CN114194693A - Intelligent vertical warehouse with automatic storage function and control method thereof - Google Patents
Intelligent vertical warehouse with automatic storage function and control method thereof Download PDFInfo
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention discloses an intelligent vertical warehouse with automatic storage and a control method thereof, wherein the intelligent vertical warehouse consists of a goods shelf, a roadway stacker, a warehousing workbench, an automatic feeding mechanism and a monitoring and scheduling system, the roadway stacker consists of a forklift and a bridge stacker, the warehousing workbench comprises an acquisition module, a processing module and a database, the automatic feeding mechanism consists of a goods tray, a transmission mechanism and a manipulator, and the monitoring and scheduling system comprises an abnormality monitoring unit, an electric quantity monitoring unit, an information receiving unit and a driving unit; in the invention, the monitoring and scheduling system can monitor the equipment in the intelligent vertical warehouse in real time, and the monitoring and scheduling system shares the data information with the database in the warehousing workbench, the warehousing workbench can input the classification information of the goods shelf in different areas of the intelligent vertical warehouse in advance, and the optimal storage planning can be rapidly carried out according to the goods attributes.
Description
Technical Field
The application relates to the field of intelligent warehousing, in particular to an intelligent vertical warehouse with automatic storage and a control method thereof.
Background
With the development of society and the improvement of living standard of people, the development of warehouse industry is greatly promoted. At present, the goods transportation of most of warehouses in China depends on manual hydraulic forklifts or electric hydraulic forklifts for goods transportation, and the forklift needs to be manually used for loading or unloading in the links of loading and unloading goods or is directly completed by manpower, so that the labor intensity of workers is high, the efficiency is low, the information intelligent management of the warehouse cannot be realized, and the warehouses are difficult to be well butted with an intelligent manufacturing factory.
However, when the existing intelligent vertical warehouse is used for storing and planning goods according to goods information, the speed is slow, the planning effect is poor, and a monitoring system cannot monitor equipment in the intelligent vertical warehouse in real time, so that the storage efficiency is slow; in addition, the conveying mechanism does not have a member for fixing and stably conveying the goods, so that the problem of dropping the goods occurs.
Disclosure of Invention
The invention aims to: the intelligent vertical warehouse with the automatic storage function and the control method thereof solve the problems that when the intelligent vertical warehouse is used for storing and planning goods according to goods information, the speed is low, the planning effect is poor, and a monitoring system cannot monitor equipment in the intelligent vertical warehouse in real time, so that the storage efficiency is low; in addition, the conveying mechanism does not have a member for fixing and stably conveying the goods, so that the problem of dropping the goods occurs.
The technical scheme of the invention is as follows: the first aspect is that the intelligent vertical warehouse for automatic storage is composed of a goods shelf, a tunnel type stacker, a storage workbench, an automatic feeding mechanism and a monitoring and scheduling system;
the roadway stacker consists of a forklift and a bridge stacker;
the warehousing workbench comprises an acquisition module, a processing module and a database;
the automatic feeding mechanism consists of a cargo tray, a conveying mechanism and a manipulator;
the monitoring and scheduling system comprises an abnormity monitoring unit, an electric quantity monitoring unit, an information receiving unit and a driving unit.
Furthermore, the goods shelves are distributed in different areas of the intelligent vertical warehouse, and the area classification information is input into the warehousing workbench, the goods need to be sorted manually or by a sorting device before storage planning, and after the warehousing workbench optimally stores and plans according to the goods attributes, the warehousing workbench informs a manual control roadway stacker to implement preliminary goods storage work through voice;
the database is used for storing goods region classification information and goods shelf working state information, and the processing module is used for carrying out optimal storage planning according to goods attributes, goods capacity and goods shapes.
Furthermore, the goods tray is used for placing goods to be stored, and the goods on the goods tray are conveyed to a designated area through the conveying mechanism, and the manipulator is provided with a visual identifier for identifying the bar code adhered to the goods and the placing position of the goods;
the conveying mechanisms are arranged on the outer sides of the goods shelves, wherein each conveying mechanism is provided with a goods tray, and the goods trays can move between each layer of the goods shelves along the tracks on the conveying mechanisms.
