CN208576999U - Automatic collection packet system - Google Patents
Automatic collection packet system Download PDFInfo
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- CN208576999U CN208576999U CN201821149918.2U CN201821149918U CN208576999U CN 208576999 U CN208576999 U CN 208576999U CN 201821149918 U CN201821149918 U CN 201821149918U CN 208576999 U CN208576999 U CN 208576999U
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Abstract
The utility model discloses a kind of automatic collection packet systems, are related to warehouse logistics technical field.One specific embodiment of the automatic collection packet system includes: scheduling system, collection tundish vessel, full lattice detection device, transfer robot；Wherein, the collection tundish vessel is set to the container rest area below drop piece bin；The full lattice detection device is used for when determining that the collection tundish vessel expires lattice, sends full lattice signal to the scheduling system；The scheduling system is used for according to the full lattice signal, and the collection tundish vessel of full lattice is carried to Ji Bao centralized processing area by control transfer robot.For the embodiment using transfer robot under the unified command of scheduling system, the collection tundish vessel flexible for carrying full lattice goes to specified Ji Bao centralized processing area, and it is more efficient, energy saving to enable to entirely to collect package operation, reduces the working strength of operator.
Description
Technical field
The utility model relates to warehouse logistics technical fields, more particularly to a kind of automatic collection packet system.
Background technique
Currently, in the packages technology of mainstream, craft Ji Bao/build packet is carried out by operator after the completion of packages,
I.e. with the artificial Ji Bao of mode of " people's arrival ".By taking the collection packet of flexible bag as an example, a typical craft Ji Bao/build packet procedures such as
Shown in Fig. 1.It is substantially the same using the process and this of other sets of containers packets.Wherein, Ji Bao is meant same destination
Express delivery is encapsulated into a sack.
During realizing the utility model, at least there are the following problems in the prior art for inventor's discovery:
1) in order to which the sack after Ji Bao is transferred to designated position according to service logic, which needs special setting
A large amount of transmission device (such as belt transmission line), on the one hand needs to increase equipment input cost, in another aspect equipment use
It needs to spend a large amount of electric power, use cost and maintenance cost are all very high.It is this in the sub- negligible amounts of required transmission collection bag
Waste can be especially obvious caused by still needing to lasting investment because of resource.Drop piece bin is distributed in the entire region Ji Bao simultaneously, needs
Plurality of printers is set, each drop piece bin is allowed nearby nearby to have a printer to print a bag board.
2) artificial Ji Bao requires operator to walk up and down between drop piece bin Ji Bao, increases the work of operator
Intensity；About half the time operator is walking about simultaneously, reduces the time for being actually used in Ji Bao, reduces practical collection
The efficiency of packet.
3) in transmission device layout, need to consider operating space and the human engineering of personnel, so that the flexibility of layout
Decline, while will also result in the waste in space.For example the application scenarios operated below steel platform, the artificial pack mode that collects require steel
Headroom > 2 meter below platform, this is not the requirement of transmission device, but considers the requirement of personnel's operation.
4) it manually under collection pack mode, generally requires to carry out rigid docking with subsequent process, therefore entire drop piece bin
Being arranged is also relative stiffness.It is unreasonable that this will lead to the problem of the bin utilization of resources: different moments drop piece bin package point
Cloth is different, and amount is especially big inside some moment drop piece bins, and does not have packet inside the same drop piece bin of another moment
The amount of wrapping up in, rigid system are helpless to this fluctuation.
5) manually operator is needed ceaselessly to make an inspection tour, and in the sack for finding to fill at the first time, so under collection pack mode
It the operation such as sealed, play destination label to sack afterwards, uniformly passed to after subsequent step again by operator according on sack
Address tag assign to different road directions, need two batches operator thus to do this thing.
Utility model content
In view of this, the utility model embodiment provides a kind of automatic collection packet system, it is in scheduling using transfer robot
Under the unified command of system, the collection tundish vessel flexible for carrying full lattice goes to specified Ji Bao centralized processing area, enables to entire
It is more efficient, energy saving to collect package operation, reduces the working strength of operator.
