CN202743835U - Intelligent container - Google Patents
Intelligent container Download PDFInfo
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- CN202743835U CN202743835U CN 201220259218 CN201220259218U CN202743835U CN 202743835 U CN202743835 U CN 202743835U CN 201220259218 CN201220259218 CN 201220259218 CN 201220259218 U CN201220259218 U CN 201220259218U CN 202743835 U CN202743835 U CN 202743835U
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Abstract
The utility model discloses an intelligent container, which comprises at least one goods shelf, an intelligent trolley, a control table, an electric cabinet and a material table, wherein the goods shelf is provided with a plurality of goods lattices which are distributed from up to down and line by line, and a goods box is arranged in each goods lattice; the intelligent trolley is arranged on the goods shelf in parallel and is used for three-dimensional movement; the control table is arranged on or near the goods shelf and is used for generating a control instruction; the electric cabinet is arranged on or near the goods shelf and is used for supplying a driving power supply for the intelligent trolley; the material table is arranged on the goods shelf and is used for taking or loading goods; the control table is at least provided with an input device for inputting an instruction, and a processor which is connected with the input device and is used for generating the control instruction according to the instruction input by a user; and the electric cabinet is electrically connected with the control table to drive the intelligent trolley to reach any lattice of the goods shelf according to the control instruction, so that the goods box in the goods lattice can be moved on the material table or the goods box can be returned into the goods lattice from the material table, and further, the storage and taking efficiency of the goods can be improved.
Description
Technical field
The utility model relates to the device that the access goods is used in a kind of logistics treatment facility field, relates in particular to a kind ofly can move along three directions the intelligent counter of the crudely-made articles thing access of going forward side by side.
Background technology
Logistics trolley often uses in existing logistics treatment facility, especially between the discrepancy goods mouth of counter and each goods lattice, carry out transporting in the application of packing box extensive especially, it can be carried and access goods by fast speed, has greatly simplified the access procedure of goods, has improved transport efficiency.But existing dolly major part can only realize the movement of both direction, moves with horizontal direction such as vertical direction and moves, owing to the move mode of dolly has restricted the quantity of goods lattice in the counter, reduced the space availability ratio of counter, outage is improved, transport efficiency reduces.And the transmission device of existing intelligent carriage generally adopts chain, chain wheel driving mechanism, and this transmission device can produce in the transporting cargo process and rock, and causes intelligent carriage to produce excessive vibrations, causes potential safety hazard; Simultaneously, can be elongated and deformed when chain is subjected to load, therefore its deformation extent produces a very large impact the accurate location of intelligent carriage because handling load load is different.
The utility model content
The purpose of this utility model be exactly for overcome exist in the above-mentioned prior art be not, a kind of intelligent counter is provided, it can move and the goods of diverse location is carried out access along three directions at lift-on-lift-off intelligent carriage, effectively improved to the access efficiency of goods and to the degree of utilization in space, and the drive mechanism that adopts driven by motor ball-screw, ball-screw band movable slider to move in X-direction, so accurate positioning operates steadily, noise is little.
A kind of intelligent counter of realization above-mentioned purpose of the present utility model comprises:
At least one shelf has a plurality of goods lattice that distribute line by line from top to bottom on it, in its each goods lattice a packing box is housed;
Be parallel to the intelligent carriage that is used for carrying out three-dimensional direction moving that shelf are settled;
Be installed near the control desk that is used for generating control command on the shelf or it;
Be installed on the shelf or near the regulator cubicle that is used for providing for intelligent carriage driving power it;
Be installed in the material table that is used for picking or gets in stocks on the shelf;
Wherein, described control desk has the input media of the instruction inputted at least, and connects described input media generates control command with the instruction according to user's input treater;
Wherein, described regulator cubicle is electrically connected described control desk, for any the goods lattice that drives according to described control command on the described intelligent carriage arrival shelf, in order to the packing box on the goods lattice is moved to described material table or packing box is returned the arrival lattice from material table.
Preferably, described treater is upper computer, and described control command is the drive program of lower computer being controlled by being used for of generating of upper computer, and described upper computer is mounted on the lower computer in control desk or the regulator cubicle;
Wherein, be equipped with in the described regulator cubicle:
The X-axis servo-driver that is used for driving intelligent carriage the 3rd servomotor that connects lower computer;
The Y-axis servo-driver that is used for driving intelligent carriage the first servomotor that connects lower computer;
The Z axis servo-driver that is used for driving intelligent carriage the second servomotor that connects lower computer;
The rotating servo actuator that is used for driving intelligent carriage the 4th servomotor that connects lower computer; And
The door actuator of door motor that is used for driving material table that connects lower computer.
Preferably, intelligent carriage of the present utility model comprises: support; Be installed in the Y-axis truss on the support; Be installed in the Y-axis transmission device on the Y-axis truss; Be fixedly installed on the Z axis truss on the Y-axis transmission device, its under the drive of Y-axis transmission device on the Y-axis truss sway; Be installed in the Z-axis transmission mechanism on the Z axis truss; The X-axis moving cell that is connected with Z-axis transmission mechanism, it moves up and down at the Z axis truss; Be installed on the X-axis moving cell fork mechanism that is used for discharging of goods, this fork mechanism is done at the X-axis moving cell and is moved forward and backward and rotate around Z axis; Wherein, described Y-axis transmission device, Z-axis transmission mechanism and X-axis moving cell all link to each other with the control system of being located at the intelligent carriage outside.