Furthermore, the abnormity monitoring unit is used for monitoring the running state of the automatic feeding mechanism in real time and giving an abnormity alarm when the automatic feeding mechanism runs abnormally;
the electric quantity monitoring unit is used for monitoring the electric quantity of the automatic feeding mechanism in real time and carrying out charging planning on the electric quantity when the electric quantity approaches the early warning;
the information receiving unit is used for acquiring the cargo information data recorded in the database and sending the information data to the driving unit;
the driving unit is used for receiving the information data issued by the information receiving unit, planning a path according to the information data and controlling the conveying mechanism to convey the goods to be stored on the goods tray to the specified area of the goods shelf.
Further, transport mechanism includes track, transfer unit, goods tray and goods body, the track is established subaerial at the warehouse through the installation foot symmetry, the transfer unit sets up in orbital top, the goods tray is placed in the top of transfer unit, and the goods body places the top at the goods tray, transfer unit opposite side array is equipped with the roller, its characterized in that, the top symmetry of transfer unit is equipped with fixed subassembly, the bottom symmetry of transfer unit is equipped with firm subassembly.
Furthermore, the fixed subassembly includes positive and negative motor and flat board, positive and negative motor passes through the backup pad setting at the back of transfer unit, the first lead screw is connected through the pivot rotation in the middle of the transfer unit opposite side, and the one end that first lead screw is close to positive and negative motor is connected with positive and negative motor drive end, the symmetrical connection of transfer unit opposite side has firm slide bar, and stabilizes the slide bar and be located the both sides of first lead screw.
Furthermore, the number of the flat plates is two, a first built-in thread sleeve which is matched with the first screw rod is fixedly installed in the middle of the bottom of each flat plate, the first built-in thread sleeve is in threaded connection with the outer side of the first screw rod, a group of sliding outer sleeves which are matched with the stable slide rods are symmetrically connected to the bottom of each flat plate, the sliding outer sleeves are slidably installed on the outer sides of the stable slide rods, a fixed transverse plate which is perpendicular to the top of each flat plate is fixedly connected to the top of each flat plate, and soft body pads are fixedly installed on the opposite sides of the fixed transverse plates.
Furthermore, the stabilizing assembly comprises a servo motor, an upper connecting block and a lower connecting block, the servo motor is fixedly installed on one side of the conveying unit, a built-in cavity is formed in the middle of the bottom of the conveying unit, a second screw rod is rotatably connected inside the built-in cavity through a bearing, the outer sides of two ends of the second screw rod are opposite in thread, and one end, close to the servo motor, of the second screw rod is connected with the driving end of the servo motor;
go up the connecting block and be two with the quantity of connecting block down, it is connected with the back shaft to go up to rotate between connecting block and the lower connecting block, and has cup jointed reset spring in the outside of back shaft, the opposite side of connecting block is connected with articulated piece through the solid fixed valve down, the inboard at articulated piece both ends all is connected with obtuse angle piece through the pivot rotation, and the articulated piece that is connected through the pivot and the double-phase opposite surface of obtuse angle piece are connected with torque spring, the inboard that articulated piece one end was kept away from to obtuse angle piece is rotated through the pivot and is connected with the assistance wheel, and the outer wall of assistance wheel laminates with orbital inboard mutually.
Furthermore, the top end of the return spring is connected with the bottom end of the upper connecting block, the bottom end of the return spring is connected with the top end of the lower connecting block, the top of the upper connecting block is fixedly connected with a second built-in thread sleeve which is adaptive to the second screw rod, and the second built-in thread sleeves are respectively in threaded connection with the outer sides of the two ends of the second screw rod.
In a second aspect, the method is a method for implementing the intelligent vertical warehouse for automatic storage in any one of the first aspect, and includes the following steps:
s1: obtaining classification information of goods regions and empty goods shelf information in the intelligent vertical warehouse, and simultaneously performing optimal storage planning according to goods attributes;
s2: manually controlling the tunnel type stacker, and transporting the goods to a goods tray according to a storage plan;
s3: the monitoring and scheduling system acquires a loading instruction sent by the warehousing workbench and carries out path planning according to the position information of the current goods to be stored;
s4: the conveying mechanism conveys the goods on the goods tray to a designated area in sequence according to the path planned by the monitoring and scheduling system;
s5: the manipulator identifies the bar code on the goods, and after the bar code is determined, the goods are placed on the goods shelf according to the shape of the goods;
the bar codes are pasted on the front faces of the goods to be stored, information of the bar codes on the goods to be stored is manually recorded into the database, data information in the database is shared with the monitoring and scheduling system, and the goods attributes comprise goods classification, goods capacity and goods shapes.