To achieve the above object, according to the one aspect of the utility model embodiment, a kind of automatic collection packet system is provided,
Including scheduling system, collection tundish vessel, full lattice detection device, transfer robot；Wherein, the collection tundish vessel is arranged in drop piece bin
The container rest area of lower section；The full lattice detection device is used for when determining that the collection tundish vessel expires lattice, to the scheduling system
Send full lattice signal；The scheduling system is used to dispatch transfer robot for the collection tundish vessel of full lattice according to the full lattice signal
It is carried to Ji Bao centralized processing area.
Optionally, the system also includes transport passage for transporting, and the width of the transport passage for transporting is at least more than transfer robot vehicle
Twice of body width, so that two transfer robots are walked side by side.
Optionally, the automatic collection packet system further includes that the sylphon rest area that container rest area periphery is arranged in and full box are put
Area is set, after empty collection tundish vessel is temporarily placed at sylphon rest area for transfer robot, lattice are expired into container rest area
Collection tundish vessel is temporarily placed at full box rest area, and the empty collection tundish vessel for being temporarily placed at sylphon rest area is added to the container
Rest area.
Optionally, the collection tundish vessel includes container and the bearing base for being used to support the container.
Optionally, the bearing base has preset height, and the preset height is at least above unloaded transfer robot
So that unloaded transfer robot shuttles in bearing base lower space.
Optionally, the top of the collection tundish vessel is arranged in the full lattice detection device.
Optionally, the full lattice detection device is reflection sensor.
Optionally, the transfer robot has walking mechanism and lifting mechanism, and the lifting mechanism will be for that will collect containing
Device jack-up leaves ground.
Optionally, the transfer robot has transfer mechanism, and the transfer mechanism takes out full lattice for transfer robot
Collection tundish vessel while the empty collection tundish vessel of supplement.
Optionally, the transfer mechanism includes connector, Flexible element and rising arm；
The connector includes connecting shaft, and described connector one end and the lifting mechanism are rigidly connected, and the other end passes through
Connecting shaft is connect with the rising arm；
Described Flexible element one end is connect with connector, and the other end is connect with the rising arm；
The default conditions of the rising arm are vertical state, when by the resistance opposite with the moving direction of transfer robot
When, for rising arm under the driving of the resistance, being rotated as the center of circle from vertical state using connecting shaft becomes horizontality；When described
It is when in a horizontal state to rise arm, the rising arm is for loading collection tundish vessel, and the upper surface of the rising arm is lower than the lifting
The upper surface of mechanism, so that the collection tundish vessel on lifting mechanism is liftoff and rising arm when lifting mechanism rises to the first height
On collection tundish vessel it is not liftoff；When on the rising arm in horizontality without collection tundish vessel, the rising arm is in the elasticity
Under the driving of unit, is rotated using connecting shaft as the center of circle and vertical state is returned to by horizontality.
Optionally, the transfer robot has rotating mechanism, and the rotating mechanism connect with the lifting mechanism, is used for
When being all loaded with collection tundish vessel on the rising arm and on the lifting mechanism and the lifting mechanism rises to the second height,
The lifting mechanism is driven to rotate, so that the collection tundish vessel on the rising arm and the collection tundish vessel on the lifting mechanism are exchanged
Position, wherein second height is greater than the first height.
One embodiment in above-mentioned utility model has the following advantages that or the utility model has the advantages that because takes collection package operation
" goods to people " mode: based on received full lattice signal, system United Dispatching transfer robot, the collection flexible for carrying full lattice are dispatched
Tundish vessel goes to specified Ji Bao centralized processing area.Therefore, operator is not needed in the automatic collection packet system of the utility model
Member walks up and down, and operator, which only needs to focus on area in Ji Bao, to be waited, and does not need transmission device, so that
Entire collection package operation is more efficient, energy saving, reduces the working strength of operator.
Further effect possessed by above-mentioned non-usual optional way adds hereinafter in conjunction with specific embodiment
With explanation.
Detailed description of the invention
Attached drawing is not constituteed improper limits to the present invention for more fully understanding the utility model.Wherein:
Fig. 1 is the schematic diagram for manually collecting pack mode next part packet procedures in the prior art；
Fig. 2 is the composition schematic diagram of the automatic collection packet system of the utility model embodiment；
Fig. 3 is the schematic diagram of the collection tundish vessel and transfer robot of the automatic collection packet system of the utility model embodiment；
Fig. 4 is the schematic diagram of the transfer mechanism of the transfer robot of another embodiment of the present invention；
Fig. 5-A to 5-F is the signal that the transfer robot with transfer mechanism of the embodiment of the present invention mend box operation
Figure；
Fig. 6 is the flow diagram according to the automatic collection packet procedures of the automatic collection packet system of the utility model embodiment.
