CN114084553B

CN114084553B - Space warehouse system

Info

Publication number: CN114084553B
Application number: CN202111183187.XA
Authority: CN
Inventors: 苏毅宾
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2023-05-16
Anticipated expiration: 2041-10-11
Also published as: CN114084553A

Abstract

The invention discloses a space warehouse system, comprising: the goods shelf is provided with a plurality of goods cabins arranged in rows, and a first rail is arranged beside each goods cabin; the storage vehicle is provided with a vehicle frame, the lower part of the vehicle frame is provided with a traveling device and a traveling electromagnet, the traveling device is provided with traveling wheels, the traveling wheels can move along a first track, the traveling electromagnet and a goods shelf are arranged at intervals, and the goods shelf has magnetism at least at the projection position of the moving path of the traveling electromagnet; the frame is provided with a picking and placing device, and the picking and placing device drives a picking and placing part capable of picking and placing goods in the goods warehouse. The magnetic force between the travelling electromagnet and the goods shelf can provide necessary travelling friction force for travelling wheels, so that the storage vehicle can still move along the first track in a gravity-free environment, and goods in each goods warehouse can be fetched and placed through the fetching and placing device, so that the technical problem in the prior art is solved.

Description

Space warehouse system

Technical Field

The invention relates to the technical field of warehousing, in particular to an outer space warehousing system.

Background

With the construction of Tiangong No. one, the further development of China in the space field is marked, but the materials in the existing space station are mainly transported by astronauts, so that the method is time-consuming and labor-consuming, and has a certain safety risk.

In order to solve the problem of space material warehouse automation, the problem can be solved by combining the existing agv technology, but because the space station is in a weightless environment, the walking friction force to agv cannot be generated by gravity.

Disclosure of Invention

The present invention is directed to an outer space warehousing system that solves one or more of the problems of the prior art, providing at least one of a beneficial selection or creation of conditions.

An embodiment of the space warehousing system according to the first aspect of the invention includes:

the goods shelf is provided with a plurality of goods shelves arranged in rows, and a first rail is arranged beside each goods shelf;

the storage vehicle is provided with a vehicle frame, the lower part of the vehicle frame is provided with a traveling device and a traveling electromagnet, the traveling device is driven by traveling wheels, the traveling wheels can move along the first track, the traveling electromagnet and the goods shelf are arranged at intervals, and the goods shelf at least has magnetism at the projection position of the moving path of the traveling electromagnet; the frame is provided with a picking and placing device, and the picking and placing device drives a picking and placing part capable of picking and placing goods in the goods warehouse.

The space warehousing system provided by the embodiment of the invention has at least the following beneficial effects: the magnetic force between the walking electromagnet and the goods shelf can provide necessary walking friction force for the walking wheels, so that the storage vehicle can still move along the first track in a gravity-free environment, and goods in each goods shelf can be fetched and placed through the fetching and placing device, and the technical problem in the prior art is solved.

According to some embodiments of the invention, the number of shelves is plural, and the plural shelves are arranged and collectively form a depot so that all the shelves are distributed in a matrix.

According to some embodiments of the invention, the goods station is provided with a secondary aisle between every two adjacent shelves, and each secondary aisle is provided with the first rail; the two ends of the goods station are respectively provided with a main passageway, the main passageways are communicated with all goods shelves, each main passageway is provided with a second track, the second tracks are orthogonal to the first tracks, and the travelling wheels can move along the second tracks. The arrangement is such that the warehouse truck is movable along the first track and the second track.

According to some embodiments of the invention, since the second rail is orthogonal to the first rail, in order to achieve a mutual steering of the warehouse truck between the first rail and the second rail, the warehouse truck is provided with a steering module comprising a telescopic device, a turning device and a steering electromagnet, the telescopic device being mounted to the frame, the telescopic device being provided with a telescopic part which is telescopic towards the cargo station, the turning device being connected to the telescopic part, the turning device being provided with a rotatable turning part, the steering electromagnet being connected to the turning part. When the warehouse vehicle is required to be turned, the telescopic device downwards extends out of the telescopic part, so that the turning electromagnet is abutted with the goods station and attracted, the whole vehicle frame is lifted by the telescopic device along with the gradual extension of the telescopic part, and meanwhile, the walking electromagnet stops working; after that, the rotating device rotates the rotating part, and the rotating device drives the whole frame to rotate by 90 degrees because the steering electromagnet is temporarily fixedly connected with the goods station; finally, the steering electromagnet stops working, the telescopic device retracts upwards to the telescopic part, the whole frame descends, at the moment, the travelling wheels fall on the track again, and the steering electromagnet leaves the goods station.