Compared with the prior art, the invention has the beneficial effects that:
1. in the invention, the monitoring and scheduling system can monitor equipment in the intelligent vertical warehouse in real time, and the monitoring and scheduling system shares data information with a database in the warehousing workbench, the warehousing workbench can input classification information of the goods shelf in different areas of the intelligent vertical warehouse in advance, optimal storage planning can be rapidly carried out according to goods attributes, and when goods are transported to a goods tray through a tunnel stacker, the monitoring and scheduling system acquires a loading instruction sent by the warehousing workbench and carries out path planning according to position information of the goods to be stored at present, so that the goods storage efficiency is improved.
2. According to the invention, the fixing component is arranged on the conveying unit and used for fixing the goods body on the goods tray, when the tunnel type stacker stacks the goods on the goods tray, the monitoring and scheduling system monitors that the conveying unit carries the goods, the positive and negative motors rotate clockwise, the flat plate moves to the opposite side through the first built-in threaded sleeve and the sliding outer sleeve and fixes the goods, so that the problem that the goods are toppled and dropped to damage the goods in the conveying process is prevented, and the soft cushion can avoid abrasion to the surface of the goods when the goods are fixed.
3. According to the invention, the stable assembly is arranged on the conveying unit to ensure the stability of the conveying unit during working, the hinge block is adjusted to be vertical to the lower connecting block through the fixed valve, then the conveying unit is placed on the track to control the servo motor to rotate clockwise, the second built-in threaded sleeve moves towards the opposite side, and the servo motor is disconnected when the assisting wheel touches the inner wall of the track, so that the stability of the conveying unit during conveying goods can be facilitated.
4. According to the invention, the upper connecting block and the lower connecting block are connected through the supporting shaft and the return spring, when the conveying unit passes through a curve, the lower connecting block can rotate by taking the supporting shaft as the center, and a certain rotation amplitude can also appear between the obtuse angle block and the hinge block by taking the rotating shaft as the center, so that a certain amplitude change can appear along with the change of the track, the conveying device is suitable for most tracks, and the stability of goods conveying is improved; in addition, the return spring and the torsion spring play a role in returning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a perspective view of the cargo conveyor of the present invention;
FIG. 2 is a perspective view of the cargo pallet of the present invention;
FIG. 3 is a perspective view of the fixing assembly of the present invention;
FIG. 4 is a schematic perspective view of the fixed cross plate of the present invention;
FIG. 5 is a schematic top plan view of the transfer mechanism of the present invention;
FIG. 6 is a schematic sectional view A-A of FIG. 5;
FIG. 7 is a perspective view of the stabilizing assembly of the present invention;
FIG. 8 is a perspective view of the hand wheel of the present invention;
fig. 9 is a schematic flow chart of the intelligent vertical warehouse control method of the present invention;
wherein: 1. a track; 2. mounting a foot; 3. a transfer unit; 4. a cargo pallet; 5. a cargo body; 6. a fixing assembly; 601. a positive and negative motor; 602. a first lead screw; 603. stabilizing the slide bar; 604. a flat plate; 605. fixing the transverse plate; 606. a first built-in thread bush; 607. sliding the outer sleeve; 608. a soft body pad; 609. a support plate; 7. a stabilizing assembly; 701. a servo motor; 702. a cavity is arranged inside; 703. a second lead screw; 704. a second built-in thread bush; 705. an assistance wheel; 706. an upper connecting block; 707. a lower connecting block; 708. a support shaft; 709. a return spring; 710. a fixed valve; 711. a hinged block; 712. a blunt angle block; 713. a torsion spring; 8. and (3) a roller.
Detailed Description
The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present invention. The conditions used in the examples may be further adjusted according to specific conditions, and the conditions used in the experiments are not specifically mentioned.
Example 1
In a first aspect, an intelligent vertical warehouse for automatic storage is shown in fig. 1 and 9, and the intelligent vertical warehouse is composed of a shelf, a tunnel stacker, a storage workbench, an automatic feeding mechanism and a monitoring and scheduling system;
the roadway stacker consists of a forklift and a bridge stacker;
the warehousing workbench comprises an acquisition module, a processing module and a database;
the automatic feeding mechanism consists of a cargo tray, a conveying mechanism and a manipulator;
the monitoring and scheduling system comprises an abnormity monitoring unit, an electric quantity monitoring unit, an information receiving unit and a driving unit.
