CN115973640A - Workshop intelligent warehouse logistics system - Google Patents

Abstract

The invention provides a workshop intelligent warehouse logistics system, which comprises: an AGV system, a three-dimensional warehouse and a lifting warehouse; the AGV system is used for intelligent logistics scheduling and transferring; the three-dimensional warehouse is used for material transportation and storage; the lifting warehouse is used for storing, taking and transporting; the three-dimensional warehouse comprises goods shelves, a stacker, an in-out warehouse conveying system, an automatic control system and a WMS warehouse management system; the AGV system comprises AGV bodies of different types and an AGV management scheduling system; according to warehouse-in production task information or warehouse-out carrying task information of a WMS bin management system, placing material parts to a docking station or a processing line goods placing station of the three-dimensional warehouse; after the inter-process parts are processed, the AGV body receives scheduling instructions sent by all units of the production line, and transfers the inter-process parts to the next processing process or a three-dimensional warehouse; the lifting warehouse is in a modular design and is used for storing and extracting material parts, and a proper storage position is found according to the height of the material parts by configuring a height sensor.

Description

Workshop intelligent storage logistics system

Technical Field

The invention relates to the field of digital manufacturing, in particular to an intelligent warehouse logistics system for a workshop.

Background

At present, with the high-speed development of manufacturing industry, a reasonable and efficient warehouse logistics management system becomes a key problem to be solved urgently in the aspects of improving warehouse turnover efficiency and reducing manpower and material resources in various industries. In recent years, warehouse logistics management systems usually adopt manual management, and have the problems of low storage and transportation efficiency, slow logistics scheduling and the like. In addition, aiming at different production areas and industrial environments, an intelligent warehousing system matched with the production line type and the factory building structure of the workshop is designed so as to meet the current digital and automatic intelligent warehousing logistics requirements and realize the efficient batch production of key parts.

Disclosure of Invention

In view of this, the present invention provides an intelligent warehouse logistics system for a workshop, which mainly realizes the close cooperation between a warehouse part of the workshop and an automatic production line in the process from a blank to a finished product processing link, and the system comprises: an AGV system, a three-dimensional warehouse and a lifting warehouse; the AGV system is used for intelligent logistics scheduling and transferring; the three-dimensional warehouse is used for material transportation and storage; the lifting warehouse is used for storing, taking and transporting; the three-dimensional warehouse comprises goods shelves, a stacker, an in-out warehouse conveying system, an automatic control system and a WMS warehouse management system; the AGV system comprises AGV bodies of different types and an AGV management and scheduling system; according to the warehouse-in production task information or warehouse-out carrying task information of the WMS warehouse space management system, the AGV body places material parts to a docking station or a processing line goods placing station of the three-dimensional warehouse; after the inter-process parts are processed, the AGV body receives scheduling instructions sent by all units of the production line, and transfers the inter-process parts to the next processing process or a three-dimensional warehouse; the lifting warehouse is in a modular design and is used for storing and extracting material parts, and a proper storage position is found according to the height of the material parts by configuring a height sensor;

particularly, the system also comprises a CPS intelligent production center which is mainly used for dispatching the AGV body to take materials for parts at the specified position through the AGV management and dispatching system and issuing a production task; if the materials are complete, the workshop production line is processed normally; if the materials are in shortage, the trigger signal is used for dispatching the AGV body through the AGV management and dispatching system to transfer the materials to a specific production line.

Particularly, the AGV body is provided with a multiple safety alarm mechanism, and comprises a non-contact laser anti-collision sensor, a console alarm system, a stop button and an emergency stop button, wherein the stop button and the emergency stop button are used for avoiding collision with obstacles and can be stopped at any time.

Particularly, the AGV body is provided with a non-contact laser anti-collision sensor and a mechanical anti-collision mechanism, and is divided into three detection areas, namely a normal operation area, a deceleration area and a stop area, for three-dimensional detection of 360-degree dead angles of the AGV body.