Specific embodiment
It explains below in conjunction with exemplary embodiment of the attached drawing to the utility model, implements including the utility model
The various details of example should think them only exemplary to help understanding.Therefore, those of ordinary skill in the art answer
It, can be with various changes and modifications are made to the embodiments described herein, without departing from the scope of the utility model when recognizing
And spirit.Equally, for clarity and conciseness, descriptions of well-known functions and structures are omitted from the following description.
Fig. 2 is the composition schematic diagram according to the automatic collection packet system 200 of the utility model embodiment.As shown in Fig. 2, should be certainly
Dynamic collection packet system 200 includes scheduling system 201, collection tundish vessel 202, full lattice detection device 203, transfer robot 204；Wherein,
The collection tundish vessel 202 is set to the container rest area below drop piece bin；The full lattice detection device 203 is used for determining
When stating collection tundish vessel 202 expires lattice, full lattice signal is sent to the scheduling system 201；The scheduling system 201 is used for according to
The collection tundish vessel of full lattice is carried to Ji Bao centralized processing area by full lattice signal, scheduling transfer robot 204.
For convenience of description, the meaning and abbreviation of some terms involved in the utility model embodiment is described below.
1) full box: the collection tundish vessel for wrapping up and triggering full lattice detection device is filled；
2) sylphon: empty collection tundish vessel；
3) take box operation: transfer robot takes full collection tundish vessel away；
4) it mends box operation: supplementing empty collection tundish vessel；
5) drop piece bin: the package that sorting system sorts out falls into collection tundish vessel by drop piece bin；
Scheduling system 201 may include data storage cell, data processing unit, the first communication unit and the second communication
Unit.Data storage cell can store the cartographic information in the relevant information sum aggregate package operation place of each full lattice detection device；
Data processing unit can be that transfer robot plans road according to the full lattice signal of the cartographic information and full lattice detection device feedback
Diameter；First communication unit can send the path of carrying command and planning to transfer robot.Communication unit can be channel radio
T unit, such as bluetooth or WiFi module；Second communication unit can be connect with sorting system, for receiving full lattice signal
The instruction for stopping drop piece being sent to sorting system afterwards, and is removed in the collection tundish vessel of full lattice and supplements empty collection tundish vessel
The instruction for starting drop piece is sent to sorting system afterwards.
Wherein it is determined that whether the collection tundish vessel of full lattice is removed and determines whether to pass through supplemented with empty collection tundish vessel
In container rest area, setting weight sensor is realized.The weight sensor can be communicated to connect with scheduling system 201.For example, working as
When container rest area does not collect tundish vessel, the weight obtained from weight sensor can be 0kg, when the collection tundish vessel that placed sky
When, the weight obtained from weight sensor can be Nkg (N > 0), when the collection tundish vessel expires lattice, the weight that is obtained from weight sensor
Amount can be Mkg (M > N), therefore scheduling system 201 can determine whether to remove the collection tundish vessel of full lattice and be with the variation of weight
The no collection tundish vessel supplemented with sky.
In an alternate embodiment of the invention, the collection tundish vessel 202 includes container and the bearing base for being used to support the container.Hold
Device can be rigid container, be also possible to sack flexible.Container can be separated with bearing base.The bearing base is both container
Support device and transfer robot carry collection tundish vessel medium.It, can be with i.e. when transfer robot reaches collection tundish vessel
Cooperate with bearing base and executes transport operation.
In an alternate embodiment of the invention, bearing base has preset height, and the preset height is at least above unloaded carrying
Robot is so that unloaded transfer robot shuttles in bearing base lower space.In the present embodiment, work as transfer robot
When the collection tundish vessel of full lattice is moved, other transfer robots can shuttle rapidly below collection tundish vessel, to supplement empty collection
Tundish vessel.
As specific example, as shown in figure 3, collection tundish vessel includes container 301 and bearing base 302.The bearing base
302 have certain altitude, it is ensured that transfer robot 303 thereunder shuttle by space.