In the invention, the monitoring and scheduling system can monitor equipment in the intelligent vertical warehouse in real time, and the monitoring and scheduling system shares data information with a database in the warehousing workbench, the warehousing workbench can input classification information of the goods shelf in different areas of the intelligent vertical warehouse in advance, optimal storage planning can be rapidly carried out according to goods attributes, and when goods are transported to a goods tray through a tunnel stacker, the monitoring and scheduling system acquires a loading instruction sent by the warehousing workbench and carries out path planning according to position information of the goods to be stored at present, so that the goods storage efficiency is improved.
Example 2
In this embodiment, as shown in fig. 9, the shelves are distributed in different areas of the intelligent vertical warehouse, and the area classification information is recorded in the warehousing workbench, the goods need to be sorted manually or by a sorting device before being stored and planned, and after the warehousing workbench optimally stores and plans according to the goods attributes, the warehousing workbench notifies the manual control tunnel type stacker to implement preliminary goods storage work by voice;
the database is used for storing goods region classification information and goods shelf working state information, and the processing module is used for carrying out optimal storage planning according to goods attributes, goods capacity and goods shapes.
The goods tray is used for placing goods to be stored and conveying the goods on the goods tray to a designated area through the conveying mechanism, and the manipulator is provided with the visual identifier and used for identifying the bar codes stuck to the goods and the placing positions of the goods;
the conveying mechanisms are arranged on the outer sides of the goods shelves, wherein each conveying mechanism is provided with a goods tray, and the goods trays can move between each layer of the goods shelves along the tracks on the conveying mechanisms.
The abnormality monitoring unit is used for monitoring the running state of the automatic feeding mechanism in real time and giving an abnormality alarm when the automatic feeding mechanism runs abnormally;
the electric quantity monitoring unit is used for monitoring the electric quantity of the automatic feeding mechanism in real time and carrying out charging planning on the electric quantity when the electric quantity approaches the early warning;
the information receiving unit is used for acquiring the cargo information data recorded in the database and sending the information data to the driving unit;
the driving unit is used for receiving the information data issued by the information receiving unit, planning a path according to the information data and controlling the conveying mechanism to convey the goods to be stored on the goods tray to the specified area of the goods shelf.
Example 3
The utility model provides an automatic change intelligent vertical warehouse transport mechanism of storage, carries out following replenishment to the first aspect, as shown in fig. 1-2, transport mechanism includes track 1, transfer unit 3, goods tray 4 and goods body 5, track 1 is established subaerial in the warehouse through installation foot 2 symmetry, transfer unit 3 sets up in the top of track 1, goods tray 4 places in transfer unit 3's top, and goods body 5 places in goods tray 4's top, transfer unit 3 opposite side array is equipped with roller 8 for support goods tray 4, its characterized in that, transfer unit 3's top symmetry is equipped with fixed subassembly 6, transfer unit 3's bottom symmetry is equipped with firm subassembly 7.
As shown in fig. 3 to 4, the fixing assembly 6 of the present embodiment includes a front and back motor 601 and a flat plate 604, the front and back motor 601 is disposed on the back of the transmission unit 3 through a support plate 609, the middle of the opposite side of the transmission unit 3 is rotatably connected to a first lead screw 602 through a rotating shaft, one end of the first lead screw 602 close to the front and back motor 601 is connected to the driving end of the front and back motor 601, the opposite side of the transmission unit 3 is symmetrically connected to a fixing slide rod 603, and the fixing slide rods 603 are disposed on two sides of the first lead screw 602.
In this embodiment, the number of the flat plates 604 is two, the middle of the bottom of the flat plate 604 is fixedly provided with a first built-in thread bushing 606 adapted to the first lead screw 602, the first built-in thread bushing 606 is in threaded connection with the outer side of the first lead screw 602, the bottom of the flat plate 604 is symmetrically connected with a set of sliding outer sleeves 607 adapted to the stabilizing slide bar 603, the sliding outer sleeves 607 are slidably mounted on the outer side of the stabilizing slide bar 603, the top of the flat plate 604 is fixedly connected with a fixing transverse plate 605 perpendicular to the flat plate, and the opposite sides of the fixing transverse plate 605 are fixedly provided with soft pads 608.