Particularly, the AGV body navigation mode adopts laser SLAM navigation: the laser radar is used for scanning the field environment, the system control module can automatically construct a picture and plan a path only by matching with the laser radar, and trackless autonomous navigation of the AGV body can be really realized; after the scene map is built, the navigation of the AGV body is realized by planning a position and a path based on the map on the basis of the built map; in the moving process of the AGV body, the laser data acquired by combining mileage and information with a laser sensor are matched with a map, the accurate position of the AGV body in the map is continuously acquired in real time, and a control instruction is sent to the AGV body according to a track obtained by planning, so that the AGV body can automatically run.

Particularly, in the three-dimensional warehouse, materials need to be scanned before being warehoused, the overall dimension is detected, after the materials are detected to be qualified, the system automatically distributes or further manually adjusts the goods position, and a stacker in a roadway automatically sends the tray to the designated goods position.

Particularly, the lifting warehouse adopts a modular design, is provided with a height sensor, and can search a proper storage position according to the height of materials, the lifting container is longitudinally divided into three parts by taking a tray as a storage unit, the front part and the rear part are material storage areas, and the middle part is a vertical lifting operation area; the user can directly input the material code or input the tray number of the material, and the extractor takes out or sends the tray for storing goods to a proper position in the container through lifting and horizontal movement according to the instruction of the user.

Has the advantages that:

1) The intelligent warehouse logistics system for the workshop, provided by the invention, realizes the intelligent and information processing of material storage and transportation in the automatic production process from blanks to products, greatly improves the efficiency and saves a large amount of labor cost;

2) The invention realizes the overall intelligent production scheduling of the workshop, greatly improves the utilization efficiency and the production efficiency of resources and realizes the scientificity, the standardization and the accuracy of production.

3) The invention realizes the effective management and scheduling of all storage equipment and materials in a workshop, thereby driving the efficient batch production of parts;

4) The vehicle body has multiple safety alarm mechanisms to prevent collision;

5) The lifting warehouse adopts a modular design, is provided with the height sensor, can search a proper storage position according to the height of the material, and fully utilizes the storage efficiency of the material;

6) According to the invention, the AGV car body navigation mode adopts laser SLAM navigation, so that automatic driving is realized, the labor cost is further reduced, and the efficiency is improved.

Drawings

Fig. 1 is a schematic diagram of an architecture of a workshop intelligent warehouse logistics system according to the present invention;

FIG. 2 is a schematic view of the safety protection area of the forklift truck according to the present invention;

FIG. 3 is a schematic view of an emergency stop device according to the present invention;

FIG. 4 is a schematic view of a safety zone of a lift AGV according to the present invention;

FIG. 5 is a schematic diagram of an AVG transport execution system according to the present invention;

FIG. 6 is a schematic diagram of the process for executing the stereo library software according to the present invention;

FIG. 7 is a schematic view of a lifting container according to the invention;

FIG. 8 is a schematic view of an operation panel according to the present invention;

FIG. 9 is a schematic view of the present invention with an automatic door built in;

fig. 10 is a schematic view of the safety light curtain of the present invention.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

According to the problems of the existing warehouse logistics system, the invention discloses an intelligent warehouse logistics system for a workshop, which mainly realizes the close cooperation of the warehouse part of the workshop and an automatic production line in the process from a blank to a finished product processing link of parts. The production efficiency of the product from production line level to workshop level is improved, and the effects of comprehensively saving labor cost and improving workshop production efficiency and production line yield are achieved.

The invention discloses an intelligent warehouse logistics system for a workshop, which comprises an AGV system for intelligent logistics scheduling and transferring, a three-dimensional warehouse for material transferring and storing and a lifting warehouse for storing, taking and transporting, wherein the architecture diagram of the system is shown in FIG. 1.