Wherein, described Y-axis transmission device comprises: be packed in the Y-axis guide rail on the Y-axis truss; The Y-axis slide block of bottom face and Y-axis guide rail sliding block joint, its top end face is captiveed joint with described Z axis truss; Be packed in the Y-axis driver train on the Y-axis truss, it drives Y-axis slide block and Z axis truss sway on the Y-axis guide rail.
Wherein, described Z-axis transmission mechanism comprises: be packed in the Z axis guide rail on the Z axis truss; The Z axis slide block of bottom face and Z axis guide rail sliding block joint, its top end face is captiveed joint with the X-axis moving cell; Be packed in the Z axis driver train on the Z axis truss, it drives the Z axis slide block and the X-axis moving cell moves up and down at the Z axis guide rail.
Wherein, described X-axis moving cell comprises: the slide unit support of captiveing joint with the Z axis slide block and moving up and down at the Z axis guide rail under it drives; Be installed in respectively X-axis driver train and X-axis slide unit on the slide unit support; The X-axis slide block of bottom face and X-axis slide unit sliding block joint, it is connected with the X-axis driver train and can slides front and back on the X-axis slide unit under it drives; Wherein, described fork mechanism is connected with the X-axis slide block and is sliding before and after on the X-axis slide unit under the driving of X-axis driver train.
Preferably, described Y-axis driver train comprises: be fixedly mounted on the first servomotor on the described support; Be arranged on active toothed wheel and driven toothed wheel on the support, wherein initiatively toothed wheel is connected with the output shaft of the first servomotor; Take turns mutually the cog belt that meshes with active toothed wheel and driven toothed wheel; Cog belt is placed in cog belt anchor fitting on the Y-axis truss, and it is captiveed joint with the Z axis truss.
Preferably, described Z axis driver train comprises: be packed in the second servomotor on the Z axis truss; The steel rope that is connected with the second servomotor output shaft is around cylinder; Be sleeved on the steel rope of steel rope on cylinder, it is captiveed joint with described slide unit support.
Preferably, described X-axis driver train comprises: be packed in the 3rd servomotor on the slide unit support; The ball-screw that is connected with the 3rd servomotor output shaft, and ball-screw is connected with described X-axis slide block.
Preferably, described fork mechanism comprises: the pallet fork fixed mount that is connected with the X-axis slide block; The pallet fork of the conveying articles of captiveing joint with the pallet fork fixed mount which is provided with the electromagnet of adsorbable goods.
Further, described fork mechanism also is provided with the slewing arrangement that makes its rotation, and it comprises: be packed in the slewing arrangement bearing on the X-axis slide block; Be packed in and use on the slewing arrangement bearing so that the rotary actuator of pallet fork rotation; Be arranged on the slewing arrangement bearing and the rotary support that is connected with rotary actuator; Wherein, described pallet fork fixed mount is fixedly arranged on the rotary support top end face, and rotates at the slewing arrangement bearing under the drive of rotary actuator.
Preferably, described rotary actuator comprises: be packed on the slewing arrangement bearing and with four servomotor of described external control system by connection; First gear of captiveing joint with the output shaft of the 4th servomotor; With second gear of the first gear by the gear engagement; The worm screw of captiveing joint with the second gear; With the worm gear that worm screw is connected with a joggle by gear, its output shaft is captiveed joint with described rotary support.
Compared with prior art, intelligent carriage of the present utility model has following advantage:
1) because intelligent carriage of the present utility model has adopted the moving cell of X, Y, Z three directions, intelligent carriage can be moved with the goods to diverse location along three directions carry out accessing operation, thereby improved space availability ratio and to the access efficiency of goods, reduced outage;
2) drive mechanism that adopts driven by motor ball-screw, ball-screw band movable slider to move owing to intelligent carriage of the present utility model in X-direction, so accurate positioning operates steadily, noise is little;
3) because intelligent carriage of the present utility model has adopted slewing arrangement in fork mechanism, it can make fork mechanism rotate with discharging of goods around Z axis, and after discharging of goods homing again, so effectively saved the operational space, pallet fork can not interfered with other mechanism in course of action, and functional reliability is high.
Below in conjunction with accompanying drawing the utility model is elaborated.
Description of drawings
Fig. 1 is the integral structure schematic diagram of the intelligent carriage of the utility model intelligence counter;
Fig. 2 is the front view of intelligent carriage shown in Figure 1;
Fig. 3 is the lateral plan of intelligent carriage shown in Figure 1;
Fig. 4 is the birds-eye view of intelligent carriage shown in Figure 1;
Fig. 5 is A part enlarged drawing among Fig. 1;
Fig. 6 is B part enlarged drawing among Fig. 1;
Fig. 7 is C part enlarged drawing among Fig. 1;
Fig. 8 is D part enlarged drawing among Fig. 2;
Fig. 9 be among Fig. 8 E-E to cutaway view;
Figure 10 is the front view of intelligent counter of the present utility model;
Figure 11 is the birds-eye view of intelligent counter of the present utility model;
Figure 12 is the lateral plan of intelligent counter of the present utility model;
Figure 13 is the electrical schematic diagram of intelligent counter of the present utility model;
Figure 14 is that intelligent counter of the present utility model enters the goods control flow chart;
Figure 15 is intelligent counter picking control flow chart of the present utility model;
Figure 16 is the diagram of circuit that lower computer control intelligent carriage takes out packing box;
Figure 17 is the diagram of circuit that lower computer control intelligent carriage is put back to packing box.