In the invention, the fixing component 6 is arranged on the conveying unit 3 and is used for fixing the goods body 5 on the goods tray 4, when the tunnel type stacker stacks the goods on the goods tray 4, the monitoring and scheduling system monitors that the conveying unit 3 carries the goods, the positive and negative motors 601 rotate clockwise, the flat plate 604 moves to the opposite side through the first built-in threaded sleeve 606 and the sliding outer sleeve 607 and fixes the goods, so that the problem that the goods are toppled and dropped to damage the goods in the conveying process is prevented, and the soft cushion 608 can avoid abrasion to the surface of the goods when the goods are fixed.
As shown in fig. 5 to 8, the stabilizing assembly 7 of this embodiment includes a servo motor 701, an upper connection block 706 and a lower connection block 707, the servo motor 701 is fixedly installed at one side of the conveying unit 3, a built-in cavity 702 is opened at the middle portion of the bottom of the conveying unit 3, a second lead screw 703 is rotatably connected inside the built-in cavity 702 through a bearing, the outer sides of the two ends of the second lead screw 703 are opposite in thread, and one end of the second lead screw 703 close to the servo motor 701 is connected to the driving end of the servo motor 701.
According to the invention, the stability of the conveying unit 3 during the conveying of goods can be improved by arranging the stabilizing component 7 on the conveying unit 3 for ensuring the stability during the working process, adjusting the hinge block 711 to be vertical to the lower connecting block 707 through the fixed valve 710 (wherein the lower connecting block 707 is hinged to the hinge block 711 through the fixed valve 71, the angle of the hinge block 711 can be fixed by screwing the rotary bolt on the fixed valve 71, the fixed valve 71 acts like a bolt and a nut), then placing the conveying unit 3 on the track 1, controlling the servo motor 701 to rotate clockwise, moving the second built-in threaded sleeve 704 to the opposite side, and disconnecting the servo motor 701 when the assisting wheel 705 touches the inner wall of the track 1.
In this embodiment, the number of the upper connecting block 706 and the lower connecting block 707 is two, the upper connecting block 706 and the lower connecting block 707 are connected with a supporting shaft 708 in a rotating manner, a return spring 709 is sleeved on the outer side of the supporting shaft 708, the opposite side of the lower connecting block 707 is connected with a hinge block 711 through a fixed valve 710, the inner sides of the two ends of the hinge block 711 are connected with obtuse angle blocks 712 through rotating shafts in a rotating manner, the hinge block 711 and the obtuse angle blocks 712 which are connected through rotating shafts are connected with a torsion spring 713, the inner side of one end, far away from the hinge block 711, of the obtuse angle block 712 is connected with an assisting wheel 705 through rotating shafts in a rotating manner, and the outer wall of the assisting wheel 705 is attached to the inner side of the track 1.
In this embodiment, the top end of the return spring 709 is connected to the bottom end of the upper connection block 706, the bottom end of the return spring 709 is connected to the top end of the lower connection block 707, the top of the upper connection block 706 is fixedly connected to a second internal threaded sleeve 704 adapted to the second lead screw 703, and the second internal threaded sleeves 704 are respectively threaded outside two ends of the second lead screw 703.
In the invention, the upper connecting block 706 is connected with the lower connecting block 707 through the supporting shaft 708 and the return spring 709, when the transmission unit 3 passes through a curve, the lower connecting block 707 rotates by taking the supporting shaft 708 as the center, and a certain rotation amplitude occurs between the obtuse angle block 712 and the hinge block 711 by taking the rotating shaft as the center, so that a certain amplitude change can occur along with the change of the track 1, the transmission unit is suitable for most tracks 1, and the stability of goods transmission is improved; in addition, the return spring 709 and the torsion spring 713 perform a return action.
Example 4
In a second aspect, a method for controlling an intelligent vertical warehouse for automatic storage is implemented on the intelligent vertical warehouse for automatic storage according to any one of the first aspect, as shown in fig. 9, and includes the following steps:
s1: obtaining classification information of goods regions and empty goods shelf information in the intelligent vertical warehouse, and simultaneously performing optimal storage planning according to goods attributes;
s2: manually controlling the tunnel type stacker, and transporting the goods to a goods tray according to a storage plan;
s3: the monitoring and scheduling system acquires a loading instruction sent by the warehousing workbench and carries out path planning according to the position information of the current goods to be stored;
s4: the conveying mechanism conveys the goods on the goods tray to a designated area in sequence according to the path planned by the monitoring and scheduling system;
s5: the manipulator identifies the bar code on the goods, and after the bar code is determined, the goods are placed on the goods shelf according to the shape of the goods;
the bar codes are pasted on the front faces of the goods to be stored, information of the bar codes on the goods to be stored is manually recorded into the database, data information in the database is shared with the monitoring and scheduling system, and the goods attributes comprise goods classification, goods capacity and goods shapes.
