CN114803257A - Intelligent warehouse distribution integrated system based on AMR material box type robot - Google Patents
Intelligent warehouse distribution integrated system based on AMR material box type robot Download PDFInfo
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- CN114803257A CN114803257A CN202210589280.9A CN202210589280A CN114803257A CN 114803257 A CN114803257 A CN 114803257A CN 202210589280 A CN202210589280 A CN 202210589280A CN 114803257 A CN114803257 A CN 114803257A
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- 238000009826 distribution Methods 0.000 title claims abstract description 28
- 238000007726 management method Methods 0.000 claims description 18
- 238000003860 storage Methods 0.000 claims description 17
- 238000012795 verification Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 238000004801 process automation Methods 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- 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
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention provides an intelligent warehouse distribution integrated system based on an AMR bin type robot, which comprises a manipulator sorting subsystem, a bin conveying line, a scheduling subsystem and a control center, wherein the manipulator sorting subsystem comprises a conveying line, a bin distributing line and a dispatching subsystem; the full-process automation, intelligent operation and information management of material warehousing, homing, sorting, ex-warehouse, distribution and the like of the line side warehouse between the general loading of the bin type automobile parts are realized, the operation efficiency is greatly improved, in the past, aiming at each operation process, workers are mainly operated manually, and the series of work needs to be completed for a long time, and by applying the system, 30 workers for warehousing and distribution can be reduced, and the operation efficiency is improved by about 40%.
Description
Technical Field
The invention relates to the technical field of automobile assembly workshop line side bin allocation, in particular to an intelligent bin allocation integrated system based on an AMR (Autonomous Mobile Robot) bin type Robot.
Background
Along with the development of automobile part logistics, the standardization of automobile part packaging is promoted, an automobile general assembly workshop bin with a bin as a minimum storage unit and the matching are a key ring of the automobile part logistics, the bin and the matching operation of the automobile general assembly workshop bin are manual or automatic in part of logistics links at present, but due to the fact that the uncertainty, efficiency and refinement degree of human factors are too low, the automation of part of logistics links cannot realize the bin, the full-process automation operation and the information management, and the accurate, rapid and efficient distribution, collection and information interaction of material information of the bin cannot be achieved.
Disclosure of Invention
The invention provides an intelligent bin allocation integrated system based on an AMR material box type robot, which mainly solves the technical problems that: the automobile final assembly workshop has the problems of low automation level, poor accuracy, insufficient high efficiency, convenience, informatization and isolated island and the like in logistics processes of receiving, returning, selecting, distributing and the like in material box part bins and distribution logistics links.
In order to solve the technical problem, the invention provides an intelligent warehouse allocation integrated system based on an AMR bin type robot, which comprises a manipulator sorting subsystem, a bin conveying line, a scheduling subsystem and a control center, wherein the manipulator sorting subsystem is connected with the bin conveying line;
the manipulator sorting subsystem is arranged in a warehouse goods receiving area and is used for automatically detaching the full-pallet bin of the incoming goods and sorting the bin to the bin conveying line;
the bin conveying line is arranged between the storehouse goods receiving area and the storehouse warehousing area and is used for automatically conveying bins to a storehouse warehousing road junction; the automatic scanning device and the photoelectric sensing module are mounted on the bin conveying line, the photoelectric sensing module is used for monitoring whether a bin to be conveyed exists on the bin conveying line, and when the bin is monitored to exist, the bin conveying line is triggered to work, and the bin is conveyed to an automatic scanning position; the automatic scanning equipment is used for scanning the bar codes of the materials at the automatic scanning position to obtain material information and sending the material information to the control center; the material information comprises material names, serial numbers, batches, quantity and sizes;
the control center is used for distributing a target storage position for the material according to the material information and the residual storage positions of the storerooms, sending the target storage position information to the dispatching subsystem, and binding and storing the material information and the target storage position information;
the dispatching subsystem comprises an AMR bin type robot, the AMR bin type robot is dispatched to a warehouse warehousing road junction to take goods so as to deliver the materials to a target warehouse position appointed by the control center, the materials are placed on the target warehouse position, the AMR bin type robot scans a warehouse position code, warehousing task completion information is generated and sent to the control center, and automatic homing and warehousing of the materials are achieved.
Optionally, the manipulator sorting subsystem comprises a manipulator, a special fixture, a vision system and an electric control system; the manipulator is used for automatically detaching the full-incoming tray bin and sorting the bin to the bin conveying line; the special clamp is used for clamping the material box; the vision system is used for carrying out three-dimensional identification on the full tray material box and distinguishing the stacking type of the trays; and the electric control system is used for generating unstacking logic according to the pallet stacking type identified by the visual system and indicating the manipulator to complete unstacking.