Description of reference numerals: 1-support; The 2-Y shaft transmission; The 3-Z shaft transmission; 4-X axle moving cell; The 5-fork mechanism; The 7-shelf; The 8-regulator cubicle; The 9-control desk; The 10-material table; The 11-base plate; The 12-packing box; 21-Y axle truss; The 22-Y axis rail; 23-Y axle driver train; 24-Y axle slide block; 31-Z axle truss; The 32-Z axis rail; 33-Z axle driver train; 34-Z axle slide block; 41-slide unit support; The 43-slide unit; 51-X axle slide block; 52-pallet fork fixed mount; The 53-pallet fork; 54-slewing arrangement bearing; The 55-rotary support; The 56-rotary actuator; 231-the first servomotor; 232-is toothed wheel initiatively; 233-driven toothed wheel; The 234-cog belt; 235-cog belt anchor fitting; 331-the second servomotor; The 332-steel rope is around cylinder; The 333-steel rope; 421-the 3rd servomotor; The 531-electromagnet; 561-the 4th servomotor; 562-the first gear; 563-the second gear; The 564-worm screw; The 565-worm gear.
The specific embodiment
Be the intelligent carriage of the utility model intelligence counter as Figure 1-3, it comprises: support 1; Be installed in the Y-axis truss 21 on the support 1; Be installed in the Y-axis transmission device 2 on the Y-axis truss 21; Be fixedly installed on the Z axis truss 31 on the Y-axis transmission device 2, it goes up sway at Y-axis truss (21) under the drive of Y-axis transmission device 2; Be installed in the Z-axis transmission mechanism on the Z axis truss 31; The X-axis moving cell 4 that is connected with Z-axis transmission mechanism 3, it moves up and down at Z axis truss 31; Be installed on the X-axis moving cell 4 fork mechanism 5 that is used for discharging of goods, this fork mechanism is done at X-axis moving cell 4 and is moved forward and backward and rotate around Z axis; Wherein, Y-axis transmission device 2, Z-axis transmission mechanism 3 and X-axis moving cell 4 all link to each other with the control system of being located at the intelligent carriage outside.
Specifically, as shown in Figure 1, the support 1 of a pair of opposing setting and the Y-axis truss 21 that is fixedly mounted on the support 1 are basic building blocks of intelligent carriage, be equipped with at Y-axis truss 21 and can make the reciprocating Y-axis transmission device 2 in the left and right sides thereon, it is by the Y-axis guide rail 22 that is fixedly mounted on the Y-axis truss 21, be slidingly mounted on the Y-axis guide rail 22 and thereon sway Y-axis slide block 24 and be installed in and be used for driving Y-axis slide block 24 on the Y-axis truss 21 and form at the Y-axis driver train 23 that Y-axis guide rail 22 moves, because Y-axis slide block 24 is captiveed joint with Z axis truss 31, Z axis truss 31 is connected with Y-axis driver train 23, and Z axis truss 31 is connected connection with Z-axis transmission mechanism, so when Y-axis driver train 23 driving slide blocks move, can drive the movement of Z-axis transmission mechanism 3 about Y-axis guide rail 22 carries out.
Wherein, the action of Y-axis transmission device 2 is by following process implementation: the first servomotor 231 is propulsions source of Y-axis driver train 23, it is fixedly mounted on the support 1 and output shaft is connected with active toothed wheel 232 on being fixedly mounted on support 1, when a forward voltage being provided for the first servomotor 231, it is when the X-axis clickwise, can be with transmission of power to initiatively toothed wheel 232 and drive are moved to the left (Fig. 1 direction left) with active toothed wheel 232 by the cog belt 234 that gear is connected with a joggle, and cog belt 234 moves can drive with it and rotates by the driven toothed wheel 233 that is installed on another support 1 that gear is connected with a joggle, because cog belt anchor fitting 235 is captiveed joint with Z axis truss 31 and cog belt 234 is placed on the Y-axis truss 21, and Y-axis slide block 24 is captiveed joint with Z axis truss 31, so when the first servomotor 231 rotated, Y-axis slide block 24 can slide on the Y-axis guide rail 22 that is fixedly installed on the Y-axis truss 21 to the left or to the right.The Z-axis transmission mechanism 3 that can drive the Z axis truss 31 of captiveing joint with it simultaneously and be installed on the Z axis truss 31 is mobile to the left or to the right on Y-axis guide rail 22.
Shown in Fig. 1-4, Z-axis transmission mechanism 3 is by forming with lower member: be fixedly mounted on Z axis guide rail 32 and Z axis driver train 33 on the Z axis truss 31, move up and down at Z axis guide rail 32 and Z axis driver train 33 is connected with X-axis moving cell 4 and can drive it, Z axis slide block 34 is slidingly mounted on the Z axis guide rail 32 and with X-axis moving cell 4 captives joint, and stressed rear X-axis moving cell 4 can move up and down at Z axis guide rail 32 with it.As shown in Figure 6, Z axis driver train 33 comprises: be fixedly mounted on the second servomotor 331 on the Z axis truss 31, its output shaft is captiveed joint around cylinder 332 with steel rope, twining steel rope 333 at steel rope around cylinder 332, it is captiveed joint with the slide unit support 41 in the X-axis moving cell 4, and slide unit support 41 is captiveed joint with Z axis slide block 34 and can be moved up and down at Z axis guide rail 32.
When a forward voltage being provided for the second servomotor 331, when it clockwise rotates around X-axis, drive the steel rope of captiveing joint with its output shaft rotates around cylinder 332 thereupon, be wrapped in the steel rope 333 of steel rope on cylinder 332 move up (direction that Fig. 4 makes progress) thereby drive, namely and the slide unit support 41 in the pulling X-axis moving cell 4 moves up, and for the motion that makes slide unit support 41 steady, slide unit support 41 is captiveed joint with Z axis slide block 34, and Z axis slide block 34 can slide at Z axis guide rail 32, so when the second servomotor 331 when X-axis clockwise rotates, Z axis slide block 34 moves up, simultaneously can drive slide unit support 41 moves up, move up along Z axis guide rail 32 thereby drive X-axis moving cell 4, until move to desired location.