In the invention, the monitoring and scheduling system can monitor equipment in the intelligent vertical warehouse in real time, and the monitoring and scheduling system shares data information with a database in the warehousing workbench, the warehousing workbench can input classification information of the goods shelf in different areas of the intelligent vertical warehouse in advance, optimal storage planning can be rapidly carried out according to goods attributes, and when goods are transported to a goods tray through a tunnel stacker, the monitoring and scheduling system acquires a loading instruction sent by the warehousing workbench and carries out path planning according to position information of the goods to be stored at present, so that the goods storage efficiency is improved.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by using equivalent substitutions or equivalent transformations fall within the scope of the present invention.
Claims (10)
1. The utility model provides an intelligent vertical warehouse of automatic storage which characterized in that: the intelligent vertical warehouse consists of a goods shelf, a roadway stacker, a warehousing workbench, an automatic feeding mechanism and a monitoring and scheduling system;
the roadway stacker consists of a forklift and a bridge stacker;
the warehousing workbench comprises an acquisition module, a processing module and a database;
the automatic feeding mechanism consists of a cargo tray, a conveying mechanism and a manipulator;
the monitoring and scheduling system comprises an abnormity monitoring unit, an electric quantity monitoring unit, an information receiving unit and a driving unit.
2. The intelligent vertical warehouse capable of realizing automatic storage according to claim 1, wherein the shelves are distributed in different areas of the intelligent vertical warehouse, area classification information is recorded on a warehousing workbench, the goods need to be sorted manually or by a sorting device before storage planning, and the warehousing workbench performs optimal storage planning according to goods attributes and informs a manual control tunnel type stacker to perform preliminary goods storage work in a voice manner;
the database is used for storing goods region classification information and goods shelf working state information, and the processing module is used for carrying out optimal storage planning according to goods attributes, goods capacity and goods shapes.
3. The intelligent vertical warehouse capable of realizing automatic storage according to claim 1, wherein the goods trays are used for placing goods to be stored, the goods on the goods trays are conveyed to a designated area through a conveying mechanism, and a visual identifier is arranged on the manipulator and used for identifying bar codes stuck to the goods and the placing positions of the goods;
the conveying mechanisms are arranged on the outer sides of the goods shelves, wherein each conveying mechanism is provided with a goods tray, and the goods trays can move between each layer of the goods shelves along the tracks on the conveying mechanisms.
4. The intelligent vertical warehouse capable of realizing automatic storage according to claim 1, wherein the abnormality monitoring unit is used for monitoring the running state of the automatic feeding mechanism in real time and giving an abnormality alarm when the automatic feeding mechanism runs abnormally;
the electric quantity monitoring unit is used for monitoring the electric quantity of the automatic feeding mechanism in real time and carrying out charging planning on the electric quantity when the electric quantity approaches the early warning;
the information receiving unit is used for acquiring the cargo information data recorded in the database and sending the information data to the driving unit;
the driving unit is used for receiving the information data issued by the information receiving unit, planning a path according to the information data and controlling the conveying mechanism to convey the goods to be stored on the goods tray to the specified area of the goods shelf.
5. The intelligent vertical warehouse with automatic storage function according to claim 1, characterized in that the conveying mechanism comprises a rail (1), a conveying unit (3), a cargo pallet (4) and a cargo body (5), the rail (1) is symmetrically arranged on the ground of the warehouse through a mounting foot (2), the conveying unit (3) is arranged above the rail (1), the cargo pallet (4) is arranged above the conveying unit (3), the cargo body (5) is arranged above the cargo pallet (4), rollers (8) are arranged on the opposite side of the conveying unit (3) in an array manner, the top of the conveying unit (3) is symmetrically provided with a fixing component (6), and the bottom of the conveying unit (3) is symmetrically provided with a stabilizing component (7).
