CN114435827A - Wisdom warehouse system - Google Patents
Wisdom warehouse system Download PDFInfo
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- CN114435827A CN114435827A CN202111601494.5A CN202111601494A CN114435827A CN 114435827 A CN114435827 A CN 114435827A CN 202111601494 A CN202111601494 A CN 202111601494A CN 114435827 A CN114435827 A CN 114435827A
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- 239000000463 material Substances 0.000 claims abstract description 115
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- 230000001939 inductive effect Effects 0.000 claims description 3
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- 238000013024 troubleshooting Methods 0.000 description 3
- 206010047571 Visual impairment Diseases 0.000 description 2
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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Abstract
The invention provides an intelligent warehousing system, which comprises: the device comprises a storage device, a gripping device and a driving device; the intelligent storage system is suitable for storage of general materials, and is particularly suitable for storage of precise parts and easily damaged parts.
Description
Technical Field
The invention relates to an intelligent warehousing technology, in particular to an intelligent warehousing system.
Background
Put into goods shelves by the staff in traditional storage, take out the material again and deliver to follow-up work flow when the material needs to go out of the warehouse. Some storage devices have been developed, and the shelves of the storage devices can automatically complete the loading and unloading of materials. However, with the construction requirements of the intelligent system in various application scenes nowadays, the warehousing device is required to work under the condition of long-term unattended operation. Therefore, the warehousing device has the functions of remote control of the working process, remote monitoring of the working state, real-time warehousing data recording and interaction, self-diagnosis, automatic abnormal processing and the like. In addition, when the material is a precision part or a quick-wear part, the material needs to be placed in the material tray for carrying, and the posture stability of the tray is ensured in the carrying process. Thus, the prior art is in need of improvement and advancement.
Disclosure of Invention
In order to solve at least one of the above problems, the present invention provides a smart storage system, including:
a storage device, a gripping device and a driving device, wherein,
the storage device comprises a material tray capable of loading materials, and visual labels are arranged on the material tray;
the driving device is used for driving the gripping device to enable the gripping device to grip the material tray to a target position, and then the material is stored or taken out.
Further, the stocker includes: the storage shelf is provided with a plurality of material grids, and limiting structures corresponding to the material trays are arranged in the material grids.
Further, the material check is the material check that can dismantle.
Further, the stocker further comprises: the warehouse-in component can load materials onto the material tray, and the warehouse-out component can move the materials out of the material tray.
Furthermore, the material grids, the warehousing component and the ex-warehouse component are all provided with sensors, and the sensors can sense whether the material tray is placed or moved out.
Further, the sensor may be a switch sensor, an inductive sensor or a laser sensor.
Further, the grasping apparatus includes: and the material tray is placed to a specified position through the grabbing component.
Further, one end of the grabbing component is provided with a clamp matched with the material tray.
Further, the grabbing device still includes: the visual label comprises an image acquisition assembly and a light source assembly, wherein the image acquisition assembly acquires the visual label image, and the light source assembly provides a light source for the image acquisition assembly to acquire the image.
Further, the driving device includes: the sliding rail is arranged on one side of the storage device, and the grabbing device can slide on the sliding rail.
The invention has the advantages of
The invention provides an intelligent warehousing system, which comprises: the device comprises a storage device, a gripping device and a driving device; the intelligent storage system is suitable for storage of general materials, and is particularly suitable for storage of precise parts and easily damaged parts.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an overall structure of a smart warehousing system according to an embodiment of the present invention;
FIG. 2 is a top view of a smart warehousing system in an embodiment of the present invention;
FIG. 3 is a schematic view illustrating an operation process of the smart warehousing system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a process of returning a hollow material tray according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a process of warehousing a material tray in an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a material tray delivery process according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a gripping device and a visual component of the smart warehousing system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a grabbing assembly and a clamp of a grabbing device of the smart warehousing system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an intelligent warehousing system, as shown in fig. 1, comprising:
a storage device, a gripping device and a driving device, wherein,
the storage device comprises a material tray capable of loading materials, a visual label is arranged on the material tray, and the visual label can be used for correcting the position of the gripping device;
the driving device is used for driving the gripping device to enable the gripping device to grip the material tray to a target position, and then the material is stored or taken out.
In some other embodiments, the bin includes: the storage shelf is provided with a plurality of material grids, and limit structures matched with the material trays are arranged in the material grids.
In some other embodiments, the material compartment is a removable material compartment.
In some other embodiments, the bin further comprises: the warehouse entry assembly can load materials onto the material tray, and the warehouse exit assembly can move the materials out of the material tray.
In some other embodiments, the material grid, the warehousing component and the ex-warehouse component are all provided with sensors, and the sensors can sense whether the material tray is placed or removed.