Shown in Fig. 1,5, X-axis moving cell 4 comprises: the slide unit support 41 of captiveing joint with Z axis slide block 34 and can move up and down at Z axis guide rail 32; Be fixedly mounted on X-axis driver train and X-axis slide unit 43 on the slide unit support 41; Be installed on the X-axis slide unit 43 and the X-axis slide block 51 that is connected with the X-axis driver train, it can slide front and back on X-axis slide unit 43; Fork mechanism 5 is connected with X-axis slide block 51 and is sliding before and after on X-axis slide unit 43 under the driving of X-axis driver train.The X-axis driver train forms by being fixedly mounted on the 3rd servomotor 421 on the slide unit support 41 and the ball-screw that is connected with the 3rd servomotor 421 output shafts.And fork mechanism 5 is comprised of the pallet fork 53 of the pallet fork fixed mount 52 that is connected with X-axis slide block 51, the goods deposited of captiveing joint with pallet fork fixed mount 52, and X-axis slide block 51 is captiveed joint with ball-screw, and in order to prevent goods landing in the process of conveying goods, be provided with the electromagnet 531 that goods can be adsorbed on the pallet fork 53 at each pallet fork 53.
Preferably, in order to make pallet fork 53 in the process of access goods, can space interference not occur with other goods or mechanism, also be provided with the slewing arrangement that can make pallet fork 53 rotations at fork mechanism 5, it comprises: captive joint with X-axis slide block 51, the slewing arrangement bearing 54 that slides before and after can be on X-axis slide unit 43, slewing arrangement bearing 54 be installed with can make rotary actuator 56 that pallet fork 53 is rotated and be connected with rotary actuator 56 also can be on slewing arrangement bearing 54 around X-axis along cw, the rotary support 55 of each half-twist of anticlockwise direction, wherein, rotary support 55 is captiveed joint with pallet fork fixed mount 52, also drive pallet fork fixed mount 52 when therefore it rotates and be rotated, be rotated thereby drive the pallet fork 53 that is fixed on the pallet fork fixed mount 52.
Further, rotary actuator 56 comprises: be packed in the 4th servomotor 561 on the slewing arrangement bearing 54, it links to each other with the control system of being located at the outside, it is the propulsion source of rotary actuator 56, and the first gear 562 is fixedly mounted on its output shaft, the second gear 563 and the first gear 562 are connected with a joggle by gear, the end of worm screw 564 passes the center of the second gear 563 and captives joint with it, the other end and worm gear 565 mesh by gear, so when 561 rotation of the 4th servomotor, its power is successively by the first gear 562, the second gear 563, worm screw 564 passes to worm gear 565, and transmission of power given the rotary support 55 captive joint with the output shaft of worm gear 565, thereby drive the pallet fork fixed mount 52 and pallet fork 53 rotations that is fixed on the rotary support 55.
The action of X-axis moving cell 4 is by following process implementation: when a forward voltage being provided for the 3rd servomotor 421, it is around the X-axis clickwise, drive simultaneously the ball-screw rotation, drive X-axis slide block 51 forward (Fig. 5 direction left) movement on X-axis slide unit 43 captive joint with ball-screw, and slewing arrangement bearing 54 and the pallet fork 53 that is fixed on the slewing arrangement bearing 54 move forward thereupon also; When pallet fork 53 moves to desired location, the 3rd servomotor 421 stops operating, a forward voltage is provided to this moment the 4th servomotor, it is rotated around the Y-axis clockwise direction, then it drives power and passes to rotary support 55 through rotary actuator 56, so that rotary support 55 on slewing arrangement bearing 54 around Z axis anticlockwise direction half-twist, after electromagnet 531 energising of being located on the pallet fork 53, electromagnet 531 can adsorb goods; A reverse voltage is provided for subsequently the 4th servomotor, it is rotated around the Y-axis anticlockwise direction, then this moment, rotary support 55 was around Z axis clockwise direction half-twist, drove pallet fork 53 and goods and got back to the initial position.
In X-axis moving cell 4, adopt the ball-screw-transmission can be to moving direction and the displacement precise control of pallet fork, and drive mechanism be simple, slides steadily better effects if; And in fork mechanism, also adopt rotary actuator 56, pallet fork is not disturbed, work safety and improved space availability ratio in access goods process with other goods or member.
In the utility model intelligent carriage first second, third and the 4th servomotor all and the control system of being located at the intelligent carriage outside by connection, control system can adopt and anyly power supply can be provided and control the controller that the intelligent carriage realization conveys goods between discrepancy goods mouth and each goods lattice.
The top-left position M (x, y, z) that is in Fig. 1 when goods locates, and intelligent carriage is when being positioned at position shown in Figure 1, and the function of intelligent carriage picking can be passed through following process implementation:
At first, control system provides a forward voltage for the first servomotor 231, it is rotated around the X-axis clockwise direction, and give initiatively toothed wheel 232 with transmission of power, drive cog belt 234 and be moved to the left (Fig. 1 direction left) with cog belt anchor fitting 235, thereby driving Z axis truss 31 is moved to the left at Y-axis guide rail 22 with Y-axis slide block 24, therefore driving Z-axis transmission mechanism 3 also is moved to the left, when being moved to the left to coordinate and being the position of y, control system stops to 231 power supplies of the first servomotor, and then Z-axis transmission mechanism 3 is slack.
