CN116513678A - Full-automatic stacking equipment for storage - Google Patents
Full-automatic stacking equipment for storage Download PDFInfo
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- CN116513678A CN116513678A CN202310526355.3A CN202310526355A CN116513678A CN 116513678 A CN116513678 A CN 116513678A CN 202310526355 A CN202310526355 A CN 202310526355A CN 116513678 A CN116513678 A CN 116513678A
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- 238000012423 maintenance Methods 0.000 claims abstract description 14
- 238000007726 management method Methods 0.000 claims description 14
- 238000010200 validation analysis Methods 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 4
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- 238000004804 winding Methods 0.000 claims description 4
- 238000010801 machine learning Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 11
- 230000002159 abnormal effect Effects 0.000 description 7
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- 230000005856 abnormality Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- 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
- B65G1/0485—Check-in, check-out devices
-
- 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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
-
- 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
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1413—1D bar codes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The application relates to full-automatic stacking equipment for storage, which comprises a track assembly, a double-column portal frame, a travelling mechanism, a cargo carrying platform, a lifting mechanism, an automatic bidirectional telescopic fork, a PLC control cabinet and a horizontal verification assembly; the horizontal verification assembly is arranged on the cargo carrying platform and connected with the PLC control cabinet and used for verifying the corresponding horizontal position of the cargo carrying platform and the shelf storage grid of the stereoscopic warehouse in the moving process of the cargo carrying platform or the running process of the cargo carrying platform along with the double-upright-post portal frame. According to the method, the stacking equipment can be adaptively adjusted, normal storage and taking of materials are guaranteed, and the effects of effectively improving the goods delivering and warehousing efficiency of the stereoscopic warehouse and reducing the equipment maintenance cost are achieved.
Description
Technical Field
The application relates to the field of stacking equipment, in particular to full-automatic stacking equipment for storage.
Background
An automatic stereoscopic warehouse is a new concept in logistics warehouse, which is a warehouse for storing materials by using a high-level stereoscopic goods shelf, and is controlled and managed by a computer, and the materials are stored and taken out by adopting an automatic control stacker. Tunnel stackers are special cranes developed along with the appearance of automatic stereoscopic warehouses, are commonly abbreviated as stackers, and are the most important hoisting and transporting equipment in the automatic stereoscopic warehouses; the stacker runs along the track in the tunnel of the automatic stereoscopic warehouse, stores the materials at the tunnel junction into the designated goods lattice, or takes out the materials in the designated goods lattice and conveys the materials to the tunnel junction, and the warehouse-in and warehouse-out operation of the materials is completed.
The structure of the existing stacker is quite complex, the working principle relates to various fields such as machinery, electricity, control, computers, information technology, network communication and the like, faults often occur in the process of long-time and high-strength work, the most influencing use is that the stacker is horizontally positioned and stopped, and the reasons for the stacker to horizontally position and stop the goods are various, such as lifting band-type brake looseness, horizontal coding abnormality, horizontal frequency converter faults, horizontal address reader faults and the like. In case of abnormal horizontal positioning and stopping of the stacker, dislocation of a cargo carrying platform and a storage grid of a goods shelf is easy to occur, and a stacker control system cannot automatically and adaptively adjust and cannot normally store and fetch materials.
Aiming at the related technology, the existing stacker is easy to horizontally position and stop goods abnormally in the high-frequency use process, so that materials can not be normally stored and taken out due to dislocation of a goods carrying platform and a goods shelf storage grid.
Disclosure of Invention
In order to solve the problem that the existing stacker is easy to horizontally position and stop goods abnormally in the high-frequency use process, so that the goods carrying table and the goods shelf storage grid are misplaced and the materials can not be normally stored and taken, the application provides full-automatic stacking equipment for storage.
In a first aspect, the present application provides a full-automatic stacking apparatus for storage, which adopts the following technical scheme:
a full-automatic stacking apparatus for warehousing, comprising:
the track assembly is arranged in a roadway of the stereoscopic warehouse;
the double-upright column portal frame is arranged on the track assembly in a sliding manner and slides in the roadway along the track assembly;
the travelling mechanism is arranged on the double-upright-column portal frame and used for driving the double-upright-column portal frame to accurately move on the track assembly;
the cargo carrying platform is arranged in the double-upright-column door frame and moves up and down along the vertical direction of the double-upright-column door frame;
the lifting mechanism is arranged on the double-upright-column portal and used for driving the cargo carrying platform to stably slide in the vertical direction in the double-upright-column portal;
the automatic bidirectional telescopic pallet fork is arranged on the loading platform and is used for forking, carrying and conveying the material trays;
the PLC control cabinet is arranged on the double-upright-column portal, is connected with the travelling mechanism, the lifting mechanism and the automatic bidirectional telescopic fork, is in communication connection with a preset storage cloud management server, and is used for receiving a scheduling instruction sent by the storage cloud management server in real time to control the travelling mechanism, the lifting mechanism and the automatic bidirectional telescopic fork to run so as to finish the warehouse entry/ex-warehouse of goods; the method comprises the steps of,
and the horizontal verification assembly is arranged on the cargo carrying platform, is connected with the PLC control cabinet and is used for verifying the corresponding horizontal position of the cargo carrying platform and the shelf storage grid of the stereoscopic warehouse in the motion process of the cargo carrying platform or the operation process of the cargo carrying platform along with the double-upright-column portal frame.