In an alternate embodiment of the invention, the top of the collection tundish vessel is arranged in the full lattice detection device 203.The Man Gejian
Surveying device 203 can be reflection sensor, such as infrared ray diffusing reflection formula sensor.Infrared ray diffusing reflection formula sensor can be with
One detecting distance is set, returns to full lattice signal to scheduling system when detected material reaches detecting distance；It usually will sensing
Device is installed on above collection tundish vessel, be arranged a package it is full when the detecting distance that detects just, full lattice detection is realized with this.
In an alternate embodiment of the invention, the transfer robot 204 has walking mechanism and lifting mechanism, the lifting mechanism
Ground is left for tundish vessel jack-up will to be collected.As specific example, it is (automatic that transfer robot can be various types of AGV
Guide transport vehicle).
Transfer robot also can have independent navigation unit, can be according to the collection tundish vessel for the full lattice for carrying out self scheduling system
Address and destination address automatic path planning.
In an alternate embodiment of the invention, it further includes transport passage for transporting that this collects packet system automatically, and the width of the transport passage for transporting is at least
Greater than twice of transfer robot width of the carbody, so that two transfer robots are walked side by side.As specific example, carry logical
The width in road is twice of transfer robot width of the carbody, i.e., transport passage for transporting is two lanes, can satisfy two transfer robots
Parallel walking.Therefore, transfer robot can carry the collection tundish vessel of full lattice on a lane, carry on another lane
Empty collection tundish vessel takes box operation and benefit box operation not to interfere with each other, can synchronize progress.It is also possible to guarantee in a vehicle
When road occurs abnormal, another lane can be used as lay aside and continue to use.
As a kind of specific example, can will collection package operation place be divided into the sorting area Ji Bao, the centralized processing area Ji Bao and
Transport passage for transporting.
Wherein, the sorting area Ji Bao refers to the region for actually occurring package unloading, Ji Bao.Multiple collection are placed in the region to contain
Device, collection tundish vessel are located at descending to the mortal world for drop piece bin, and the package sorted out enters collection containing by the modes such as direct plungeing into or sliding into
Device.The layout for collecting tundish vessel can be according to the layout type flexible setting of the drop piece bin of upper layer sorting system, the utility model
Herein with no restrictions.
Ji Bao centralized processing area refers to the full box that processing transfer robot is carried out from the sorting area Ji Bao.Operator is not necessarily to
It walks about in the venue, only need to focus on the fixed position in area in the Ji Bao and handle the full box carried out.Ji Bao focuses on area
It can be according to flow setting in the position close to operation in next step, to reduce the length of pipeline.Ji Bao focuses on area can be with
Setting one, can also be set as on demand multiple.Scheduling system can be incited somebody to action according to destination road direction or package quantity equalization factor
Transfer robot is diverted to different Ji Bao centralized processing areas, to increase the flexibility of automatic collection packet system.
When scheduling system receives full lattice signal, the nearest unloaded conveying robot of scheduling distance full box (target container)
People shuttles below bearing base, with the lower section of optimal route running to target container, then starts the act of transfer robot
It rises mechanism and will collect tundish vessel and jack up liftoff, specified Ji Bao centralized processing area is then gone to according to the path for dispatching systems organization,
It carries out mending box operation at the same time.Wherein, optimal path is a kind of global optimum, is to comprehensively consider distance, time, subregion heat
The optimal route of the factors such as degree, transfer robot oneself state (such as whether electricity is supported to complete entirely to carry), can use
Existing Path Planning planned, the present invention is herein with no restrictions.As specific example, optimal path be can be
The shortest path of distance objective container is also possible to reach the most fast path of target container.When selecting shortest path, need and
Other paths are repeatedly avoided, and can choose the fastest path at this time.
In other alternative-embodiments, it further includes Accreditation Waiting Area that this collects packet system automatically, which does not have for storing
The transfer robot of task.Charging unit can be set in Accreditation Waiting Area, for transfer robot charging.
In an alternate embodiment of the invention, automatically collection packet system further include be arranged in container rest area periphery sylphon rest area and
Full box rest area, after empty collection tundish vessel is temporarily placed at sylphon rest area for transfer robot, by container rest area
The collection tundish vessel of full lattice is temporarily placed at full box rest area, and the empty collection tundish vessel for being temporarily placed at sylphon rest area is added to
The container rest area.