Secondly, control system provides a forward voltage for the second servomotor 331, this moment second, servomotor 331 clockwise rotated around X-axis, then drive steel rope rotates around cylinder 332 thereupon, thereby pulling steel rope 333 moves up, the slide unit support 41 of captiveing joint with Z axis slide block 34 is moved up along Z axis guide rail 32, therefore driving X-axis moving cell 4 moves up, when moving to coordinate when being the position of z, control system stops to 331 power supplies of the second servomotor, and X-axis moving cell 4 stops at motionless herein.
Then, control system provides a forward voltage for the 3rd servomotor 421, the 3rd servomotor is around the X-axis clickwise, the rotation of drive ball-screw, and drive X-axis slide block 51 and move forward at X-axis slide unit 43, this moment, slewing arrangement bearing 54 and the pallet fork 53 that is fixed on the slewing arrangement bearing 54 also moved forward thereupon, when pallet fork 53 moves to desired location, stopped to 421 power supplies of the 3rd servomotor.
Again, control system provides a forward voltage for the 4th servomotor, it is rotated around the Y-axis clockwise direction, it drives transmission of power to rotary support 55, so that rotary support 55 is around Z axis anticlockwise direction half-twist, give this moment the electromagnet of being located on the pallet fork 53 531 energisings, then electromagnet 531 can adsorb goods, a reverse voltage is provided for subsequently the 4th servomotor, it is rotated around the Y-axis anticlockwise direction, then this moment, rotary support 55 was around Z axis clockwise direction half-twist, drove pallet fork 53 and goods and got back to the initial position.
At last, reverse voltage is provided for successively the second servomotor and the first servomotor, makes pallet fork 53 move to the storage/access goods mouth place of fixed position, goods is unloaded.
This moment, a workflow of picking finished.
From storage/access goods mouth the supreme rheme of goods handling is put, working process and the said process of intelligent carriage are similar, no longer repeat at this.
Intelligent carriage of the present utility model, the structure of its Y, Z direction adopt by some horizontal strokes, be longitudinally set with the truss structure that the steel pipe put forms, so can improve the rigidity of intelligent carriage and alleviate its weight; X, Y, three moving cells of Z can make the applicability of intelligent carriage wider, and adopt rotary actuator 56 that pallet fork can be rotated before and after the storage/access goods in the fork mechanism, so space availability ratio improves; The driver train of X, Y, three moving cells of Z adopts respectively servomotor ball-screw slide unit drive mechanism, servomotor synchronizing jugged form of gear tooth band drive mechanism and servomotor steel rope around cylinder wire rope gearing structure, namely save cost, make again motion steadily, delivering position is accurate; And, be provided with electromagnet at pallet fork, can effectively locate and prevent its landing in motion process to packing box.
Figure 10 to Figure 12 has shown the structure of intelligent counter of the present utility model, comprising: at least one shelf (7), and for example two shelf 7 have a plurality of goods lattice that distribute line by line from top to bottom on it, in its each goods lattice a packing box 12 are housed; Be parallel to the intelligent carriage 6 that is used for carrying out three-dimensional direction moving that shelf 7 are settled; Be installed near the control desk 9 that is used for generating control command on the shelf 7 or it; Be installed on the shelf 7 or near the regulator cubicle 8 that is used for providing for intelligent carriage driving power it; Be installed in the material table 10 that is used for picking or gets in stocks on the shelf 7; Wherein, described control desk 9 has an input media that is used for inputting instruction at least, and connects described input media generates control command with the instruction according to user's input treater; Wherein, described regulator cubicle 8 is electrically connected described control desk 9, be used for driving any goods lattice that described intelligent carriage 6 arrives on the shelf according to described control command, in order to the packing box 12 on the goods lattice is moved to described material table 10 or packing box 12 is returned the arrival lattice from material table 10.
More particularly, intelligent carriage 6 is between two row's shelf 7, the X-axis moving cell 4 of intelligent carriage 6 carries out three-dimensional direction moving, to arrive any the goods lattice on the shelf, in order to the packing box 12 on the goods yard is moved to described material table 10 or sends packing box 12 back to the arrival lattice from material table 10.
Such as Figure 10, Figure 11 and shown in Figure 12, intelligent carriage 6 and two framves 7 are installed on the base plate 11.Regulator cubicle 8, control desk 9 and material table 10 are installed in an end of two shelf 7.
Figure 13 has shown the circuit theory of intelligent counter of the present utility model, as shown in figure 13, above-mentioned treater can be upper computer, in the case, above-mentioned control command then is the drive program of lower computer being controlled by being used for of generating of upper computer, and upper computer is mounted on the lower computer in control desk 9 or the regulator cubicle 8.
On the other hand, lower computer is connected with: the X-axis servo-driver that is used for driving intelligent carriage the 3rd servomotor; Be used for driving the Y-axis servo-driver of intelligent carriage the first servomotor; Be used for driving the Z axis servo-driver of intelligent carriage the second servomotor; Be used for driving the rotating servo actuator of intelligent carriage the 4th servomotor; Be used for driving the door actuator of the door motor of material table.
Wherein, X-axis servo-driver, Y-axis servo-driver, Z axis servo-driver, rotating servo actuator, door actuator all can be installed within the regulator cubicle 8.
In addition, the input media of upper computer can be keyboard, touch-screen, card reader module.In addition, upper computer can also connect selectively: fingerprint identification module, monitoring video equipment, large screen display module, chopping machine, and wireless communication module such as GPRS module.