In some other embodiments, the sensor may be a switch sensor, an inductive sensor, or a laser sensor.
In some other embodiments, the grasping device includes: and the material tray is placed to a specified position through the grabbing component.
In some other embodiments, the gripping assembly is provided with a clamp at one end that mates with the material tray.
In some other embodiments, the grasping apparatus further includes: the image acquisition assembly acquires the visual label image and further corrects the position of the gripping device, and the light source assembly provides a light source for the image acquisition assembly to acquire the image.
In some other embodiments, as shown in fig. 2, the driving device includes: the sliding rail is arranged on one side of the storage device, and the grabbing device can slide on the sliding rail.
It can be understood that the gripping device is a robot, the robot is a mechanical arm, the storage shelf is used for storing the material tray, and the material is placed in the material tray. The storage shelves are evenly distributed on the vertical surface. And a storage position is arranged on one side of the storage shelf and is provided with a sensor for detecting whether the material tray at the storage position is placed in place or whether the material tray is successfully taken out of the storage position by the robot. The other side of the storage shelf is provided with a warehouse-out position which is provided with a sensor and used for detecting whether the material tray in the warehouse position is placed in place or whether the material tray is successfully transmitted to the subsequent process. All material tray storage positions on the storage shelf all have sensors for detecting whether material tray storage positions have material trays.
The robot and the function expansion part thereof are arranged on the track on one side of the goods shelf material storage tray on the ground. By means of the rails, the robot can slide in a direction parallel to the vertical plane of the pallet, so that the robot work space covers the entire pallet. The terminal camera and the light source of installing of robot, the camera is in the illumination that the light source provided gathers target position label image for revise the robot position appearance. The end of the robot is provided with a clamp designed to be matched with the material tray. When the clamp is used for clamping the material tray, the posture of the material tray can be guaranteed to be consistent with the posture of the tail end of the robot, so that the posture of the material tray is controllable in the carrying process, and the material is prevented from being damaged in the carrying process.
The embodiment of the application further provides an implementation method of the intelligent warehousing system, which is applied to the control terminal. The robot control system specifically comprises storage device function software, robot control software and robot function extension component software. The storage device function software realizes the reading and processing of the storage position and the delivery position of the storage goods shelf and the information of the goods shelf position sensor; the intelligent storage system is used as a main control unit, and the storage shelf, the robot and the robot function expansion part are coordinately controlled at the system level, so that the main function of the intelligent storage system, the monitoring of the abnormal state of the system and the abnormal processing are realized; the storage device function software comprises a state database for storing real-time state records, including whether a tray is arranged on a goods shelf, whether materials are arranged in the tray and abnormal information of the goods shelf position. And the robot control software controls the robot to complete required actions according to action instructions issued by the warehousing device function software. The robot function expansion component software mainly comprises robot tail end clamp control software and robot vision system software and is used for realizing the opening and closing control of the robot tail end clamp, the clamp state monitoring and robot vision algorithm realization and the information interaction between the robot vision system and the robot.
The storage station function software is used for reading and processing the information of the storage position sensor, the storage position sensor and the storage rack position sensor, and the storage station function software comprises a state database and is used for recording the real-time state of storage, including the existence of a tray on a storage rack, the existence of materials in the tray and the abnormal information of the storage rack position.
And the robot action control software controls the robot to finish required actions according to the information issued by the storage station function software. The robot function extension component software mainly comprises robot tail end clamp control software and robot vision system software. And the robot tail end clamp control software is used for realizing the opening and closing control of the robot tail end clamp and the monitoring of the condition of finishing the opening and closing actions of the clamp. And the robot vision system software is used for realizing the calculation of the tail end posture correction data of the robot, data communication and the abnormal handling of the vision system.
The storage goods shelf, the robot and the robot function expansion part are coordinately controlled on the system level, so that the main function of the intelligent storage system, the monitoring of the abnormal state of the system and the abnormal processing are realized.