Optionally, the photoelectric sensing module is further configured to trigger the work stop of the bin conveying line when it is monitored that no bin to be conveyed exists on the bin conveying line.
Optionally, the AMR stock box robot performs network communication through WiFi + 5G.
Optionally, the control center is further configured to receive a warehouse-out task issued by the production management system, where the warehouse-out task includes names and numbers of materials to be warehoused and a designated distribution station, determine the number of bins required for warehouse-out according to the warehouse-out task, generate a scheduling instruction, and send the scheduling instruction to the scheduling subsystem; the dispatching subsystem receives the dispatching instruction and dispatches the AMR bin type robot to execute the bin moving action so as to deliver the materials needing to be delivered out of the warehouse to the appointed delivery station, and the automatic delivery and delivery of the materials are realized.
Optionally, the scheduling subsystem is further configured to scan an actual delivery station code after the AMR stock box type robot performs the box moving operation, generate the ex-warehouse task completion information, and send the ex-warehouse task completion information to the control center, and the control center is further configured to receive the ex-warehouse task completion information, and after the verification is passed, send the ex-warehouse task to the scheduling subsystem, so as to schedule the AMR stock box type robot to return an empty stock box and execute a next task.
The invention has the beneficial effects that:
1. the full-process automation, intelligent operation and information management are realized in the material warehousing, homing, sorting, ex-warehouse and the like of the material box type automobile part assembly workshop, the operation efficiency is greatly improved, in the past, aiming at each operation process, manual operation is mainly adopted, workers need to be configured and the series of work needs to be completed for a long time, after the system is used, 30 workers for warehousing and distribution can be reduced, and the operation efficiency is improved by about 40%.
2. In the accuracy, the traditional operation mode has great dependence on skilled operators, about 10% of selection omission, mismatching and other operation errors can occur in the selection, distribution and the like of the bin type automobile parts every year, and the accuracy rate reaches 99% after the integrated system of automobile general assembly line side intelligent bin distribution based on the AMR bin type robot is utilized.
Drawings
Fig. 1 is a schematic diagram of an intelligent warehouse configuration integrated system architecture based on an AMR stock box type robot according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a receiving and warehousing operation flow according to a first embodiment of the present invention;
fig. 3 is a schematic diagram of a warehouse-out distribution operation flow according to a first embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following detailed description and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
referring to fig. 1, the invention provides an intelligent warehousing and distribution integrated system based on an AMR bin type robot, which comprises a manipulator sorting subsystem, a bin conveying line, a dispatching subsystem and a control center.
The manipulator sorting subsystem is arranged in a storehouse goods receiving area and used for automatically disassembling the full-pallet bin and sorting the bin to the bin conveying line.
The bin conveying line is arranged between the storehouse goods receiving area and the storehouse warehousing area and is used for automatically conveying bins to a storehouse warehousing road junction; the automatic scanning device and the photoelectric sensing module are mounted on the bin conveying line, the photoelectric sensing module is used for monitoring whether a bin to be conveyed exists on the bin conveying line, and when the bin is monitored to exist, the bin conveying line is triggered to work, and the bin is conveyed to the automatic scanning position; before that, the shape detection equipment can also detect whether the material box has deformation or exceeds the size specification, and if the deformation or the size specification exceeds the size threshold, an alarm is triggered, and the conveying line is triggered to stop working. Wherein the contour detection device comprises a photosensor.
The automatic scanning equipment is used for scanning the material bar code at the automatic scanning position to obtain material information and sending the material information to the control center; the material information includes, but is not limited to, material name, number, lot, quantity, size.
The conveying line can also shunt materials through the transplanter, the shunting process of the transplanter is that path tracking is realized through a photoelectric sensing module on the conveying line according to a road junction distributed by a material card, the position of a material box on the conveying line is determined, and the transplanter transplants the materials at the road junction to the shunting channel.
And the control center is used for distributing a target storage position for the material according to the material information and the residual storage positions of the storerooms, sending the target storage position information to the scheduling subsystem, and binding and storing the material information and the target storage position information in a correlation manner.
The dispatching subsystem comprises an AMR bin type robot, the AMR bin type robot is dispatched to a warehouse warehousing road junction to take goods, so that the materials are delivered to a target warehouse position appointed by the control center and are placed on the target warehouse position, the AMR bin type robot scans a warehouse position code, warehousing task completion information is generated and sent to the control center, automatic homing and warehousing of the materials are achieved, and please refer to fig. 2.
