chinese medicine blending system |
| CN114367993A (en) * | 2021-12-29 | 2022-04-19 | 上海航天设备制造总厂有限公司 | Device, system and method for converting space coordinates and scanning coordinates of complex curved surface |
| CN116384860A (en) * | 2023-03-24 | 2023-07-04 | 深圳市今天国际软件技术有限公司 | Sorting and replenishment method and device, computer equipment and readable storage medium |
| TWI821796B (en) * | 2020-11-20 | 2023-11-11 | 大陸商深圳市海柔創新科技有限公司 | Material storage method and apparatus, robot, warehouse system, and storage medium |
-
2020
- 2020-07-08 CN CN202010653074.0A patent/CN111661546A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112027466A (en) * | 2020-09-26 | 2020-12-04 | 赣州冠英智能科技有限公司 | Intelligent three-dimensional warehousing system based on intelligent cloud |
| TWI821796B (en) * | 2020-11-20 | 2023-11-11 | 大陸商深圳市海柔創新科技有限公司 | Material storage method and apparatus, robot, warehouse system, and storage medium |
| CN114027638A (en) * | 2021-10-25 | 2022-02-11 | 苏州艾隆科技股份有限公司 | Automatic traditional Chinese medicine blending system |
| CN114027638B (en) * | 2021-10-25 | 2023-08-08 | 苏州艾隆科技股份有限公司 | Automatic traditional Chinese medicine blending system |
| CN114367993A (en) * | 2021-12-29 | 2022-04-19 | 上海航天设备制造总厂有限公司 | Device, system and method for converting space coordinates and scanning coordinates of complex curved surface |
| CN116384860A (en) * | 2023-03-24 | 2023-07-04 | 深圳市今天国际软件技术有限公司 | Sorting and replenishment method and device, computer equipment and readable storage medium |
| CN116384860B (en) * | 2023-03-24 | 2023-11-21 | 深圳市今天国际软件技术有限公司 | Sorting and replenishment method and device, computer equipment and readable storage medium |
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