The AGV system fully utilizes the existing conditions according to the layout and the structure of the current workshop to realize the intelligent logistics scheduling and transfer in a factory. The lifting type AGV is used for circulation among processes of 'tray + part/tray + tooling'. A lifting AGV is adopted for large-size parts and is used for circulation between processes of trays and parts. In addition, the automatic transportation of the chip removal trolley adopts a forklift type AGV, the chip removal trolley under the chip cleaner of the machining equipment is automatically transported to a briquetting machine, and the empty chip removal trolley is automatically transported back to the position under the chip cleaner of the equipment.

The AGV flow description comprises the following steps:

(1) Warehousing and carrying processes of parts: after receiving the warehousing production task information of an upper CPS (intelligent production center)/WMS system, the AGV reaches an appointed goods taking station to take a tray, and is placed to a three-dimensional library docking station according to a pre-planned path;

(2) And (3) parts warehouse-out and conveying flow: after receiving the information of the ex-warehouse production task of an upper CPS (intelligent production center)/WMS system, the AGV arrives at a corresponding station, takes a tray and sends the tray to a processing line goods placing station;

(3) After the machining of the parts in the process is finished, all units of the production line send signals, the AGV receives a scheduling instruction, sends the scheduling instruction to all units of the production line to take the trays, transfers the trays to the next machining process or transfers the trays to a three-dimensional warehouse, and finishes warehousing of the trays;

(4) And the AGV returns to the charging area for automatic charging in a task-free state or during the period of receiving and executing an automatic charging scheduling instruction.

AGV dolly design description:

(1) AGV bodies come from high-quality domestic customized lifting type and Linde pallet stacking vehicles L14, and the vehicle body parameters and specific data refer to a technical parameter table.

(2) AGV adopts manual and automatic control mode, and whole operation is steady, can not influence product package and shape in the handling, and the automobile body design does not have the dead angle, and is easy to clean, and automobile body manufacturing and designing all satisfies relevant quality requirement and regulations such as ISO 9001.

(3) AGV running mode design:

(a) The automatic control system has two modes of on-line automatic operation and manual operation, wherein the first mode meets the production requirement of a normal process, and the second mode is mainly convenient for debugging, maintenance and special condition treatment;

(b) Manual operation: the AGV can be operated by authorized personnel and can be directly operated on the AGV body (a manual operation handle is arranged on the AGV body). The manual operation is not allowed to cause the workpiece to generate impact in the stopping process, so that the occurrence of personnel collision accidents is avoided;

(c) The information interaction between the AGV and the online point ensures safety and effectiveness, after communication failure or task execution failure occurs, the AGV stops working, and the vehicle-mounted terminal displays corresponding alarm information to guide an operator to process.

AGV safety protection design:

the AGV has a multiple safety alarm mechanism, comprises a non-contact laser anti-collision sensor, a console alarm system, a stop button, an emergency stop button and the like, avoids colliding with a barrier and can stop at any time;

configuring a non-contact laser anti-collision sensor and a mechanical anti-collision mechanism, and dividing a vehicle body into three detection areas, namely a normal operation area, a deceleration area and a stop area, for three-dimensional detection without dead angles in 360 degrees; fig. 2 is a schematic view of a safety protection area of the forklift.

The scram button is arranged at an easy-to-operate position of an AGV body, the AGV can be stopped immediately in any mode, whether to continue to start the AGV or not is confirmed manually after the scram is recovered, and a schematic diagram of the scram device is shown in FIG. 3;

the AGV has blue light warning and sound-light warning functions, and can inform the AGV monitoring system in time after warning;

the AGV is provided with a laser radar safety detection device, so that the surrounding safety blind areas are reduced during operation, and the safety driving performance is improved; in the event of a power outage or other unexpected fault, the AGV system stops all states of motion. FIG. 4 is a schematic view of a safety zone of a raised AGV according to the present invention.

The AGV navigation system comprises:

the AGV navigation mode adopts laser SLAM navigation: the field environment (wall studs or fixed large equipment) is scanned by a lidar. The system control module can automatically construct a picture and plan a path only by matching with the laser radar, and trackless autonomous navigation of the AGV can be really realized. After the scene map is constructed, the navigation of the AGV needs to be implemented by performing map-based position and path planning on the basis of the constructed map. In the process of AGV movement, the distance and the information are matched with the laser data acquired by the laser sensor, the accurate position of the AGV in the map is continuously acquired in real time, and a control instruction is sent to the AGV according to the planned track, so that the AGV can automatically travel.