6. The intelligent vertical warehouse capable of realizing automatic storage according to claim 5, wherein the fixing assembly (6) comprises a positive and negative motor (601) and a flat plate (604), the positive and negative motor (601) is arranged on the back of the transmission unit (3) through a support plate (609), the middle of the opposite side of the transmission unit (3) is rotatably connected with a first lead screw (602) through a rotating shaft, one end of the first lead screw (602) close to the positive and negative motor (601) is connected with the driving end of the positive and negative motor (601), the opposite side of the transmission unit (3) is symmetrically connected with stabilizing slide bars (603), and the stabilizing slide bars (603) are positioned on two sides of the first lead screw (602).
7. The intelligent vertical warehouse capable of realizing automatic storage according to claim 6, wherein the number of the flat plates (604) is two, a first built-in thread sleeve (606) adapted to the first screw rod (602) is fixedly installed in the middle of the bottom of the flat plates (604), the first built-in thread sleeve (606) is in threaded connection with the outer side of the first screw rod (602), a group of sliding outer sleeves (607) adapted to the stabilizing slide rod (603) are symmetrically connected to the bottom of the flat plates (604), the sliding outer sleeves (607) are slidably installed on the outer side of the stabilizing slide rod (603), a fixing transverse plate (605) perpendicular to the top of the flat plates (604) is fixedly connected to the top of the flat plates, and soft body pads (608) are fixedly installed on the opposite sides of the fixing transverse plate (605).
8. The intelligent vertical warehouse capable of realizing automatic storage according to claim 5, wherein the stabilizing assembly (7) comprises a servo motor (701), an upper connecting block (706) and a lower connecting block (707), the servo motor (701) is fixedly installed at one side of the conveying unit (3), a built-in cavity (702) is formed in the middle of the bottom of the conveying unit (3), a second screw rod (703) is rotatably connected to the inside of the built-in cavity (702) through a bearing, the outer sides of the two ends of the second screw rod (703) are opposite in thread, and one end, close to the servo motor (701), of the second screw rod (703) is connected with the driving end of the servo motor (701);
the number of going up connecting block (706) and lower connecting block (707) is two, it is connected with back shaft (708) to go up to rotate between connecting block (706) and lower connecting block (707), and the outside of back shaft (708) has cup jointed reset spring (709), the opposite side of lower connecting block (707) is connected with articulated piece (711) through standing valve (710), the inboard at articulated piece (711) both ends all is connected with obtuse angle piece (712) through the pivot rotation, and two opposite faces of articulated piece (711) and obtuse angle piece (712) that are connected through the pivot are connected with torsion spring (713), the inboard that articulated piece (711) one end was kept away from in obtuse angle piece (712) rotates through the pivot and is connected with assistance wheel (705), and the outer wall of assistance wheel (705) is laminated with the inboard of track (1).
9. The intelligent vertical warehouse for automated storage according to claim 8, wherein the top end of the return spring (709) is connected to the bottom end of the upper connecting block (706), the bottom end of the return spring (709) is connected to the top end of the lower connecting block (707), the top of the upper connecting block (706) is fixedly connected to a second internally threaded sleeve (704) adapted to the second lead screw (703), and the second internally threaded sleeves (704) are respectively threaded outside the two ends of the second lead screw (703).
10. An intelligent vertical warehouse control method for automatic storage, which is an implementation method of the intelligent vertical warehouse for automatic storage according to any one of claims 1 to 9, and is characterized by comprising the following steps:
s1: obtaining classification information of goods regions and empty goods shelf information in the intelligent vertical warehouse, and simultaneously performing optimal storage planning according to goods attributes;
s2: manually controlling the tunnel type stacker, and transporting the goods to a goods tray according to a storage plan;
s3: the monitoring and scheduling system acquires a loading instruction sent by the warehousing workbench and carries out path planning according to the position information of the current goods to be stored;
s4: the conveying mechanism conveys the goods on the goods tray to a designated area in sequence according to the path planned by the monitoring and scheduling system;
s5: the manipulator identifies the bar code on the goods, and after the bar code is determined, the goods are placed on the goods shelf according to the shape of the goods;
the bar codes are pasted on the front faces of the goods to be stored, information of the bar codes on the goods to be stored is manually recorded into the database, data information in the database is shared with the monitoring and scheduling system, and the goods attributes comprise goods classification, goods capacity and goods shapes.
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Cited By (1)
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| CN114798453A (en) * | 2022-04-25 | 2022-07-29 | 武汉理工大学 | Full-automatic intelligent storage logistics transport trolley |
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