Preferably, the horizontal validation assembly comprises:
the high-speed code scanner is arranged on the cargo carrying platform, faces to a bin Chu Ge bar code preset at the position of the target storage rack storage grid when the cargo carrying platform and the target storage rack storage grid are in a relative horizontal state, and is used for continuously scanning the storage grid bar code attached to the storage rack storage grid passing by the cargo carrying platform when the cargo carrying platform moves on the cargo carrying platform; the method comprises the steps of,
and the video verifier is arranged on the cargo carrying platform and is used for acquiring images of the goods shelf bins Chu Ge.
Preferably, the horizontal validation assembly further comprises:
the horizontal reference is installed on the cargo bed, and when the video validator captures images of the shelf bins Chu Ge, the horizontal reference is located within the images of the shelf bins Chu Ge for validating the horizontal status of the cargo bed and shelf within the images.
Preferably, the horizontal verification assembly is used for verifying the corresponding horizontal position of the cargo carrying platform and the shelf storage grid of the stereoscopic warehouse in the moving process of the cargo carrying platform or the running process of the cargo carrying platform along with the double-upright portal frame, and specifically comprises the following steps:
the PLC control cabinet determines an action path to control stacking equipment to carry out inventory/goods taking based on the received inventory/goods taking instruction, and continuously scans the bar codes of the storage grid attached to the storage grid of the goods shelf passing by the goods platform when the high-speed code scanner moves on the goods platform, and sends the identified bar code information to the PLC control cabinet;
the PLC control cabinet determines a bar code coordinate point according to the received bar code information, and connects the bar code coordinate point to generate an actual path;
the PLC control cabinet judges whether the actual path is consistent with the action path;
if the goods loading platform is consistent with the target goods shelf storage grid, judging that the goods loading platform and the target goods shelf storage grid are in a relative horizontal state;
if not, judging whether the actual path end point identifies the bin Chu Ge bar code of the target shelf bin Chu Ge;
if the bar code failure information is identified, bar code attaching fault information is generated and sent to a manager, whether the bar code failure phenomenon exists is checked based on a bar code information acquisition interval, and if the bar code failure phenomenon exists, the bar code failure information and the bar code attaching fault information are generated and packaged and sent to the manager;
if not, the video verifier is started to collect the images of the goods shelf Chu Ge to verify the corresponding horizontal positions of the goods shelf platforms and the goods shelf storage grids of the stereoscopic warehouse.
Preferably, the step of starting the video verifier to collect the corresponding horizontal positions of the shelf warehouse Chu Ge image verification cargo platform and the shelf warehouse grid of the stereoscopic warehouse specifically comprises the following steps:
starting a video verifier to acquire a shelf bin Chu Ge image, and judging whether a cargo carrying platform and a shelf storage grid of the stereoscopic warehouse have an inclined state or not based on a horizontal reference object in the shelf storage grid image;
if the horizontal reference object is in the inclined state, judging that the cargo carrying platform is in the inclined state, generating cargo carrying platform inclination maintenance information and sending the cargo carrying platform inclination maintenance information to a manager;
if the horizontal reference object is in a horizontal state, extracting the number of a bin Chu Ge in the storage grid image of the goods shelf to judge whether the number is the same as the number of the target storage grid;
if the storage bin numbers are different, determining deviation of the positioning system, restarting the positioning system in the PLC controller, and planning and generating an action path again based on the storage bin Chu Ge numbers in the storage rack images to control the stacking equipment to carry out inventory/picking;
if the acquired storage rack images are the same, scaling and rotating the acquired storage rack Chu Ge images, and then overlapping and comparing the acquired storage rack Chu Ge images with preset standard storage grid images, and judging whether the acquired storage rack storage grid images are consistent with storage rack frames in the preset standard storage grid images or not;
if the acquired images are consistent, the cargo carrying platform and the target storage rack are in a relative horizontal state, and whether the storage rack bar codes of the target storage rack exist in the acquired images of the storage rack Chu Ge or not is extracted and judged;
if the information does not exist, bar code missing information is generated and sent to a manager, and the PLC control cabinet synchronously controls the automatic bidirectional telescopic fork to finish goods storage and taking operation to the storage grid of the target goods shelf;
if the code scanning device exists, restarting the high-speed code scanning device, then scanning the code again, and if the bar code information of the target goods shelf bin Chu Ge is not obtained yet, generating fault information of the code scanning device, sending the fault information to a manager, and synchronously controlling the automatic bidirectional telescopic goods fork to finish goods storage and fetching operation to the target goods shelf storage grid by the PLC control cabinet;
if the storage frames are inconsistent, the cargo carrying platform and the target storage frame are in a dislocation state, and whether the target storage frame is deformed or not is judged based on the difference comparison information;
if the storage cloud management server is deformed, generating shelf deformation warning information, and acquiring a new goods storage instruction from the storage cloud management server;
if no deformation exists, the difference comparison information is led into a preset micro-motion adjustment model to calculate and generate a micro-motion adjustment instruction, the PLC control cabinet moves the position of the cargo carrying platform based on the micro-motion adjustment instruction so that the cargo carrying platform and the target storage grid are in a relative horizontal state, and the PLC control cabinet synchronously controls the automatic bidirectional telescopic fork to finish cargo storage and taking operation to the target storage grid; the jog adjustment model is formed by training a machine learning model through historical jog adjustment data.