From the above description, the present invention provides a smart warehousing system. The intelligent storage system comprises a storage shelf, a matched sensor, a robot, a function expansion part of the robot and an intelligent storage system implementation method. The storage shelf is provided with a material tray convenient for a robot to grab, materials are stored in the material tray, a visual label for correcting the position and the posture of the robot is arranged on the tray, a detection sensor is also arranged on the storage shelf and used for detecting whether the tray is placed on the shelf in place or not, and a storage position and a storage-out position are arranged on two sides of the storage shelf; wherein the robot is arranged on a track on the ground at one side of the goods shelf material storage tray. By means of the rail, the robot can slide in the direction parallel to the vertical surface of the goods shelf, so that the working space of the robot covers the whole goods shelf, the tail end of the robot is provided with a clamp which is matched with the material tray when grabbing to ensure that the grabbing is reliable, and the robot also comprises a camera and a light source which are used for collecting images. In the implementation of the intelligent warehousing system, the robot can realize the functions of warehousing and ex-warehouse of materials under the assistance of a camera and other sensors, the intelligent warehousing system can automatically record the material state of the goods shelves, record and upload abnormal event information, and automatically process abnormal events according to a preset program. The intelligent storage system of the vision robot can realize the flows of automatic material storage, information recording, material discharge and the like under the long-term unattended condition, the working flow is remote and controllable, and the working state is remote and monitorable. The intelligent storage system of the vision robot is suitable for storage of general materials, and is particularly suitable for storage of precise parts and vulnerable parts.
The main flow of the smart storage system will be described below, referring to fig. 3, in an initial state, all shelf positions of the storage shelf are filled with empty material trays. And when the control terminal reads the empty tray return instruction and the warehousing target goods shelf position information from the external system, the robot performs self-checking, and if the robot performs self-checking without abnormity, the control terminal reads the real-time state information of the goods shelf position from a state database stored in the control terminal. And if the state of the target shelf position is not abnormal, the control terminal controls the robot to finish the returning action of the empty tray. After the empty tray is returned, the external system conveys the materials to be warehoused to the warehousing position, the warehousing device automatically finishes material loading, then sends a loading signal to the external system, and the external system sends a warehousing instruction and warehousing target shelf position information to the control terminal after receiving the loading signal. When the control terminal reads a warehousing instruction and warehousing target goods shelf position information from an external system, a signal of a warehousing position sensor is started to wait, when the warehousing position sensor detects that materials arrive, the robot performs self-checking, if the robot performs self-checking abnormally, the control terminal reads real-time state information of the goods shelf position from a state database stored in the control terminal, and if the state of the target goods shelf position is abnormally, the control terminal controls the robot to finish warehousing actions. When materials need to be delivered from the warehouse, when the control terminal reads a warehouse delivery instruction and warehouse delivery target goods shelf position information from an external system, the robot performs self-checking. And if the robot has no abnormity in self-checking, the control terminal reads the real-time state information of the goods shelves from the state database. And if the state of the target shelf position is not abnormal, the control terminal controls the robot to finish the warehouse-out action. In the main working process of the intelligent warehousing system of the visual robot, if no instruction or sensor signal is received after overtime, the self-checking state of the robot is abnormal or the real-time state information of the shelf position read from the state database by the control terminal is abnormal, automatically entering a corresponding abnormal processing program to perform abnormal processing. And after finishing the primary warehousing or ex-warehousing process, updating the real-time state information of the goods shelves in the state database. And a state monitoring program in the control terminal reads the warehouse entry position and the warehouse exit position of the storage rack and the states of the rack position sensors, judges whether the work flow of the current system relates to the normal work station state, works according to a preset flow if the work flow relates to the normal work station state, and executes an error correction flow if the work flow does not relate to the normal work station state. The robot vision system corrects the terminal pose of the robot before the robot grabs or places the material tray, so that the material tray enters or leaves the goods shelf, the warehouse-out position and the warehouse-in position in a standard pose.
The specific empty material tray returning process is as shown in fig. 4, after the empty material tray returning process is started, the robot firstly moves to a front point of a target goods shelf position, visual correction is started, the robot moves to a corrected target goods shelf position after correction is completed to clamp the empty material tray, the empty material tray is conveyed to a storage position, the empty material tray is placed, and then the robot returns to a reset point.
The specific warehousing process is as shown in fig. 5, after the warehousing process is started, the robot firstly moves to a point before a warehousing position, visual correction is started, after correction is completed, the robot moves to the warehousing position after correction to clamp a material carrying tray, the material carrying tray is conveyed to a target goods shelf position, the material carrying tray is placed, and then the robot returns to a reset point.
The specific delivery process is as shown in fig. 6, after the delivery process is started, the robot firstly moves to a point in front of the target shelf position, visual correction is started, after correction is completed, the robot moves to the corrected target shelf position to clamp the material carrying tray, the material carrying tray is conveyed to the delivery position, the material carrying tray is placed, and then the robot returns to a reset point.
In the process of executing the empty material tray returning process, the warehousing process and the ex-warehouse process, if the conditions of abnormal clamping jaw state, abnormal vision system calculation or abnormal vision deviation data and the like occur, the current process is interrupted, the system automatically runs a preset troubleshooting program, and the interrupted process is re-run after the automatic troubleshooting is finished. If the fault is still abnormal after automatic troubleshooting, the system automatically sends error information to the remote master control to request remote fault diagnosis and troubleshooting.