Optionally, the manipulator sorting subsystem comprises a manipulator, a special fixture, a vision system and an electric control system; the manipulator is used for automatically detaching the full-incoming tray bin and sorting the bin to the bin conveying line; the special fixture is used for clamping the material box; the vision system is used for carrying out three-dimensional identification on the full tray material box and distinguishing the stacking type of the trays; and the electric control system is used for generating unstacking logic according to the pallet stacking type identified by the visual system and indicating the manipulator to complete unstacking.
Optionally, the photoelectric sensing module is further configured to trigger the work stop of the bin conveying line when it is monitored that no bin to be conveyed exists on the bin conveying line, so that the bin conveying line is intelligently started and stopped.
Optionally, the AMR bin type robot performs network communication through WiFi + 5G.
Optionally, the control center is further configured to receive a warehouse-out task issued by the production management system, where the warehouse-out task includes, but is not limited to, names and numbers of materials to be warehoused and a designated distribution station, determine the number of bins required for warehouse-out according to the warehouse-out task, and generate a scheduling instruction to send to the scheduling subsystem; the dispatching subsystem receives the dispatching instruction and dispatches the AMR bin type robot to execute the bin moving action so as to distribute the materials needing to be delivered out of the warehouse to the appointed distribution station, and the automatic delivery and delivery of the materials are realized, please refer to FIG. 3.
The production management system supports manual creation of ex-warehouse tasks, and the system tasks need to set the lead, such as distribution calculation, consideration of time fault tolerance and the like. The control center needs to calculate the number of the bins required for the warehouse-out according to the warehouse-out task, specifically, the number of the bins required for the warehouse-out can be calculated according to the size and the weight of the materials and the size and the load of each bin, and the number of the bins required is determined according to an upward rounding mode. The specific calculation process is not the key point of the present invention, and can be implemented by any existing method, which is not limited in this regard.
Optionally, the scheduling subsystem is further configured to scan the actual delivery station codes after the AMR stock box type robot performs the box moving operation, generate the ex-warehouse task completion information and send the ex-warehouse task completion information to the control center, and the control center is further configured to receive the ex-warehouse task completion information and send the ex-warehouse task completion information to the scheduling subsystem after the verification is passed, so as to schedule the AMR stock box type robot to return an empty stock box and execute the next task.
The control center compares the ex-warehouse task with the complete information of the ex-warehouse task to verify whether the ex-warehouse task passes or not (namely whether the task is really finished or not), and judges that the verification passes under the condition that the ex-warehouse task and the complete information of the ex-warehouse task are identical, namely the type, the quantity and the appointed distribution stations of the ex-warehouse materials are identical, or judges that the verification fails. The detailed verification process is not described in detail.
In other embodiments of the invention, the intelligent warehousing and distribution integrated system is further provided with functional modules for inventory management, warehouse-returning management, sampling inspection quality inspection management, exception handling and the like, wherein the inventory management comprises warehouse material information management, data query, warehouse location management, warehouse-in and warehouse-out management, query reports, production analysis and the like, and is mainly used for man-machine information interaction and data interaction of information systems of different management layers; the warehouse-returning management can meet the requirement of batch warehouse-returning operation at different time points; the quality inspection management of the spot inspection can meet the requirement of carrying out quality inspection on the individually called point positions; the exception handling can handle exception situations occurring in or out of the warehouse.
In other embodiments of the invention, the control center is further configured to perform inventory management according to the material information and the inventory position, and when the inventory position exceeds a set full-inventory threshold value, the full-inventory information is sent to the scheduling subsystem, and the scheduling subsystem instructs the conveying line to stop warehousing work; the problem that materials cannot be stored in a warehouse on a conveying line due to accumulation is avoided.
Aiming at the ex-warehouse process, the control center is also used for creating ex-warehouse and delivery tasks according to the material consumption indication produced in the automobile assembly workshop and the inventory material information, distributing delivery station information for the materials, and sending the storage station information stored by the materials and the delivery station information corresponding to the required delivery position to the scheduling subsystem, so as to realize automatic ex-warehouse delivery of the materials.
When the storage amount of the materials required by the ex-warehouse task in the warehouse is insufficient, the control center is used for splitting the ex-warehouse task and sending the split ex-warehouse task information to the scheduling subsystem, and the scheduling subsystem schedules the AMR bin type robot to carry out ex-warehouse delivery and preferentially execute the poor material warehousing task.
The intelligent warehouse distribution integrated system provided by the embodiment is compared with the traditional operation mode: 1. the full-process automation, intelligent operation and information management are realized in the material warehousing, homing, sorting, ex-warehouse and the like of the material box type automobile part assembly workshop, the operation efficiency is greatly improved, in the past, aiming at each operation process, manual operation is mainly adopted, workers need to be configured and the series of work needs to be completed for a long time, after the system is used, 30 workers for warehousing and distribution can be reduced, and the operation efficiency is improved by about 40%. 2. In the accuracy, the traditional operation mode has great dependence on skilled operators, about 10% of selection omission, mismatching and other operation errors can occur in the selection, distribution and the like of the bin type automobile parts every year, and the accuracy rate reaches 99% after the integrated system of automobile general assembly line side intelligent bin distribution based on the AMR bin type robot is utilized.