Preferably, the track assembly comprises:
the ground guide rail is arranged in the stereoscopic warehouse roadway, and the bottom of the double-upright-post portal frame is connected with the ground guide rail; the method comprises the steps of,
the auxiliary guide rail is arranged above the ground guide rail, is connected with the top of the double-upright-column portal frame and is parallel to the ground guide rail.
Preferably, the double-upright portal comprises:
the bottom beam is connected with the ground guide rail and is driven by the travelling mechanism to slide in the roadway along the ground guide rail;
the two upright posts are arranged along the vertical direction, and the bottoms of the two upright posts are fixedly connected with the bottom beam; the method comprises the steps of,
the top beam is arranged at the tops of the two upright posts and is connected with the auxiliary guide rail, and the top beam is driven by the travelling mechanism to slide in the roadway along the auxiliary guide rail.
Preferably, the travelling mechanism comprises:
the travelling wheels are arranged on the bottom beam and are arranged on the ground guide rail in a sliding manner;
the high-speed walking driving motor is arranged on the bottom beam and is in transmission connection with a plurality of walking wheels; the method comprises the steps of,
the auxiliary wheels are arranged on the top beam and are arranged on the auxiliary guide rail in a sliding manner.
Preferably, the lifting mechanism comprises:
the two groups of lifting pulley blocks are arranged at the bottom of the top beam and are respectively penetrated by lifting steel wire ropes which are respectively connected with two ends of the cargo carrying platform in the width direction; the method comprises the steps of,
and the hoisting motor is arranged on the upright post and used for winding two groups of steel wire ropes penetrated by the lifting pulley blocks.
Preferably, the track assembly further comprises a safety limiting device, wherein the safety limiting device comprises a car bumper, a terminal limit power switch, a safety hook rope and an oil buffer which are arranged at two ends of the ground guide rail in sequence.
In summary, the present application includes at least one of the following beneficial technical effects:
the method comprises the steps that 1, a PLC control cabinet receives a scheduling instruction sent by a warehouse cloud management server in real time, plans an action path, controls and controls a travelling mechanism, a lifting mechanism and an automatic bidirectional telescopic fork to run to finish warehouse entry/warehouse entry of goods, and achieves efficient and automatic warehouse entry and warehouse entry of goods;
2. through the arrangement of the horizontal verification assembly, the corresponding horizontal positions of the cargo carrying platform and the storage grid of the goods shelves of the stereoscopic warehouse are verified in the movement process of the cargo carrying platform, when the horizontal positioning and goods stopping abnormality of the stacker occurs, the abnormal reasons are analyzed in real time, whether goods can be stored and taken out continuously or not can be judged, the cargo carrying platform can be adjusted in a micro-motion mode through the auxiliary PLC control cabinet, the self-adaptive adjustment of the stacking equipment is realized, and the normal storage and taking of materials are ensured; the whole process is automatically carried out without manual measurement, so that the problems of large manual measurement workload, high maintenance cost, excessive redundant information and low working efficiency are avoided; the effects of effectively improving the warehouse-in and warehouse-out efficiency of the stereoscopic warehouse goods and reducing the equipment maintenance cost are achieved;
3. the image of the goods shelf bin Chu Ge collected by the video verifier automatically and efficiently analyzes the relative horizontal position of the goods carrying platform and the goods shelf storage grid, and when the goods carrying platform and the goods shelf are not inclined or deformed, the relative position of the goods carrying platform and the goods shelf storage grid is regulated by generating a micro-motion regulation command through the micro-motion regulation model, so that the goods carrying platform and the goods shelf storage grid are in a relative horizontal state, and the effect of efficiently and adaptively analyzing and solving the abnormal operation and positioning of the goods carrying platform is achieved.
Drawings
Fig. 1 is a schematic overall structure of a full-automatic stacking apparatus for warehouse in an embodiment of the present application;
FIG. 2 is a schematic view of a pallet and horizontal verification assembly configuration in an embodiment of the present application;
FIG. 3 is a system block diagram of a full-automatic stacking apparatus for warehousing according to an embodiment of the present application;
FIG. 4 is a flow chart of a method of verifying the corresponding horizontal positions of a pallet and a shelf storage grid of a stereoscopic warehouse in an embodiment of the present application;
fig. 5 is a flowchart of a method for enabling a video validator to acquire a corresponding horizontal position of a shelf bin Chu Ge image validating cargo bed and a shelf bin of a stereoscopic warehouse in an embodiment of the present application.
Reference numerals illustrate: 1. a track assembly; 11. a ground guide rail; 12. an auxiliary guide rail; 13. a safety limit device; 131. a vehicle bumper; 132. a terminal limit power switch; 133. a safety hook rope; 134. a hydraulic buffer; 2. double-column door frame; 21. a bottom beam; 22. a column; 23. a top beam; 3. a walking mechanism; 31. a walking wheel; 32. a high-speed travel driving motor; 33. an auxiliary wheel; 4. a cargo bed; 5. a lifting mechanism; 51. lifting the pulley block; 52. a hoisting motor; 6. automatic bidirectional telescopic fork; 7. a PLC control cabinet; 8. a horizontal validation component; 81. a high-speed code scanner; 82. a video validator; 83. horizontal reference.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-5.