According to some embodiments of the invention, the telescopic device is a second linear motor and the rotating device is a second motor, since both the linear motor and the motor can be normally used in a gravity-free environment.

According to some embodiments of the invention, in order to mark different bins of the same shelf, the pallet station is provided with a plurality of first scanning labels on each of the auxiliary aisles, and all the first scanning labels are uniformly and correspondingly arranged with all the bins; in order to mark different shelves, the goods stand is provided with second scanning labels on each main aisle, and all the second scanning labels are uniformly and correspondingly arranged on all the shelves.

According to some embodiments of the invention, in order to enable the warehouse truck to be positioned to different warehouses of different shelves, a camera sensor for identifying the first scanning tag and the second scanning tag is further arranged at the lower part of the frame.

According to some embodiments of the invention, the first track and the second track are both convex-edge tracks, and the travelling wheel is a sheave matched with the convex-edge tracks, so as to reduce the risk of derailment of the travelling wheel on the tracks.

According to some embodiments of the invention, the frame is provided with guide bars on the left and right sides of the picking and placing device, and the width between the two guide bars is slightly larger than the width of the goods. The arrangement of the guide bars can provide guidance for picking and placing goods and avoid the goods from shifting in the picking and placing process.

According to some embodiments of the invention, since the linear motor and the motor can be normally used in a gravity-free environment, the running gear is a first motor, and the picking and placing device is a first linear motor; the picking and placing part is a picking and placing magnet or a clamping jaw, when the picking and placing part is the picking and placing magnet, the outer packages of all cargoes are provided with magnetic components which can be attracted by the picking and placing magnet, and when the picking and placing part is the clamping jaw, no mandatory requirement is provided for the outer packages of the cargoes.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic perspective view of a space warehousing system according to an embodiment of the invention;

FIG. 2 is a top view of the space inventory system shown in FIG. 1;

FIG. 3 is an enlarged view of a portion of the space inventory system shown in FIG. 1 at A;

FIG. 4 is a schematic perspective view of a warehouse truck according to an embodiment of the present invention;

fig. 5 is a front view of the warehouse cart shown in fig. 4.

Detailed Description

Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functionality throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention and are not to be construed as limiting the present invention.

In the description of the invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience in describing the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

As shown in fig. 1 to 3, the space warehouse system according to the first aspect of the present invention includes a warehouse 100 and a warehouse truck 200, where the warehouse 100 is provided with a plurality of shelves 110 arranged in a row, and each of the shelves 110 is provided with a plurality of bins 111 arranged in a row, so that all the bins 111 are distributed in a matrix. The warehouse 100 is provided with a sub-aisle 120 between every two adjacent shelves 110, and each sub-aisle 120 is provided with a first rail 121, and the first rails 121 extend from a warehouse 111 located at the head end of the shelf 110 to a warehouse 111 located at the tail end of the shelf 110. The two ends of the goods station 100 are respectively provided with a main aisle 130, the main aisles 130 are communicated with all the goods shelves 110, each main aisle 130 is provided with a second rail 131, the second rails 131 extend from the goods shelves 110 positioned at the head end of the goods station 100 to the goods shelves 110 positioned at the tail end of the goods station 100, and the second rails 131 are orthogonal to the first rails 121.

Further, in order to mark different bins 111 of the same shelf 110, the cargo station 100 is provided with a plurality of first scanning labels 122 on each of the sub-aisles 120, and all the first scanning labels 122 are uniformly and correspondingly arranged with all the bins 111; in order to mark different shelves 110, the cargo station 100 is provided with a second scanning tag 132 on each main aisle 130, and all the second scanning tags 132 are uniformly and correspondingly arranged with all the shelves 110. The arrangement is such that each bin 111 has a unique number to facilitate distinguishing between different bins 111.