The AGV transportation execution system indicates that:

AGV mainly used assigned position gets material work, sends the production task after, if the material is complete, then normal processing is produced to the workshop line. If the materials are in shortage, the trigger signal dispatches the AGV to transfer the materials to a specific production line. The main flow is shown in fig. 5.

The three-dimensional warehouse is mainly used for improving the material transfer efficiency and the effective storage of materials, and further effectively meets the maximum storage requirement of the warehouse according to the type and the size of a product. The three-dimensional library mainly comprises five parts, namely: goods shelves, stacker, warehouse entry and exit conveying system, automatic control system and WMS warehouse management system, etc. The key design is that the basic operation requirement is met by combining the working characteristics of warehouse services. The system has the advantages of mechanization, automation, digital warehouse management, three-dimensional storage unit, networked information transmission and visual safety monitoring. The design of the stereo library mainly follows the following principle:

(1) Systematicness: the equipment configuration system considers the flow of the whole logistics chain such as warehousing → storage → ex-warehouse → station and the like, and reasonably configures the equipment in the aspects of equipment model, quantity, control and the like, thereby realizing system optimization.

(2) The advancement is as follows: the aspects of overall design, key technology, operation means and the like aim at the front edge of logistics development, and advanced, mature and reliable technology and equipment are selected. The key technology and software system have the functions of upgrading and updating.

(3) The matching property: the overall consideration on the selection of the type of the equipment, the types of all parts of the equipment and the selection of manufacturers is ensured, and the function matching is ensured, and the equipment is stable and reliable.

(4) Expandability: the designed system provides a general program interface, and can be seamlessly connected with a CPS system, a device control system and the like to complete corresponding data transmission.

(5) The practicability is as follows: the overall design, equipment configuration and other aspects must be closely combined with the characteristics of warehouse receiving and dispatching operation and material storage so as to meet the actual operation requirements of material receiving and dispatching operation.

(6) Reliability: the equipment, the key technology, the management control system and the like which are commonly applied in China and have fully verified stability and reliability are selected, so that the fault rate of the logistics storage system is reduced to the maximum extent.

(7) The economic efficiency is as follows: on the premise of meeting the warehouse logistics operation requirements, the most suitable product in the same type is preferentially selected, and the requirements of low manufacturing cost, short construction period, low maintenance cost, high efficiency, energy conservation and reasonable resource utilization are met.

(8) Safety is as follows: the strength, rigidity and stability of the equipment reach the requirements of safety, fire protection and shock resistance, the corrosion resistance, the electromagnetic radiation interference resistance, the lightning interference resistance and the like reach the specified standards, and the safety and stability of personnel, equipment and materials are ensured.

(9) The aesthetic property is as follows: the equipment has reasonable color matching and elegant appearance, and embodies the integral artistic effect.

The three-dimensional warehouse operation process mainly comprises warehousing, ex-warehouse and warehouse inventory:

1) Warehousing process

The material is required to be scanned and subjected to overall dimension detection before being put in storage, after the material is qualified in detection, a system automatically distributes goods positions (the goods positions can be manually adjusted), and a stacker in a roadway automatically sends trays into the designated goods positions.

2) Warehouse-out process

The system searches materials in the warehouse according to the warehouse-out instruction, generates a warehouse-out list, confirms the warehouse-out tray, sends out the warehouse-out instruction, and the stacker of the corresponding goods position automatically takes out the tray to the position of the warehouse-out opening.

3) Disc library

And the system has the function of generating an inventory report in real time. According to the internal management regulation, after the confirmation of an operator at regular intervals, the operator starts to issue the inventory command, the trays are taken and sent to the inventory outlet, and after manual inventory, the terminal checks and fills in the inventory shortage and overage report. And after the checking is finished, returning to the original goods position according to the warehouse returning process. And the subsequent inventory will automatically continue until all inventory operations are completed.