The embodiment of the application discloses full-automatic stacking equipment for storage. Referring to fig. 1-3, a full-automatic stacking device for storage comprises a track assembly 1, a double-upright portal 2, a travelling mechanism 3, a cargo platform 4, a lifting mechanism, an automatic bidirectional telescopic fork 6, a PLC control cabinet 7 and a horizontal verification assembly 8. Wherein the track assembly 1 is installed in a roadway of a stereoscopic warehouse. The travelling mechanism 3 is arranged on the double-upright-column portal 2 and is used for driving the double-upright-column portal 2 to accurately move in the track assembly 1. The cargo bed 4 is installed in the double-upright-post portal 2 and moves up and down along the vertical direction of the double-upright-post portal 2. The lifting mechanism is arranged on the double-upright-column portal 2 and is used for driving the cargo carrying platform 4 to stably slide in the vertical direction in the double-upright-column portal 2. The automatic bidirectional telescopic pallet fork 6 is arranged on the cargo carrying platform 4 and is used for forking, taking, carrying and conveying the material tray. The PLC control cabinet 7 is arranged on the double-upright-column portal frame 2, is connected with the travelling mechanism 3, the lifting mechanism and the automatic bidirectional telescopic fork 6, is in communication connection with a preset storage cloud management server, and receives scheduling instructions sent by the storage cloud management server in real time to control the travelling mechanism 3, the lifting mechanism and the automatic bidirectional telescopic fork 6 to run so as to finish the warehouse entry/warehouse exit of cargoes. The horizontal verification assembly 8 is arranged on the cargo carrying platform 4 and connected with the PLC control cabinet 7, and is used for verifying the corresponding horizontal position of the cargo carrying platform 4 and the shelf storage grid of the stereoscopic warehouse in the moving process of the cargo carrying platform 4 or the running process of the cargo carrying platform 4 along with the double-upright portal 2. The PLC control cabinet 7 receives a scheduling instruction sent by the warehouse cloud management server in real time, plans an action path, controls the running mechanism 3, the lifting mechanism and the automatic bidirectional telescopic fork 6 to run to finish the warehouse entry/exit of the goods, and realizes the efficient automatic warehouse exit and warehouse entry of the goods; through the arrangement of the horizontal verification assembly 8, the corresponding horizontal positions of the cargo carrying platform 4 and the shelf storage grid of the stereoscopic warehouse are verified in the movement process of the cargo carrying platform 4, when the horizontal positioning and stopping abnormality of the stacker occurs, the abnormal reasons are analyzed in real time, whether the cargo can be stored and taken out continuously or not is judged, the cargo carrying platform 4 is micro-adjusted by the auxiliary PLC control cabinet 7, the self-adaptive adjustment of the stacking equipment is realized, and the normal storage and taking of the materials are ensured; the whole process is automatically carried out without manual measurement, so that the problems of large manual measurement workload, high maintenance cost, excessive redundant information and low working efficiency are avoided; the effect of effectively improving the warehouse-in and warehouse-out efficiency of the stereoscopic warehouse goods and reducing the equipment maintenance cost is achieved.
Referring to fig. 1-3, horizontal verification assembly 8 includes a high speed scanner 81, a video verifier 82, and a horizontal reference 83. The high-speed code scanner 81 is arranged on the cargo carrying platform 4, when the cargo carrying platform 4 and the target storage shelf storage grid are in a relative horizontal state, the high-speed code scanner 81 faces to a preset bin Chu Ge bar code at the target storage shelf storage grid and is used for continuously scanning the storage grid bar code attached to the storage shelf storage grid through which the cargo carrying platform 4 passes when moving on the cargo carrying platform 4. The video validator 82 is mounted on the cargo bed 4 for capturing images of the shelf bins Chu Ge. Through the arrangement of the high-speed code scanner 81, when the PLC control cabinet 7 controls the stacking equipment to walk according to the planned action path, the passing storage grid codes of the goods shelves are identified, and the actual path of the cargo table 4 is formed based on the storage grid position point connecting line represented by the storage grid codes of the goods shelves, so that the accuracy of the action positioning of the stacking equipment is assisted to be checked; and start the video frequency and check the device 82 to gather the goods shelves storage check image that the goods shelves 4 correspond at present when detecting the stacking equipment and fix a position unusual, confirm the relative horizontal state position of goods shelves storage check and goods shelves 4 and goal goods shelves storage check based on image analysis, and then supplementary PLC switch board 7 fine motion adjusts the goods shelves 4, realize the self-adaptation of stacking equipment and adjust, guarantee the material and normally deposit and withdraw, reach the effect that effectively improves stereoscopic warehouse goods and go out warehouse entry efficiency and reduce equipment maintenance cost.
Referring to fig. 1-3, a horizontal reference 83 is mounted on the load bed 4 and when the video verifier 82 captures an image of the shelf bins Chu Ge, the horizontal reference 83 is located within the shelf bin images for verifying the horizontal condition of the load bed 4 and shelves within the images. To ensure that the horizontal reference 83 appears in the image captured by the video validator 82, the horizontal reference 83 needs to be extended using a support bar. The horizontal reference object 83 may be a micro level, an electronic level, or other devices capable of visually representing the horizontal state of the cargo bed 4, and in this embodiment, the horizontal reference object 83 is a micro level. Through the setting of horizontal reference 83, when judging that stacking equipment and goods shelves storage check are located abnormally and gathering goods shelves storehouse Chu Ge image through video verifier 82, can judge the state of cargo table 4 through the horizontal reference 83 in the image, supplementary effective cargo table 4 and the relative horizontal state position of target goods shelves storage check, the reason that leads to locating abnormality is convenient for highly efficient accurate confirm, help high-efficient self-adaptation to adjust stacking equipment, guarantee the normal access of material, reach the effect that effectively improves stereoscopic warehouse goods and go out warehouse efficiency and reduce equipment maintenance cost.