Lower computer can also connect selectively: zero signal sensor, position transduser, cargo sensors, pressure sensor, anti-pinch sensor, certainly detect module, certainly detect sensor, paired infrared light hurdle transceiver.
Figure 14 is that intelligent counter of the present utility model enters the goods control flow, comprising:
S101: in the time of before dispensing person sends to intelligent cabinet with goods, continue dispensing person's authentication, if the authentication password mistake enters goods and finishes (entering the goods failure).
S102: if authentication password is correct, scanning goods delivery code.
S103: corresponding control program is deciphered and generated to the upper computer code of will providing and delivering.
S104: lower computer receives control program.
S105: dolly returns zero (dolly is got back to zero point when the zero signal sensor-triggered).
S106: executive control program, the motion of control dolly, when position transduser triggered, dolly arrives specified the goods yard, takes out packing box.
S107: dolly continues motion and arrives door.
S108: be " expiring " state such as packing box, dolly returns zero point, and the concurrent prompting that makes mistake enters goods and finishes (entering the goods failure).
S109: be " sky " state such as packing box, dolly continues motion, and when door out position sensor-triggered, door is opened, and dispensing person puts into packing box with goods.
S110: be " expiring " state such as packing box, close door (as not putting into yet goods after a period of time, door will stay open state always, wait for and will put into goods, and send prompt tone).
S111: the packing box that dolly will be equipped with goods is put back to former goods yard.
S112: dolly returns zero point.
S113: single-piece enters goods and finishes.
Figure 15 has shown intelligent counter picking control flow of the present utility model, comprising:
S201: in the time of before client's (the third party) arrives intelligent cabinet, card reader scanning picking code.
S202: corresponding control program is deciphered and generated to upper computer with the picking code.
S203: lower computer receives control program.
S204: dolly returns zero (dolly is got back to zero point when the zero signal sensor-triggered).
S205: executive control program, the motion of control dolly, when position transduser triggered, dolly arrives specified the goods yard.
S206: dolly continues motion and arrives door.
S207: be " sky " state such as packing box, dolly returns zero point, the concurrent prompting that makes mistake, and picking finishes (picking failure).
S208: be " expiring " state such as packing box, door is opened, and the client takes out packing box with goods.
S209: be " sky " state such as packing box, close door (as not taking out yet goods after a period of time, door will stay open state always, wait goods to be removed, and send prompt tone).
S210: dolly is put back to former goods yard with empty packing box.
S211: dolly returns zero point.
S212: the single-piece picking finishes.
Figure 16 has shown the flow process that lower computer control intelligent carriage of the present utility model takes out packing box, comprising:
S301: vertical direction motor Z rotates, and horizontal direction motor Y rotates, and when position transduser triggers, arrives the A position.
S302: if institute's picking thing at front-seat shelf, 90 ° of motor M forwards, if institute's picking box was positioned at rear row's shelf just now, 90 ° of motor M counter-rotatings.
S303: cross motor X rotates, and pallet fork stretches out.
S304: vertical direction motor Z forward rotation arrives the goods case and puts C.
S305: the electromagnet energising holds packing box.
S306: vertical direction motor Z forward rotation in-position B.
S307: cross motor X rotates, and pallet fork is regained.
S308: if institute's picking box was positioned at front-seat shelf just now, 90 ° of motor M counter-rotatings, if institute's picking box was positioned at rear row's shelf just now, 90 ° of motor M forwards.
S309: take out packing box and finish.
Figure 17 has shown that lower computer control intelligent carriage puts back to the flow process of packing box, comprising:
S401: vertical direction motor Z rotates, and horizontal direction motor Y rotates, and when position transduser triggers, arrives the B position.
S402: if packing box will be put in front-seat shelf, 90 ° of motor M forwards, if packing box will be put in rear row's shelf, 90 ° of motor M counter-rotatings.
S403: cross motor X rotates, and pallet fork stretches out.
S404: vertical direction motor Z backward rotation arrives the goods case and puts C.
S405: the electromagnet outage, decontrol packing box.
S406: vertical direction motor Z backward rotation in-position A.
S407: cross motor X rotates, and pallet fork is regained.
S408: if packing box was placed on front-seat shelf just now, 90 ° of motor M counter-rotatings, if packing box was placed on rear row's shelf just now, 90 ° of motor M forwards.
S409: put back to packing box and finish.
In addition, cargo sensors shown in Figure 13 is installed on the door installed inside, and each row's aperture of XYZ direction is arranged on the packing box, determines in the box by cargo sensors (infrared scanning device) whether kinds of goods are packed into and taken out.
In addition, 4 zero signal sensors shown in Figure 13 are installed on respectively end position behind the X guide rail, Y guide rail limit on the right-right-hand limit position, Z guide rail smallest limit position and C axle (being the S. A. of pallet fork) zero degree position.The motion of each motor reversal is until each position signal transducer at zero point when all triggering, and each axle zero signal reaches lower computer, and dolly is got back to zero point.
Opto-electronic pickup and catch form (comprising limit position sensor, zero signal sensor) to position transduser shown in Figure 13 on Z slide block, the Y slide block by being installed on, uniform position transduser on Y Hang frame, Z Hang frame respectively, its position is corresponding with level number with the line number of packing box respectively, when dolly moved since zero point along Y-axis, every during through a catch, the opto-electronic pickup induction once, the lower computer calculator adds one, to determine the in-position, moving along Z axis also is so, takes out the appointment packing box thereby dolly can arrive nominated bank with layer.