The three-dimensional library functional component mainly comprises the following parts:

1) Goods shelf

The goods shelf adopts a single-depth goods shelf and a beam combination type, and the whole goods shelf system has sufficient theoretical analysis and actual verification and accords with the national relevant standards; the independent and combined cross beam type goods shelf is not connected with a building; the stacking machine has enough strength, rigidity and overall stability, and meets the requirements of goods storage and normal operation of the stacking machine. The chemical or physical method is adopted to meet the rust removal requirement, then electrostatic powder spraying is carried out, and the thickness and the surface coating quality reach the GB9286 standard regulation.

2) Stacking machine

(1) The large-scale stacker is designed into a double-upright-column rail tunnel type, and is designed in a single deep position; the rated load of the large warehouse stacker is more than or equal to 1000kg; the small-size stacker is designed into a single-upright-column rail roadway type and a single-deep-position design; the rated load of the small-size warehouse stacker is more than or equal to 500kg.

(2) The standard is as follows: the high-performance stacker has the advantages of high speed, stable operation and noise meeting the national standard (less than or equal to 75 dB).

(3) The speed requirement is as follows: the requirement of entering and exiting frequency is met.

(4) Operation precision: the horizontal walking error is less than or equal to +/-5 mm; the vertical lifting precision is less than or equal to +/-5 mm; the running precision of the pallet fork is less than or equal to +/-3 mm.

(5) The running mechanism comprises: the horizontal and lifting mechanisms adopt an AC frequency conversion speed regulation mode.

(6) The control mode is as follows: the online automatic operation is the main, and the online automatic operation can also be manual, semi-automatic and single-machine automatic.

(7) An addressing mode: the horizontal and lifting adopt laser addressing, and the pallet fork adopts a travel switch and a rotary encoder.

(8) The control system adopts Siemens series PLC.

(9) The stacker control cabinet shell is provided with an alarm lamp.

(10) The communication mode is as follows: is stable and reliable.

3) Tray

Adopting high-quality 45# steel or materials with the same strength, adopting epoxy resin on the surface, and adopting electrostatic spraying or a treatment technology achieving the same effect. The plane buckling deformation amount is less than or equal to 3mm in no-load, the tolerance of the diagonal length is less than or equal to 5mm, and the allowable tolerance of the height of the tray is less than or equal to 2mm. The deflection is that the deflection is less than 3mm when the load is fully loaded, and the load can bear the rated load for a long time. The tray is provided with a universal interface, and can be used for directly placing a daughter board, a material basket, a material box or a material frame of the zero positioning system.

The three-dimensional warehouse mainly comprises the steps of calling, taking and placing materials of specific warehouse area positions on the site, conveying the materials to an appointed position, and enabling an AGV to take the materials. The software execution flow chart of the stereo library is shown in FIG. 6

The lifting warehouse adopts a modular design and is mainly used for storing and extracting materials. The height sensor is configured, a proper storage position can be found according to the height of the materials, the height of each tray can be completely unfixed, and space optimization and intelligent placement are achieved.

The main structure of the lifting library is as follows:

(1) The lifting container is divided into three parts longitudinally by taking a tray as a storage unit, the front part and the rear part are material storage areas, and the middle part is a vertical lifting operation area. The user can directly input the material code or input the tray number of the material, and the extractor takes out or sends the tray for storing goods to a proper position in the container through lifting and horizontal movement according to the instruction of the user.

(2) Full modular design

The lifting type container adopts a modular design, is internally of a self-supporting structure, and does not need to depend on an external panel to increase the strength of equipment. The height of the equipment can be increased or decreased according to the actual situation in the future.