Referring to fig. 1 and 3, the track assembly 1 includes a ground rail 11 and an auxiliary rail 12. The ground guide rail 11 is arranged in a stereoscopic warehouse roadway, and the bottom of the double-upright-post portal frame 2 is connected with the ground guide rail 11. The auxiliary guide rail 12 is arranged above the ground guide rail 11, is connected with the top of the double-upright portal frame 2, and is parallel to the ground guide rail 11. The ground guide rail 11 and the auxiliary guide rail 12 ensure the stable operation in the stereoscopic warehouse roadway of the double-upright-post portal 2, avoid derailment, improve the safety performance and facilitate the stable and efficient goods storage and taking of the stacking equipment.
Referring to fig. 1 and 3, the double column mast 2 comprises a bottom beam 21, a top beam 23 and two columns 22. The bottom beam 21 is connected with the ground guide rail 11, and is driven by the travelling mechanism 3 to slide along the ground guide rail 11 in the roadway. The two upright posts 22 are arranged along the vertical direction, and the bottoms of the two upright posts are fixedly connected with the bottom beam 21. The top beam 23 is arranged at the top of the two upright posts 22 and is connected with the auxiliary guide rail 12, and the top beam is driven by the travelling mechanism 3 to slide along the auxiliary guide rail 12 in the roadway. Through the arrangement of the bottom beam 21, the top beam 23 and the two upright posts 22, the structural stability of the double-upright-post portal frame 2 is improved, and meanwhile, the connection firmness of the double-upright-post portal frame 2 and the track assembly 1 is improved, so that the effects of effectively improving the warehouse goods warehouse-in and warehouse-out efficiency and reducing the equipment maintenance cost are achieved.
Referring to fig. 1 and 3, the traveling mechanism 3 includes a high-speed traveling drive motor 32, a plurality of traveling wheels 31, and a plurality of auxiliary wheels 33. Wherein a plurality of traveling wheels 31 are mounted on the bottom beam 21 and slidably disposed on the ground rail 11. The high-speed travel drive motor 32 is mounted on the bottom beam 21 and is in driving connection with the plurality of travel wheels 31. A plurality of auxiliary wheels 33 are mounted on the top rail 23 and slidably disposed on the auxiliary rail 12. Through the arrangement of the high-speed walking driving motor 32, the plurality of walking wheels 31 and the plurality of auxiliary wheels 33, the double-upright-column portal 2 can be stably driven to stably run at a high speed in a roadway along the ground guide rail 11, and the goods storage and taking efficiency of stacking equipment can be improved.
Referring to fig. 1 and 3, the lifting mechanism includes a hoist motor 52 and two sets of lifting pulley blocks 51. Wherein, two sets of lifting pulley blocks 51 are arranged at the bottom of the top beam 23 and are respectively connected with two ends of the cargo carrying platform 4 in the width direction. A winding motor 52 is mounted on the upright 22 for winding up the wire rope threaded by the two sets of hoisting pulley blocks 51. Through hoist motor 52 and two sets of lifting pulley group 51, can stabilize the drive cargo carrying platform 4 and go up and down, realize high-efficient access goods, reach the effect that effectively improves access goods efficiency.
Referring to fig. 3, the track assembly 1 further includes a safety limiting device 13, and the safety limiting device 13 includes a bumper 131, a terminal limit power switch 132, a safety hook rope 133 and a hydraulic buffer 134, which are sequentially disposed at both ends of the ground rail 11. The movable range of the stacking device is limited through the safety limiting device 13, and the safety limiting device plays a role in buffering and safety protection when the stacking device is out of control and impacted, so that the safety performance of the stacking device is greatly improved.
Referring to fig. 4, the horizontal verification assembly 8 specifically includes the following steps for verifying the corresponding horizontal positions of the cargo table 4 and the shelf storage grid of the stereoscopic warehouse during the movement of the cargo table 4 or during the operation of the cargo table 4 with the double-column portal 2:
a1, scanning the warehouse bar code when the high-speed scanner 81 moves on the cargo table 4: the PLC control cabinet 7 determines an action path to control the stacking device to carry out inventory/pickup based on the received inventory/pickup instruction, and the high-speed code scanner 81 continuously scans the bar codes of the storage grid attached to the storage grid of the goods shelf passing by the goods platform 4 when moving on the goods platform 4, and sends the identified bar code information to the PLC control cabinet 7;
a2, the PLC control cabinet 7 generates an actual path according to the received bar code information: the PLC control cabinet 7 determines a bar code coordinate point according to the received bar code information, and connects the bar code coordinate point to generate an actual path;
a3, the PLC control cabinet 7 judges whether the actual path is consistent with the action path;
a4, if the two storage racks are consistent, judging that the cargo carrying platform 4 and the target storage rack are in a relative horizontal state;
a5, if the actual path end points are inconsistent, judging whether the bin Chu Ge bar codes of the target shelf bins Chu Ge are identified by the actual path end points;
a6, generating bar code lamination fault information and sending the bar code lamination fault information to a manager: if the bar code failure information is identified, bar code attaching fault information is generated and sent to a manager, whether the bar code failure phenomenon exists is checked based on a bar code information acquisition interval, and if the bar code failure phenomenon exists, the bar code failure information and the bar code attaching fault information are generated and packaged and sent to the manager;
a7, activating the video verifier 82 to verify the corresponding horizontal positions of the cargo bed 4 and the shelf bins Chu Ge: if not, the video validator 82 is activated to acquire the image of the shelf bins Chu Ge to validate the corresponding horizontal positions of the cargo bed 4 and the shelf bins of the stereoscopic warehouse. The high-speed code scanner 81 moves along with the cargo carrying platform 4 to scan codes to obtain the actual path of the cargo carrying platform 4, so that the accuracy of the action positioning of the auxiliary verification stacking equipment is realized, the reason for the abnormal path is automatically and efficiently analyzed, after the abnormal positioning and stopping of the cargo carrying platform 4 are determined, the image of the goods shelf bin Chu Ge is acquired through the video verifier 82, the corresponding horizontal position of the cargo carrying platform 4 and the goods shelf storage grid of the stereoscopic warehouse is further realized, the automatic error is realized, the self-adaptive adjustment is realized, and the effects of effectively improving the goods delivery and storage efficiency of the stereoscopic warehouse and reducing the maintenance cost of the equipment are achieved.