As shown in fig. 4 and 5, the storage vehicle 200 includes a frame 210, a running gear, a pick-and-place device, a battery and a control box, the battery and the control box are both installed in the frame 210, the battery is used for supplying power, the control box is used for controlling the storage vehicle 200 to run according to a predetermined program, the running gear is installed at the lower part of the frame 210, the running gear is provided with running wheels 221 driven by a first motor 220, the number of the running wheels 221 is two or more, and the running wheels 221 can move along the first track 121 and the second track 131. Since the warehouse car 200 is in a weightless state in space, in order to provide the necessary traveling friction force for the traveling wheels 221, the traveling electromagnet 230 is disposed at the lower portion of the frame 210, the traveling electromagnet 230 is spaced from but relatively close to the pallet station 100, the pallet station 100 has magnetism at least at a projection position of a moving path of the traveling electromagnet 230, and when the traveling electromagnet 230 is energized, it can generate a magnetic force for attracting the pallet station 100, and the magnetic force can provide the necessary traveling friction force for the traveling wheels 221 under a gravity-free environment so as to realize normal traveling of the warehouse car 200 along a track. It will be appreciated that the greater the current flowing through the travel electromagnet 230, or the closer the distance between the travel electromagnet 230 and the pallet station 100, the greater the travel friction of the travel wheel 221, and vice versa.

In addition, the picking and placing device is mounted on the frame 210, in this embodiment, the picking and placing device may be a first linear motor 240, which is provided with a moving portion 241 capable of moving up and down in a reciprocating manner, and the moving portion 241 is connected to a picking and placing portion for picking and placing the goods 400 in the cargo compartment 111. In this embodiment, the pick-and-place portion may be selected as the pick-and-place magnet 250, and the outer package of all the cargoes 400 is provided with a magnetic member that can be attracted by the pick-and-place magnet 250. The invention is not limited to the pick-and-place portion, but the pick-and-place portion may be a clamping jaw, which is used to pick and place the goods 400 by clamping, and is not limited to the above embodiment.

Since the pallet station 100 has the main aisle 130 and the sub aisle 120 which are staggered with each other, in order to achieve the mutual steering of the warehouse truck 200 between the first rail 121 and the second rail 131, the warehouse truck 200 is provided with a steering module 300, the steering module 300 includes a telescopic device 310, a rotating device 320 and a steering electromagnet 330, the telescopic device 310 is mounted on the frame 210, the telescopic device 310 is located at the outer side of the traveling device, the telescopic device 310 is provided with a telescopic portion 311 which can be telescopic toward the pallet station 100, the rotating device 320 is connected to the telescopic portion 311, the rotating device 320 is provided with a rotatable rotating portion 321, and the steering electromagnet 330 is connected to the rotating portion 321. In this embodiment, the telescopic device 310 may be selected as a second linear motor, and the rotating device 320 may be selected as a second motor. When the warehouse truck 200 needs to be steered, the telescopic device 310 extends downwards to the telescopic part 311, so that the steering electromagnet 330 abuts against and attracts the cargo station 100, and the whole truck frame 210 is lifted by the telescopic device 310 along with the gradual extension of the telescopic part 311, and meanwhile, the walking electromagnet 230 stops working; after that, the rotating device 320 rotates the rotating portion 321, and the rotating device 320 drives the whole frame 210 to rotate by 90 ° because the steering electromagnet 330 is temporarily fixedly connected with the cargo station 100; finally, the steering electromagnet 330 stops working, and the telescopic device 310 retracts upwards to the telescopic part 311, so that the whole frame 210 descends, at this time, the travelling wheels 221 fall again on the track, and the steering electromagnet 330 leaves the cargo station 100. In order to enable the warehouse truck 200 to steer on two main aisles 130, the number of steering modules 300 is two, and the two steering modules 300 are respectively located on two outer sides of the walking device.