(3) Central lifting trolley and 24-point positioning system

And a standard four-corner positioning anti-tipping system. The lifting trolley moves up and down along the groove in the container frame through 3 positioning wheels and 3 damping springs (the four corners are totally 12 positioning wheels and 12 damping springs) on each corner, and the lifting trolley is fully contacted with the cabinet body, so that the running stability of the lifting trolley is ensured.

The standard four-corner positioning anti-tipping system has the optimal anti-unbalance loading capability in the industry. The 24-point unbalance loading prevention positioning design effectively ensures the running stability and the positioning accuracy of the lifting trolley. Therefore, the user can put articles at any position of the tray, the lifting trolley cannot incline, and the problem of unbalanced load is effectively avoided.

(4) Mode of transmission

The lifting container adopts the latest steel core tooth-shaped synchronous belt drive to realize the movement in the vertical direction. Generally speaking, the design idea of the steel core tooth type belt is that the steel core tooth type belt can bear large load, transmission positioning is accurate, and safety and accuracy of equipment can be improved better. The steel core toothed belt has the advantage of no lubrication, effectively avoids the possibility of oil stain, and has high strength and long service life. The former steel core tooth-shaped synchronous belt of the vertical lifting container mainly adopts straight lines, and the new steel core tooth-shaped synchronous belt adopts herringbone lines. The gear-jumping mechanism has the advantages of being more wear-resistant and firmer, increasing the buffering force and effectively preventing the gear-jumping situation.

(5) Pallet load monitoring

The lifting container can automatically detect and display the weight and height of the materials stored in each tray at the lower left corner of the color touch display screen. If the tray is overweight or overhigh, the system will automatically alarm and refuse the tray to enter the equipment.

Adopt the current detection principle to carry out the check weighing on the lift, there is a fine motion process in the twinkling of an eye before the lift motion, the current is through the change of current when contrasting the load with current when no-load, if overweight, the system can automatic alarm of current weight is measured to developments in real time to send the tray back to the operation panel, avoided the unsafe factor that overload brought.

(6) Dynamic altitude management system/altimeter light curtain

The lifting container is provided with a set of height measurement gratings on the inner side of the access port, each pair of gratings consists of a transmitting end and a receiving end, the total number of the pairs of gratings is 30, and the center distance between each pair of gratings and the adjacent grating is 25mm. When materials are stored every time, the height measurement grating system automatically measures the maximum height of the materials in the tray, and according to the measured value and the storage condition in the current warehouse, the goods space is distributed for the goods according to the principle of the highest space utilization rate. Meanwhile, when the size of the contained goods exceeds the allowable height of the equipment, the automatic detection device can give an alarm and stop the operation of the equipment, so that the goods with ultrahigh and ultra-deep sizes are prevented from entering the storage area, and the goods are safely placed at proper positions. The photoelectric system can also automatically detect whether the materials exceed the allowable length and width range of the tray and whether the materials are dumped or not. If so, the device automatically alarms and simultaneously withdraws from the tray, thereby ensuring the safety. A schematic view of the lifting container is shown in figure 7.

(7) Dual tray access function

When the access frequency is higher, the double-tray access function can be adopted to accelerate the material taking speed. A tray support is arranged in the middle of the access opening of the vertical lifting container, a control system is matched to realize a double-tray goods taking mode of an operation table, a user can input a plurality of instructions at one time, the system can send out a first tray in sequence, when the user carries out storage and taking operations, a second tray waits at a second delivery position, and when the user confirms, the second tray is sent out and returns to the first tray. By analogy, the third tray and the fourth tray are sent out in sequence (8230) \ 8230, so that the waiting time of an operator is saved, and the requirement of quick response production is met.

(8) Operation panel

The operation panel is a compact type industrial control machine, is arranged on one side of an operation opening, carries a color touch display screen with 10.4 inches and the resolution of 800 multiplied by 600, and has a simplified Chinese version. The operation panel is loaded with Microsoft CE system, has a graphical output human-computer communication interface, and is provided with information such as indicator lamps, number keys, function keys, operation indication, operation prompt, automatic fault display and the like. The system is designed for a harsh operating environment. The usable panel of controlling of operating personnel manages the packing cupboard, if transfer the tray, set up the user authority, adjust extraction rate, show the suggestion of current tray functioning speed and weight, fault error code in real time and function such as the tray of taking out manually under the emergent operating mode.