Referring to fig. 5, the method for enabling the video verifier 82 to capture the image of the shelf bins Chu Ge to verify the corresponding horizontal positions of the cargo bed 4 and the shelf bins of the stereoscopic warehouse specifically comprises the steps of:
b1, judging whether the cargo bed 4 and the shelf storage grid have an inclined state or not based on the horizontal reference object 83: starting a video verifier 82 to acquire images of the goods shelf bins Chu Ge, and judging whether the goods carrying platforms 4 and the goods shelf bins of the stereoscopic warehouse are in an inclined state or not based on a horizontal reference object 83 in the images of the goods shelf bins;
video validator 82 may be any of a variety of devices capable of capturing video of images;
b2, generating cargo table 4 inclination maintenance information and sending the information to a manager: if the horizontal reference object 83 is in an inclined state, judging that the cargo table 4 is in an inclined state, generating information for maintaining the inclination of the cargo table 4 and sending the information to a manager;
b3, judging whether the bin Chu Ge number in the shelf storage grid image is the same as the target storage grid number: if the horizontal reference object 83 is in a horizontal state, extracting the number of the bin Chu Ge in the shelf storage grid image to judge whether the number is the same as the number of the target storage grid;
and B4, planning and generating an action path again to control the stacking equipment to carry out inventory/picking: if the storage bin numbers are different, determining deviation of the positioning system, restarting the positioning system in the PLC controller, and planning and generating an action path again based on the storage bin Chu Ge numbers in the storage rack images to control the stacking equipment to carry out inventory/picking;
and B5, carrying out superposition comparison to judge whether the shelf frame in the shelf storage grid image is consistent with the shelf frame in the preset standard storage grid image or not: if the acquired storage rack images are the same, scaling and rotating the acquired storage rack Chu Ge images, and then overlapping and comparing the acquired storage rack Chu Ge images with preset standard storage grid images, and judging whether the acquired storage rack storage grid images are consistent with storage rack frames in the preset standard storage grid images or not;
b6, judging whether the collected storage bin Chu Ge image has storage bin bar codes of the target storage bin or not: if the acquired images are consistent, the cargo carrying platform 4 and the target storage rack are in a relative horizontal state, and whether the storage rack bar codes of the target storage rack exist in the acquired images of the storage rack Chu Ge or not is extracted and judged;
and B7, generating bar code missing information and sending the bar code missing information to a manager: if the information does not exist, bar code missing information is generated and sent to a manager, and the PLC control cabinet 7 synchronously controls the automatic bidirectional telescopic fork 6 to finish goods storage and taking operation to the storage grid of the target goods shelf;
b8, restarting the high-speed code scanner 81 and then scanning the codes again: if the code scanning device exists, restarting the high-speed code scanning device 81, then scanning the code again, and if the bar code information of the target goods shelf bin Chu Ge is not acquired yet, generating fault information of the code scanning device and sending the fault information to a manager, wherein the PLC control cabinet 7 synchronously controls the automatic bidirectional telescopic fork 6 to finish goods storage and fetching operation to the target goods shelf bin;
b9, judging whether deformation exists in the storage grid of the target goods shelf or not: if the two storage racks are inconsistent, the cargo carrying platform 4 and the storage grid of the target storage rack are in a dislocation state, and whether the storage grid of the target storage rack is deformed or not is judged based on the difference comparison information;
b10, generating shelf deformation warning information: if the storage cloud management server is deformed, generating shelf deformation warning information, and acquiring a new goods storage instruction from the storage cloud management server;
b11, moving the position of the cargo carrying platform 4 so that the cargo carrying platform 4 and the target storage grid are in a relative horizontal state: if no deformation exists, the difference comparison information is led into a preset micro-motion adjustment model to calculate and generate a micro-motion adjustment instruction, the PLC control cabinet 7 moves the position of the cargo carrying platform 4 based on the micro-motion adjustment instruction so that the cargo carrying platform 4 and the target storage grid are in a relative horizontal state, and the PLC control cabinet 7 synchronously controls the automatic bidirectional telescopic fork 6 to finish the cargo storage operation towards the target storage grid; the jog adjustment model is formed by training a machine learning model through historical jog adjustment data. The image of the goods shelf bin Chu Ge collected by the video verifier 82 is used for automatically and efficiently analyzing the relative horizontal position of the goods carrying platform 4 and the target goods shelf storage grid, and generating a micro-motion adjusting instruction to adjust the relative position of the goods carrying platform 4 and the target goods shelf storage grid through the micro-motion adjusting model when the goods carrying platform 4 and the goods shelf are not inclined or deformed, so that the goods carrying platform 4 and the target goods shelf storage grid are in a relative horizontal state, and the effect of efficiently and adaptively analyzing and solving the abnormal operation and positioning of the goods carrying platform 4 is achieved.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention. It will be apparent that the described embodiments are merely some, but not all, embodiments of the invention. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still combine, add or delete features of the embodiments of the present invention or make other adjustments according to circumstances without any conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, which also falls within the scope of the present invention.