It will be apparent to those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented in program code executable by a computing device, such that they may be stored on a computer storage medium (ROM/RAM, magnetic disks, optical disks) and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (6)
1. An intelligent warehouse distribution integrated system based on an AMR bin type robot is characterized by comprising a manipulator sorting subsystem, a bin conveying line, a dispatching subsystem and a control center;
the manipulator sorting subsystem is arranged in a warehouse goods receiving area and is used for automatically detaching the full-pallet bin of the incoming goods and sorting the bin to the bin conveying line;
the bin conveying line is arranged between the storehouse goods receiving area and the storehouse warehousing area and is used for automatically conveying bins to a storehouse warehousing road junction; the automatic scanning device and the photoelectric sensing module are mounted on the bin conveying line, the photoelectric sensing module is used for monitoring whether a bin to be conveyed exists on the bin conveying line, and when the bin is monitored to exist, the bin conveying line is triggered to work, and the bin is conveyed to an automatic scanning position; the automatic scanning equipment is used for scanning the material bar code at the automatic scanning position to obtain material information and sending the material information to the control center; the material information comprises material names, serial numbers, batches, quantity and sizes;
the control center is used for distributing a target storage position for the material according to the material information and the residual storage positions of the storehouses, sending the target storage position information to the dispatching subsystem, and binding and associating the material information and the target storage position information for storage;
the dispatching subsystem comprises an AMR bin type robot, the AMR bin type robot is dispatched to a warehouse warehousing road junction to take goods so as to deliver the materials to a target warehouse position appointed by the control center, the materials are placed on the target warehouse position, the AMR bin type robot scans a warehouse position code, warehousing task completion information is generated and sent to the control center, and automatic homing and warehousing of the materials are achieved.
2. The intelligent warehousing and distribution integrated system of claim 1, wherein the manipulator sorting subsystem comprises a manipulator, a special fixture, a vision system and an electric control system; the manipulator is used for automatically detaching the full-incoming tray bin and sorting the bin to the bin conveying line; the special clamp is used for clamping the material box; the vision system is used for carrying out three-dimensional identification on the full tray material box and distinguishing the stacking type of the trays; and the electric control system is used for generating unstacking logic according to the pallet stacking type identified by the visual system and indicating the manipulator to complete unstacking.
3. The intelligent warehousing and distribution integrated system of claim 2, wherein the photoelectric sensing module is further configured to trigger the work stop of the bin conveying line when it is detected that there is no bin to be conveyed on the bin conveying line.
4. The intelligent bin allocation integrated system of claim 3, wherein the AMR bin-type robot is in network communication via WiFi + 5G.
5. The intelligent warehousing and distribution integrated system of any one of claims 1-4, wherein the control center is further configured to receive an ex-warehouse task issued by the production management system, including a name and a number of materials to be ex-warehouse and a designated distribution station, determine the number of bins required for ex-warehouse according to the ex-warehouse task, generate a scheduling instruction, and send the scheduling instruction to the scheduling subsystem; the dispatching subsystem receives the dispatching instruction and dispatches the AMR material box type robot to execute the box moving action so as to distribute the materials needing to be delivered out of the warehouse to the appointed distribution station, and the automatic delivery and delivery of the materials are realized.
6. The intelligent warehousing integrated system of claim 5, wherein the scheduling subsystem is further configured to scan actual delivery station codes after the AMR bin type robot performs a bin moving operation, generate ex-warehouse task completion information and send the ex-warehouse task completion information to the control center, and the control center is further configured to receive the ex-warehouse task completion information and send a ex-warehouse task to the scheduling subsystem after verification is passed, so as to schedule the AMR bin type robot to return empty bins and execute a next task.
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| CN202210589280.9A CN114803257A (en) | 2022-05-27 | 2022-05-27 | Intelligent warehouse distribution integrated system based on AMR material box type robot |
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| CN202210589280.9A CN114803257A (en) | 2022-05-27 | 2022-05-27 | Intelligent warehouse distribution integrated system based on AMR material box type robot |
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2022
- 2022-05-27 CN CN202210589280.9A patent/CN114803257A/en active Pending
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| CN109279373A (en) * | 2018-11-01 | 2019-01-29 | 西安中科光电精密工程有限公司 | A kind of flexible de-stacking robot palletizer system and method based on machine vision |
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