The operator interface supports multiple languages including chinese (simple/traditional), english, italian, german, and spanish.

Application software: lift OS (lifting operation system)

The touch screen: resistance type

Connecting: ethernet and USB connection

Fig. 8 is a schematic view of the operation panel.

(9) Lift OS (lifting operation system)

The Lift OS is a basic component of the multi-layer framework software of the vertical lifting container, and is installed in the operation panel of the container. The Lift OS operating system includes:

modifying a parameter of the container;

administrative, diagnostic trouble shooting and resetting;

operation in manual mode, semi-automatic mode;

in addition, the Lift OS operating system can automatically track the use frequency of the tray, so that the most frequently used tray is stored at the position closest to the access opening, the quick access is ensured, and the access time is reduced as much as possible.

(10) High-strength tray

The lifting container tray is made of galvanized high-quality steel plate, and has good corrosion resistance and rust resistance. The tray has very high strength, no beam in the effective storage space of the tray, strong bearing capacity, firmness, durability and no deformation. The loading capacity of a single tray can reach up to 990kg. (this configuration tray load 500 kg)

(11) Increment of pitch

Tray supports are installed in effective storage spaces inside the lifting container, the distance between the tray supports is 50mm, U-shaped supports are arranged at four corners of each tray, the distance between the upper side and the lower side of each U-shaped support is 25mm, the upper side and the lower side of each U-shaped support can be placed on the tray supports in the container, and therefore when goods are stored inside the container, the occupied height increment is 25mm.

(12) Safety light curtain

48 pairs of safety gratings are arranged on the outer side of the access port of the lifting container, the safety gratings can be started only when the tray enters and exits the access port area, and any interruption to the safety gratings can brake the equipment, so that the safety of operators is guaranteed to the maximum extent; each pair of safety gratings consists of a uniform transmitting end and a receiving end, and the center distance between each pair of safety gratings and the adjacent safety gratings is 20mm.

(13) Emergency stop switch

The lifting container is provided with an emergency stop device, and under emergency, the equipment can be stopped immediately by means of an emergency stop switch, so that the safety is guaranteed. The emergency stop switch is arranged above the color touch screen, so that the operation of an operator is facilitated.

(14) Safety maintenance door

The lifting container is provided with maintenance doors on two sides of the equipment, so that personnel can conveniently enter and exit to maintain the equipment, once the maintenance doors are opened, the motor automatically brakes and the machine stops running, and the lifting container is used for protecting personnel entering the equipment.

(15) Built-in automatic door

The lifting container is provided with a built-in automatic door, the automatic door is only opened when the tray goes in and out, and the automatic door is closed at other times, so that the internal humidity environment can be well protected. After the automatic door is closed, the safety grating automatically stops working, so that the equipment is prevented from being suddenly stopped due to the fact that an operator unconsciously touches the safety grating in the high-speed movement process, and the equipment and materials are well protected. A schematic view of the built-in automatic door is shown in fig. 9.

(16) Linkage of automatic door and safety light curtain

The lifting container is provided with a built-in automatic door, the automatic door is only opened when the tray goes in and out, and the automatic door is closed at other times, so that the internal humidity environment can be well protected. When the automatic door is closed, the photoelectric protection system on the outer side of the access port does not work, so that an operator is effectively prevented from blocking the photoelectric system to cause the emergency braking of the elevator; when the automatic door is opened, the photoelectric protection system outside the access port starts to work. A schematic view of the safety light curtain is shown in fig. 10.