Claims (10)
1. Full-automatic stacking equipment for storage, characterized by, include:
the track assembly (1) is arranged in a roadway of the stereoscopic warehouse;
the double-upright column door frame (2) is arranged on the track assembly (1) in a sliding manner and slides in the roadway along the track assembly (1);
the travelling mechanism (3) is arranged on the double-upright-column portal frame (2) and used for driving the double-upright-column portal frame (2) to accurately move in the track assembly (1);
the cargo carrying platform (4) is arranged in the double-upright-column door frame (2) and moves up and down along the vertical direction of the double-upright-column door frame (2);
the lifting mechanism (5) is arranged on the double-upright-column portal (2) and used for driving the cargo carrying platform (4) to stably slide in the vertical direction in the double-upright-column portal (2);
an automatic bidirectional telescopic fork (6) which is arranged on the cargo carrying platform (4) and is used for forking, taking, carrying and conveying a material tray;
the PLC control cabinet (7) is arranged on the double-upright-column portal frame (2), is connected with the travelling mechanism (3), the lifting mechanism (5) and the automatic bidirectional telescopic fork (6), is in communication connection with a preset storage cloud management server, and receives a scheduling instruction sent by the storage cloud management server in real time to control the travelling mechanism (3), the lifting mechanism (5) and the automatic bidirectional telescopic fork (6) to run so as to finish the warehouse entry/exit of cargoes; the method comprises the steps of,
and the horizontal verification assembly (8) is installed on the cargo carrying platform (4) and connected with the PLC control cabinet (7) and is used for verifying the corresponding horizontal position of the cargo carrying platform (4) and the shelf storage grid of the stereoscopic warehouse in the moving process of the cargo carrying platform (4) or the moving process of the cargo carrying platform (4) along with the double-upright-column portal (2).
2. A fully automatic palletizing apparatus for warehouse according to claim 1, characterized in that said horizontal validation assembly (8) comprises:
the high-speed code scanner (81) is arranged on the cargo carrying platform (4), and when the cargo carrying platform (4) and the target storage grid of the goods shelves are in a relative horizontal state, the high-speed code scanner (81) faces to a preset bin Chu Ge bar code at the target storage bin Chu Ge and is used for continuously scanning the storage grid bar code attached to the storage grid passing by the cargo carrying platform (4) when moving on the cargo carrying platform (4); the method comprises the steps of,
a video validator (82) is mounted on the cargo bed (4) for capturing images of the shelf bins Chu Ge.
3. A fully automatic palletizing apparatus for warehouse use according to claim 2, wherein the horizontal validation assembly (8) further comprises:
a horizontal reference (83) is mounted on the cargo bed (4), and when the video validator (82) captures images of the shelf bins Chu Ge, the horizontal reference (83) is located within the images of the shelf bins Chu Ge for validating the horizontal status of the cargo bed (4) and the shelves within the proof images.
4. A fully automatic stacking apparatus for warehouse use as claimed in claim 3, wherein: the horizontal verification assembly (8) is used for verifying the corresponding horizontal position of the cargo carrying platform (4) and the shelf storage grid of the stereoscopic warehouse in the moving process of the cargo carrying platform (4) or the moving process of the cargo carrying platform (4) along with the double-upright-post portal (2), and specifically comprises the following steps:
the PLC control cabinet (7) determines an action path to control the stacking equipment to carry out inventory/pick-up based on the received inventory/pick-up instruction, and the high-speed code scanner (81) continuously scans the bar codes of the storage grids attached to the storage grids of the goods shelves passing by the goods carrying platform (4) when moving on the goods carrying platform (4) and sends the identified bar code information to the PLC control cabinet (7);
the PLC control cabinet (7) determines a bar code coordinate point according to the received bar code information, and connects the bar code coordinate point to generate an actual path;
the PLC control cabinet (7) judges whether the actual path is consistent with the action path;
if the goods are consistent, judging that the goods carrying platform (4) and the storage grid of the target goods shelf are in a relative horizontal state;
if not, judging whether the actual path end point identifies the bin Chu Ge bar code of the target shelf bin Chu Ge;
if the bar code failure information is identified, bar code attaching fault information is generated and sent to a manager, whether the bar code failure phenomenon exists is checked based on a bar code information acquisition interval, and if the bar code failure phenomenon exists, the bar code failure information and the bar code attaching fault information are generated and packaged and sent to the manager;
if not, a video verifier (82) is started to acquire images of the goods shelf Chu Ge to verify the corresponding horizontal positions of the goods shelf (4) and the goods shelf grid of the stereoscopic warehouse.