Although above the utility model has been done detailed description; but the utility model is not limited to this; those skilled in the art can make amendment according to principle of the present utility model; therefore, all various modifications of carrying out according to principle of the present utility model all should be understood to fall into protection domain of the present utility model.
Claims (10)
1. an intelligent counter is characterized in that, comprising:
At least one shelf (7) have a plurality of goods lattice that distribute line by line from top to bottom on it, in its each goods lattice a packing box (12) is housed;
Be parallel to the intelligent carriage that is used for carrying out three-dimensional direction moving (6) that shelf (7) are settled;
Be installed near the control desk (9) that is used for generating control command that shelf (7) are upper or it is;
Be installed near the upper or regulator cubicle (8) that is used for providing for intelligent carriage driving power it of shelf (7);
Be installed in the material table (10) that is used for picking or gets in stocks on the shelf (7);
Wherein, described control desk (9) has the input media of the instruction inputted at least, and connects described input media generates control command with the instruction according to user's input treater;
Wherein, described regulator cubicle (8) is electrically connected described control desk (9), for any the goods lattice that drives according to described control command on described intelligent carriage (6) the arrival shelf.
2. intelligent counter according to claim 1 is characterized in that, described treater is upper computer, and described upper computer is mounted on the lower computer in control desk (9) or the regulator cubicle (8);
Wherein, be equipped with in the described regulator cubicle (8):
The X-axis servo-driver that is used for driving intelligent carriage the 3rd servomotor that connects lower computer;
The Y-axis servo-driver that is used for driving intelligent carriage the first servomotor that connects lower computer;
The Z axis servo-driver that is used for driving intelligent carriage the second servomotor that connects lower computer;
The rotating servo actuator that is used for driving intelligent carriage the 4th servomotor that connects lower computer; And
The door actuator of door motor that is used for driving material table that connects lower computer.
3. intelligent counter according to claim 2 is characterized in that, described intelligent carriage (6) comprising:
Support (1);
Be installed in the Y-axis truss (21) on the support (1);
Be installed in the Y-axis transmission device (2) on the Y-axis truss (21);
Be fixedly installed on the Z axis truss (31) on the Y-axis transmission device (2), it goes up sway at Y-axis truss (21) under the drive of Y-axis transmission device (2);
Be installed in the Z-axis transmission mechanism (3) on the Z axis truss (31);
The X-axis moving cell (4) that is connected with Z-axis transmission mechanism (3), it moves up and down at Z axis truss (31);
Be installed in the upper fork mechanism (5) that is used for discharging of goods of X-axis moving cell (4), this fork mechanism is done at X-axis moving cell (4) and is moved forward and backward and rotate around Z axis;
Wherein, described Y-axis transmission device (2), Z-axis transmission mechanism (3) and X-axis moving cell (4) all link to each other with the control system of being located at the intelligent carriage outside.
4. intelligent counter according to claim 3 is characterized in that, described Y-axis transmission device (2) comprising:
Be packed in the Y-axis guide rail (22) on the Y-axis truss (21);
The Y-axis slide block (24) of bottom face and Y-axis guide rail (22) sliding block joint, its top end face is captiveed joint with described Z axis truss (31);
Be packed in the Y-axis driver train (23) on the Y-axis truss (21), its driving Y-axis slide block (24) and Z axis truss (31) are in the upper sway of Y-axis guide rail (22).
5. intelligent counter according to claim 3 is characterized in that, described Z-axis transmission mechanism (3) comprising:
Be packed in the Z axis guide rail (32) on the Z axis truss (31);
The Z axis slide block (34) of bottom face and Z axis guide rail (32) sliding block joint, its top end face is captiveed joint with X-axis moving cell (4);
Be packed in the Z axis driver train (33) on the Z axis truss (31), it drives Z axis slide block (34) and X-axis moving cell (4) moves up and down at Z axis guide rail (32).
6. intelligent counter according to claim 5 is characterized in that, described X-axis moving cell (4) comprising:
The slide unit support (41) of captiveing joint and under it drives, moving up and down at Z axis guide rail (32) with Z axis slide block (34);
Be installed in respectively X-axis driver train and X-axis slide unit (43) on the slide unit support (41);
The X-axis slide block (51) of bottom face and X-axis slide unit (43) sliding block joint, it is connected with the X-axis driver train and can slides before and after X-axis slide unit (43) is upper under it drives;
Wherein, described fork mechanism (5) is connected with X-axis slide block (51) and slides before and after X-axis slide unit (43) is upper under the driving of X-axis driver train.
7. intelligent counter according to claim 4 is characterized in that, described Y-axis driver train (23) comprising:
Be fixedly mounted on the first servomotor (231) on the described support (1);
Be arranged on active toothed wheel (232) and driven toothed wheel (233) on the support (1), wherein initiatively toothed wheel (232) is connected with the output shaft of the first servomotor (231);
Take turns mutually the cog belt (234) that meshes with active toothed wheel (232) and driven toothed wheel (233);
Cog belt (234) is placed in cog belt anchor fitting (235) on the Y-axis truss (21), and it is captiveed joint with Z axis truss (31).
8. intelligent counter according to claim 6 is characterized in that, described Z axis driver train (33) comprising:
Be packed in the second servomotor (331) on the Z axis truss (31);
The steel rope that is connected with the second servomotor (331) output shaft is around cylinder (332);
Be sleeved on the steel rope (333) of steel rope on cylinder (332), it is captiveed joint with described slide unit support (41).
9. intelligent counter according to claim 6 is characterized in that, described X-axis driver train comprises:
Be packed in the 3rd servomotor (421) on the slide unit support (41);
The ball-screw that is connected with the 3rd servomotor (421) output shaft, and ball-screw is connected with described X-axis slide block (51).