(17) Lighting system

The lifting container is provided with a lighting lamp at the equipment access port, so that an operator can conveniently access and maintain the lifting container. Simultaneously, the LED light is only sent the access hole and is lighted when taking one's place at the tray, can carry out the signal that the material was deposited and withdrawn to operating personnel transmission. The grating fault and the automatic door fault caused by the fact that an operator triggers the grating by mistake under the state that the automatic door is not closed and the grating is activated can be effectively reduced.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

It will be evident to those skilled in the art that the embodiments of the present invention are not limited to the details of the foregoing illustrative embodiments, and that the embodiments of the present invention are capable of being embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Several units, modules or means recited in the system, apparatus or terminal claims may also be implemented by one and the same unit, module or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting, and although the embodiments of the present invention are described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (7)

1. A workshop smart warehouse logistics system, the system comprising: an AGV system, a three-dimensional warehouse and a lifting warehouse; the AGV system is used for intelligent logistics scheduling and transferring; the three-dimensional warehouse is used for material transportation and storage; the lifting warehouse is used for storing, taking and transporting; the three-dimensional warehouse comprises goods shelves, a stacker, an in-out warehouse conveying system, an automatic control system and a WMS warehouse management system; the AGV system comprises AGV bodies of different types and an AGV management and dispatching system; according to the warehouse-in production task information or warehouse-out carrying task information of the WMS warehouse space management system, the AGV body places material parts to a docking station or a processing line goods placing station of the three-dimensional warehouse; after the inter-process parts are processed, the AGV body receives scheduling instructions sent by all units of the production line, and transfers the inter-process parts to the next processing process or a three-dimensional warehouse; the lifting warehouse is in a modular design and used for storing and extracting material parts, and a proper storage position is found according to the height of the material parts by configuring a height sensor.

2. The workshop intelligent warehouse logistics system of claim 1, further comprising a CPS intelligent production center, which is mainly used for dispatching the AGV body to take the parts at the designated position for work through the AGV management scheduling system and issue the production task; if the materials are complete, the workshop production line is processed normally; if the materials are in shortage, the trigger signal is used for dispatching the AGV body through the AGV management and dispatching system to transfer the materials to a specific production line.

3. The workshop smart warehouse logistics system of claim 1 wherein the AGV body has multiple safety alarm mechanisms including a non-contact laser collision avoidance sensor, a console alarm system, a stop button, and an emergency stop button for avoiding collision obstacles, and can stop at any time.

4. The workshop intelligent warehouse logistics system of claim 3, wherein the AGV body is provided with a non-contact laser anti-collision sensor and a mechanical anti-collision mechanism, and is divided into three detection areas, namely a normal operation area, a deceleration area and a stop area, for three-dimensional detection of 360-degree dead angles of the AGV body.

5. The intelligent warehouse logistics system of any one of claims 1-4 wherein the AGV body navigation mode is laser SLAM navigation: the laser radar is used for scanning the field environment, the system control module can automatically construct a picture and plan a path only by matching with the laser radar, and trackless autonomous navigation of the AGV body can be really realized; after the scene map is built, the navigation of the AGV body is realized by planning a position and a path based on the map on the basis of the built map; in the moving process of the AGV body, the laser data acquired by combining mileage and information with a laser sensor are matched with a map, the accurate position of the AGV body in the map is continuously acquired in real time, and a control instruction is sent to the AGV body according to a track obtained by planning, so that the AGV body can automatically run.

6. The workshop intelligent warehouse logistics system of claim 1, wherein in the three-dimensional warehouse, materials need to be scanned before being put in storage and subjected to overall dimension detection, after the materials are detected to be qualified, the system automatically distributes or further manually adjusts the goods position, and a stacker in a roadway automatically sends trays to the designated goods position.

7. The intelligent warehouse logistics system of claim 1 wherein the lifting warehouse is modular in design, equipped with height sensors, and able to find a suitable storage location according to the height of the material, the lifting container is divided longitudinally into three parts with a tray as a storage unit, the front and rear parts being material storage areas, and the middle being a vertical lifting operation area; the user can directly input the material code or input the number of the tray where the material is located, and according to the instruction of the user, the extractor takes out or sends the tray for storing the goods to a proper position in the container through lifting and horizontal movement.

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