5. The full-automatic stacking apparatus for warehouse according to claim 4, wherein the video startup verifier (82) collects the corresponding horizontal positions of the image verification cargo table (4) of the shelf warehouse Chu Ge and the shelf warehouse grid of the stereoscopic warehouse, specifically comprising the steps of:
starting a video verifier (82) to collect images of a goods shelf warehouse Chu Ge, and judging whether the goods carrying platform (4) and the goods shelf warehouse grid of the stereoscopic warehouse are in an inclined state or not based on a horizontal reference object (83) in the images of the goods shelf warehouse grid;
if the horizontal reference object (83) is in an inclined state, judging that the cargo carrying platform (4) is in an inclined state, generating inclination maintenance information of the cargo carrying platform (4) and sending the inclination maintenance information to a manager;
if the horizontal reference object (83) is in a horizontal state, extracting the number of the bin Chu Ge in the storage grid image of the goods shelf to judge whether the number is the same as the number of the target storage grid;
if the storage bin numbers are different, determining deviation of the positioning system, restarting the positioning system in the PLC controller, and planning and generating an action path again based on the storage bin Chu Ge numbers in the storage rack images to control the stacking equipment to carry out inventory/picking;
if the acquired storage rack images are the same, scaling and rotating the acquired storage rack Chu Ge images, and then overlapping and comparing the acquired storage rack Chu Ge images with preset standard storage grid images, and judging whether the acquired storage rack storage grid images are consistent with storage rack frames in the preset standard storage grid images or not;
if the acquired images are consistent, the cargo carrying platform (4) and the target storage rack are in a relative horizontal state, and whether the storage rack bar codes of the target storage rack exist in the acquired images of the storage rack Chu Ge or not is extracted and judged;
if the information does not exist, bar code missing information is generated and sent to a manager, and a PLC control cabinet (7) synchronously controls an automatic bidirectional telescopic fork (6) to finish goods storage and taking operation to a target goods shelf storage grid;
if the code scanning device exists, restarting the high-speed code scanning device (81) and then scanning the code again, and if the code scanning device does not acquire the bar code information of the target goods shelf bin Chu Ge yet, generating fault information of the code scanning device and sending the fault information to a manager, wherein the PLC control cabinet (7) synchronously controls the automatic bidirectional telescopic fork (6) to finish goods storage and fetching operation to the target goods shelf bin;
if the two storage racks are inconsistent, the cargo carrying platform (4) and the target storage rack are in a dislocation state, and whether the target storage rack deforms or not is judged based on difference comparison information;
if the storage cloud management server is deformed, generating shelf deformation warning information, and acquiring a new goods storage instruction from the storage cloud management server;
if no deformation exists, the difference comparison information is led into a preset micro-motion adjustment model to calculate and generate a micro-motion adjustment instruction, a PLC control cabinet (7) moves the position of the cargo carrying platform (4) based on the micro-motion adjustment instruction so that the cargo carrying platform (4) and the target storage grid are in a relative horizontal state, and the PLC control cabinet (7) synchronously controls the automatic bidirectional telescopic fork (6) to finish cargo storage and fetching operation to the target storage grid; the jog adjustment model is formed by training a machine learning model through historical jog adjustment data.
6. A fully automatic stacking apparatus for warehouse according to claim 1, characterized in that the track assembly (1) comprises:
the ground guide rail (11) is arranged in the stereoscopic warehouse roadway, and the bottom of the double-upright-post portal frame (2) is connected with the ground guide rail (11); the method comprises the steps of,
the auxiliary guide rail (12) is arranged above the ground guide rail (11), is connected with the top of the double-upright portal frame (2), and is parallel to the ground guide rail (11).
7. A fully automatic stacking apparatus for warehouse according to claim 6, characterized in that the double upright portal (2) comprises:
the bottom beam (21) is connected with the ground guide rail (11), and is driven by the travelling mechanism (3) to slide in a roadway along the ground guide rail (11);
the two upright posts (22) are arranged along the vertical direction, and the bottoms of the two upright posts are fixedly connected with the bottom beam (21); the method comprises the steps of,
the top beam (23) is arranged at the tops of the two upright posts (22) and is connected with the auxiliary guide rail (12), and the top beam is driven by the travelling mechanism (3) to slide in the roadway along the auxiliary guide rail (12).
8. A fully automatic stacking device for warehouse according to claim 7, characterized in that the travelling mechanism (3) comprises:
a plurality of travelling wheels (31) which are arranged on the bottom beam (21) and are arranged on the ground guide rail (11) in a sliding manner;
a high-speed walking driving motor (32) which is arranged on the bottom beam (21) and is in transmission connection with a plurality of walking wheels (31); the method comprises the steps of,
a plurality of auxiliary wheels (33) mounted on the top beam (23) and slidably disposed on the auxiliary guide rail (12).
9. A fully automatic stacking apparatus for warehouse according to claim 7, characterized in that the lifting mechanism (5) comprises:
two groups of lifting pulley blocks (51) are arranged at the bottom of the top beam (23) and are respectively penetrated with lifting steel wire ropes which are respectively connected with two ends of the cargo carrying platform (4) in the width direction; the method comprises the steps of,
and the hoisting motor (52) is arranged on the upright post (22) and used for winding two groups of steel wire ropes penetrated by the lifting pulley blocks (51).
10. The full-automatic stacking device for storage according to claim 1, wherein the track assembly (1) further comprises a safety limiting device (13), and the safety limiting device (13) comprises a car bumper (131), a terminal limiting power switch (132), a safety hook rope (133) and an oil buffer (134) which are arranged at two ends of the ground guide rail (11) in sequence.
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