In order to realize stable clamping of the material tray and reliable work of a vision system, a designed clamping jaw structure and a vision part arrangement mode are shown in figure 7, and the clamping jaw structure structurally comprises a left side jaw, a first positioning pin, a second positioning pin, a driving device, a light source, a camera, a limiting device, a third positioning pin, a fourth positioning pin and a right side jaw.
When pressing from both sides and getting material tray, the robot carries the clamping jaw to pressing from both sides the position in advance, and stop device is used for preventing to cross the preset position and bump with the tray when pressing from both sides the position in advance because of abnormal conditions leads to the clamping jaw. The driving device drives the left claw and the right claw to move oppositely to clamp the tray. In order to prevent over-positioning, the first positioning pin and the third positioning pin on the clamping jaw are designed to be complete cylinders as main positioning pins. The second positioning pin and the fourth positioning pin are auxiliary positioning pins and are designed to be incomplete cylinders. The four positioning pins act together to ensure that the tray does not translate or rotate after being clamped. The drive means may be pneumatic, electric, etc. The function of the limiting device can be realized by a sensor or a limiting structure.
The engagement relationship of the clamping jaws and the robot end and the engagement relationship of the clamping jaws and the material tray are shown in figure 8.
In a specific implementation mode, the smart warehousing system further comprises a system integration simulation platform, a six-degree-of-freedom robot motion control model is adapted based on the smart warehousing three-dimensional scene data, a uniform step file format is formed, and the motion simulation verification of the smart warehousing system in the whole space can be completed; the robot and other moving parts can be controlled to move in a Cartesian space under the simulation platform, and the accessibility of the warehouse shelf and key stations can be verified.
The system integration motion simulation platform can construct a use scene based on an actual working condition before an actual system is built, and complete robot motion accessibility, collision detection and system running beat verification are performed. And (3) building an actual system simulation environment through a three-dimensional model with a general format, and completing system simulation close to the actual working condition by combining a robot kinematics and dynamics method and a collision detection technology.
In the description of the present specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present specification. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this specification can be combined and combined by those skilled in the art without contradiction. The above description is only an embodiment of the present disclosure, and is not intended to limit the present disclosure. Various modifications and changes may occur to those skilled in the art to which the embodiments of the present disclosure pertain. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present specification should be included in the scope of the claims of the embodiments of the present specification.
Claims (10)
1. A smart warehousing system, comprising:
a storage device, a gripping device and a driving device, wherein,
the storage device comprises a material tray capable of loading materials, a visual label is arranged on the material tray, and the visual label can be used for correcting the position of the gripping device;
the driving device is used for driving the gripping device to enable the gripping device to grip the material tray to a target position, and then the material is stored or taken out.
2. The smart warehousing system of claim 1, wherein the warehousing device comprises: the storage goods shelf is provided with a plurality of material grids, and limiting structures matched with the material trays are arranged in the material grids.
3. The intelligent warehousing system of claim 2, wherein the material grid is a detachable material grid.
4. The smart warehousing system of claim 2, wherein the warehousing device further comprises: the warehouse entry assembly can load materials onto the material tray, and the warehouse exit assembly can move the materials out of the material tray.
5. The intelligent warehousing system of claim 4, wherein sensors are disposed on the material grid, the warehousing component and the ex-warehouse component, and the sensors can sense whether the material tray is placed or removed.
6. The smart storage system of claim 5, wherein the sensor is a switch sensor, an inductive sensor or a laser sensor.
7. The smart warehousing system of claim 1, wherein the grasping device comprises: and the material tray is placed to a specified position through the grabbing component.
8. The system of claim 7, wherein the gripping assembly has a clamp at one end thereof for engaging the material tray.
9. The smart warehousing system of claim 1, wherein the grasping device further comprises: the image acquisition assembly acquires the visual label image and further corrects the position of the gripping device, and the light source assembly provides a light source for the image acquisition assembly to acquire the image.
10. The smart warehousing system of claim 1, wherein the drive device comprises: the sliding rail is arranged on one side of the storage device, and the grabbing device can slide on the sliding rail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111601494.5A CN114435827A (en) | 2021-12-24 | 2021-12-24 | Wisdom warehouse system |
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| CN202111601494.5A CN114435827A (en) | 2021-12-24 | 2021-12-24 | Wisdom warehouse system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115709869A (en) * | 2022-11-11 | 2023-02-24 | 菲尼克斯(南京)智能制造技术工程有限公司 | Mixed feeding control method and mixed feeding system |
| CN116142681A (en) * | 2022-12-26 | 2023-05-23 | 广东省生态环境监测中心 | Intelligent management method for standard reagent and system used by same |
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