After scheduling system receives full lattice signal, the transfer robot A that scheduling is loaded with empty collection tundish vessel, which is gone to, takes box.
When transfer robot A is reached, empty collection tundish vessel is first placed on sylphon rest area, is then moved the collection tundish vessel of full lattice to full
Box rest area, then move empty collection tundish vessel to container rest area, finally the collection tundish vessel of full lattice is transported at Ji Bao concentration
Manage area.
In an alternate embodiment of the invention, bearing base has preset height, and the preset height is at least above unloaded carrying
Robot is so that unloaded transfer robot shuttles in bearing base lower space.In the present embodiment, work as transfer robot
When the collection tundish vessel of full lattice is moved, other transfer robots can shuttle rapidly below collection tundish vessel, to supplement empty collection
Tundish vessel.
There are two types of the walking passageways of type in the automatic collection packet system of the present embodiment, the first is transport passage for transporting, and first
Kind is the shuttle channel collected below tundish vessel.For the first walking passageway, unloaded transfer robot and carry full lattice or
The transfer robot of empty collection tundish vessel can walk；For second of walking passageway, only unloaded transfer robot energy
Walking.In a preferred embodiment, unloaded transfer robot, which can be set, to walk on second of walking passageway, so that
Transfer robot can quickly reach the collection tundish vessel of full lattice or the collection tundish vessel of sky.
In other alternative-embodiments, transfer robot 204 can also have transfer mechanism, and the transfer mechanism is used for
Supplement empty collection tundish vessel while transfer robot takes out the collection tundish vessel of full lattice.
Specifically, as shown in figure 4, the transfer mechanism includes connector 401, Flexible element (not shown) and raising
Arm 402；
The connector 401 includes connecting shaft (not shown), and described 401 one end of connector and lifting mechanism 3031 are rigid
Property connection, the other end connect by connecting shaft with the rising arm 402.
Described Flexible element one end is connect with connector 401, and the other end is connect with the rising arm 402, as specific
Example, Flexible element can be spring.
The default conditions of the rising arm are vertical state (" 1. " position in figure), when by the movement with transfer robot
When contrary resistance, for rising arm under the driving of the resistance, being rotated as the center of circle from vertical state using connecting shaft becomes water
Level state (" 2. " position in figure)；When the rising arm is when in a horizontal state, which collects tundish vessel for loading, and
The upper surface of the rising arm is lower than the upper surface of the lifting mechanism, so that when lifting mechanism rises to the first height, lifting
Collection in mechanism tundish vessel is liftoff and rising arm on collection tundish vessel it is not liftoff；Do not collect when on the rising arm in horizontality
When tundish vessel, which is rotated as the center of circle using connecting shaft and is returned to vertically by horizontality under the driving of the Flexible element
State.
More specifically, the transfer robot has rotating mechanism, and the rotating mechanism is connect with the lifting mechanism, uses
In being all loaded with collection tundish vessel on the rising arm and on the lifting mechanism and the lifting mechanism rises to the second height
When, drive the lifting mechanism to rotate, so that the collection tundish vessel on the rising arm and the collection tundish vessel on the lifting mechanism
Reversing of position, wherein second height is greater than the first height.
In the present embodiment, lifting mechanism can have three state: original state, the first height condition and the second height
State.Wherein, original state is the default conditions of lifting mechanism, and the height of the transfer robot in this state is lower than carrying bottom
The height of seat；Collection tundish vessel can be jacked up and be detached from ground and rise by the lifting mechanism of the transfer robot in the first height condition
The collection tundish vessel risen on arm is in ground state (not liftoff)；The lifting mechanism of transfer robot in the second height condition and
Collection tundish vessel on rising arm can be detached from ground.Transfer mechanism and lifting mechanism are rigidly connected, and can rise with lifting mechanism
It rises and declines and raising declines, rotated with the rotation of lifting mechanism.Transfer mechanism is the raising of vertical state by default conditions
Arm and the rigidly connected connector of lifting mechanism and the Flexible element composition between connector and rising arm.Rising arm
Default conditions are vertical state, can be put down when being stopped by external force, i.e., rising arm becomes horizontality from vertical state, this
When, the upper surface of rising arm is lower than the upper surface of lifting mechanism.Rising arm in horizontality can load collection tundish vessel.Work as place
When on the rising arm of horizontality without collection tundish vessel, rising arm is using the connecting shaft of connector as the center of circle, in Flexible element
Vertical state is returned under driving.