10. intelligent counter according to claim 3 is characterized in that, described fork mechanism (5) comprising:
The pallet fork fixed mount (52) that is connected with X-axis slide block (51);
The pallet fork (53) of the conveying articles of captiveing joint with pallet fork fixed mount (52) which is provided with the electromagnet (531) of adsorbable goods; And
The slewing arrangement that utilizes the 4th servomotor (561) to be rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220259218 CN202743835U (en) | 2012-06-01 | 2012-06-01 | Intelligent container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220259218 CN202743835U (en) | 2012-06-01 | 2012-06-01 | Intelligent container |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202743835U true CN202743835U (en) | 2013-02-20 |
Family
ID=47703269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220259218 Expired - Lifetime CN202743835U (en) | 2012-06-01 | 2012-06-01 | Intelligent container |
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| Country | Link |
|---|---|
| CN (1) | CN202743835U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104925437A (en) * | 2015-05-07 | 2015-09-23 | 华中科技大学 | Expansible intelligent warehousing system facing SMD |
| CN105189313A (en) * | 2013-03-13 | 2015-12-23 | 西姆伯蒂克有限责任公司 | Storage and retrieval system rover interface |
| CN106044036A (en) * | 2016-08-01 | 2016-10-26 | 厦门大学嘉庚学院 | Stereoscopic warehouse suspension type conveying device and use method |
| WO2017063238A1 (en) * | 2015-10-16 | 2017-04-20 | 钟高锋 | Self-service intelligent storing and taking device having interchange storing and taking trolley |
| CN108584272A (en) * | 2018-08-09 | 2018-09-28 | 中建材凯盛机器人（上海）有限公司 | Intelligent tri-dimensional storage system |
| CN111148705A (en) * | 2017-08-03 | 2020-05-12 | 怡卡姆有限公司 | Selective access device for a pick/deposit station in a warehouse and pick/deposit station provided with such a device |
| CN114772126A (en) * | 2022-04-29 | 2022-07-22 | 江苏经贸职业技术学院 | Storehouse is stored to cold bright of commodity circulation warehouse that multilayer platform over-and-under type switched |
-
2012
- 2012-06-01 CN CN 201220259218 patent/CN202743835U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105189313A (en) * | 2013-03-13 | 2015-12-23 | 西姆伯蒂克有限责任公司 | Storage and retrieval system rover interface |
| CN105189313B (en) * | 2013-03-13 | 2017-11-21 | 西姆伯蒂克有限责任公司 | Storage and retrieval system car interface |
| CN104925437A (en) * | 2015-05-07 | 2015-09-23 | 华中科技大学 | Expansible intelligent warehousing system facing SMD |
| CN104925437B (en) * | 2015-05-07 | 2017-04-26 | 华中科技大学 | Expansible intelligent warehousing system facing SMD |
| WO2017063238A1 (en) * | 2015-10-16 | 2017-04-20 | 钟高锋 | Self-service intelligent storing and taking device having interchange storing and taking trolley |
| CN106044036A (en) * | 2016-08-01 | 2016-10-26 | 厦门大学嘉庚学院 | Stereoscopic warehouse suspension type conveying device and use method |
| CN106044036B (en) * | 2016-08-01 | 2018-06-15 | 厦门大学嘉庚学院 | Tiered warehouse facility suspension type conveying device and application method |
| CN111148705A (en) * | 2017-08-03 | 2020-05-12 | 怡卡姆有限公司 | Selective access device for a pick/deposit station in a warehouse and pick/deposit station provided with such a device |
| CN111148705B (en) * | 2017-08-03 | 2021-10-15 | 怡卡姆有限公司 | Selective access device for a pick/deposit station in a warehouse and pick/deposit station provided with such a device |
| CN108584272A (en) * | 2018-08-09 | 2018-09-28 | 中建材凯盛机器人（上海）有限公司 | Intelligent tri-dimensional storage system |
| CN114772126A (en) * | 2022-04-29 | 2022-07-22 | 江苏经贸职业技术学院 | Storehouse is stored to cold bright of commodity circulation warehouse that multilayer platform over-and-under type switched |
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| C14 | Grant of patent or utility model | ||
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Assignee: BEIJING EAST MACHINERY TECHNOLOGY Co.,Ltd. Assignor: Shi Guiqiang Contract record no.: 2013990000505 Denomination of utility model: Intelligent container control system Granted publication date: 20130220 License type: Exclusive License Record date: 20130821 |
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| CP01 | Change in the name or title of a patent holder |
Address after: 100121, building 2, building 11, Kangding street, Beijing economic and Technological Development Zone, Beijing, Patentee after: Beijing Zelai Technology Co.,Ltd. Address before: 100121, building 2, building 11, Kangding street, Beijing economic and Technological Development Zone, Beijing, Patentee before: BEIJING EAST MACHINERY TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20200608 Address after: Room 201, unit 1, building 6, South jinmaoyue District, No. 18, Sihai Road, economic and Technological Development Zone, Daxing District, Beijing 102600 Patentee after: Beijing mingnanhui Technology Co.,Ltd. Address before: 100121, building 2, building 11, Kangding street, Beijing economic and Technological Development Zone, Beijing, Patentee before: Beijing Zelai Technology Co.,Ltd. |
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Denomination of utility model: Zhi Nenghuogui Effective date of registration: 20210111 Granted publication date: 20130220 Pledgee: Jiuge Technology (Beijing) Co.,Ltd. Pledgor: Beijing mingnanhui Technology Co.,Ltd. Registration number: Y2021990000030 |
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