In order to enable the warehouse truck 200 to be positioned to different bins 111 of different racks 110, a camera sensor 260 for identifying the first scanning tag 122 and the second scanning tag 132 is further provided at the lower part of the frame 210, and in this embodiment, the first scanning tag 122 and the second scanning tag 132 may be two-dimensional codes. When the goods 400 in the designated bin 111 need to be extracted, since the bin 111 has a unique number, for example A1b5, the storage cart 200 is first positioned to the rack 110 of A1 by scanning the second scanning tag 132 of the main aisle 130, then 90 ° turned by the turning module 300 so that the storage cart 200 can move on the first rail 121 and be positioned to the bin 111 of b5 by scanning the first scanning tag 122 of the sub aisle 120, and finally the goods 400 in the bin 111 are extracted by the pick-and-place device. Similarly, the same procedure may be used to place cargo 400 into a given cargo compartment 111. It will be appreciated that the steering module 300 will only begin steering when the truck 200 is moved to a designated position, otherwise the road wheels 221 of the truck 200 will not fall exactly on the first track 121 after steering, thereby causing the truck 200 to derail.

In some embodiments of the present invention, the first rail 121 and the second rail 131 are both convex rail, and the travelling wheel 221 is a sheave that matches the convex rail, so as to reduce the risk of derailment of the travelling wheel 221 on the rail. In this embodiment, the bead track may be selected as a V-track and the sheave may be selected as a V-wheel.

In some embodiments of the present invention, the frame 210 is provided with guide bars 270 on both left and right sides of the pick-and-place device, and the width between the guide bars 270 is slightly larger than the width of the cargo 400. The guide bar 270 can provide guidance for picking and placing the goods 400, so as to avoid the goods 400 from shifting in the picking and placing process.

As shown in fig. 1 and 2, in some embodiments of the present invention, in order to improve the efficiency of picking and placing the goods 400, the number of the storage vehicles 200 may be plural, and the storage vehicles 200 may perform the zoning operation under the control of the respective control boxes.

While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes may be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims

1. Space warehouse system, its characterized in that includes:

the plurality of goods shelves are provided with a plurality of goods shelves arranged in rows, the plurality of goods shelves are arranged in a row and form a goods station together, so that all the goods shelves are distributed in a matrix, auxiliary passages are arranged between every two adjacent goods shelves, and each auxiliary passage is provided with a first track at the side of each row of goods shelves; the two ends of the goods station are respectively provided with a main aisle, the main aisle is communicated with all goods shelves, each main aisle is provided with a second track, and the second tracks are orthogonal to the first tracks;

the storage vehicle is provided with a vehicle frame, the lower part of the vehicle frame is provided with a traveling device and a traveling electromagnet, the traveling device drives traveling wheels, the traveling wheels can move along the first track or the second track, the traveling electromagnet and the storage rack are arranged at intervals, the storage rack is at least provided with magnetism at the projection position of the moving path of the traveling electromagnet, the storage vehicle is provided with a steering module, the steering module comprises a telescopic device, a rotating device and a steering electromagnet, the telescopic device is arranged on the vehicle frame, the telescopic device is provided with a telescopic part which can stretch towards a goods stand, the rotating device is connected with the telescopic part, the rotating device is provided with a rotatable rotating part, and the steering electromagnet is connected with the rotating part; the frame is provided with a picking and placing device, and the picking and placing device drives a picking and placing part capable of picking and placing goods in the goods warehouse.

2. The space warehousing system of claim 1 wherein: the telescopic device is a second linear motor; the rotating device is a second motor.

3. The space warehousing system of claim 1 wherein: the goods stand is provided with a plurality of first scanning labels on each auxiliary passageway, and all the first scanning labels and all the goods cabins are uniformly and correspondingly arranged; the goods stand is provided with second scanning labels on each main aisle, and all the second scanning labels are uniformly and correspondingly arranged with all the goods shelves.

4. A space warehousing system according to claim 3 wherein: the lower part of the frame is also provided with a camera sensor for identifying the first scanning label and the second scanning label.

5. The space warehousing system of claim 1 wherein: the first track and the second track are convex edge tracks, and the travelling wheels are sheaves matched with the convex edge tracks.

6. The space warehousing system of claim 1 wherein: the frame is provided with guide bars on the left side and the right side of the picking and placing device.

7. The space warehousing system of claim 1 wherein: the walking device is a first motor; the picking and placing device is a first linear motor; the picking and placing part is a picking and placing magnet or a clamping jaw.