Fig. 5-A to 5-F show the schematic diagram of the benefit box operation of the transfer robot with transfer mechanism.
(1) as shown in fig. 5-A, transfer robot carries the starting collected where tundish vessel that empty collection tundish vessel goes to full lattice
Address, at this point, empty collection tundish vessel is to be jacked up to be detached from ground by lifting mechanism, rising arm is in a vertical state.
(2) as shown in fig. 5-b, lifting mechanism is dropped to original state by transfer robot, below empty collection tundish vessel
It is moved to below the collection tundish vessel of full lattice, at this point, rising arm is become horizontality from vertical state by external force.
(3) as shown in fig. 5-c, lifting mechanism rises to the second height, and completely the collection tundish vessel of lattice and empty collection contain at this time
Device is all detached from ground, and then transfer robot moves backward a distance, and the initial address in figure refers to the collection tundish vessel of full lattice
Position where originally.
(4) as shown in Fig. 5-D, rotating mechanism drives lifting mechanism rotation, so that the collection tundish vessel and empty Ji Bao of full lattice
Container reversing of position.
(5) as shown in Fig. 5-E, transfer robot is moved forward, and is located at empty collection tundish vessel above initial address, lifting
Mechanism drops to the first height by the second height, and the empty collection tundish vessel on rising arm is fallen to the ground at this time, and lifting mechanism
On full lattice collection tundish vessel it is still liftoff.
(6) as shown in Fig. 5-F, transfer robot is moved backward, so that rising arm leaves the sky below empty collection tundish vessel
Between.After rising arm leaves empty collection tundish vessel lower space, rising arm returns to vertical state under the driving of Flexible element.It removes
The collection tundish vessel of full lattice is transported to destination address according to the order of scheduling system by fortune robot.
Based on the above, the automatic collection packet system of the present embodiment can have following three kinds of benefits box strategy:
1) after scheduling system receives full lattice signal, scheduling zero load robot B, which is gone to, takes box, while commander is loaded with sky
The transfer robot C of collection tundish vessel goes to benefit box.After the collection tundish vessel that transfer robot B moves full, transfer robot C
Empty collection tundish vessel is put down.Transfer robot C after the completion of benefit box becomes unloaded robot, can be in the tune of scheduling system
Another task is executed under degree.Wherein, transfer robot C can be the unloaded robot nearest apart from full collection tundish vessel.
2) after scheduling system receives full lattice signal, the transfer robot D that scheduling is loaded with empty collection tundish vessel, which is gone to, to be taken
Box.When transfer robot D is reached, empty collection tundish vessel is first placed on sylphon rest area, then removes the collection tundish vessel of full lattice
Initial address is moved to full box rest area, then by empty collection tundish vessel, and the collection tundish vessel of full lattice is finally transported to Ji Bao and is concentrated
Treatment region.
3) after scheduling system receives full lattice signal, the transfer robot E that scheduling is loaded with empty collection tundish vessel has been gone to
Beginning address, when transfer robot E reaches initial address, transfer robot E is mobile below the collection tundish vessel of the sky
To the collection tundish vessel of full lattice, so that the collection tundish vessel of the sky is located on rising arm and the collection tundish vessel of full lattice is located at lifting
In mechanism；Lifting mechanism is risen into the second height, so that the collection tundish vessel of the empty collection tundish vessel and the full lattice is liftoff；
The rotating mechanism is rotated, so that the collection tundish vessel reversing of position of the empty collection tundish vessel and the full lattice；It is removed described in movement
Robot E is transported, so that the collection tundish vessel of the sky is located above initial address；Lifting mechanism is dropped into the first height, so that
The collection tundish vessel of the sky falls within the initial address, and then the collection tundish vessel of full lattice is transported to Ji Bao and concentrated by transfer robot
Treatment region.
Above-mentioned three kinds of benefit boxes strategy can flexibly be selected according to factors such as place size, package quantity or budgets.For example, mending
Box strategy 2) it is to be applied to small-scale application scenarios, in this scenario, the package amount for sorting formation is fewer, corresponding carrying
Amount is just few, can realize that full box takes box and sylphon to supplement two movements, only needs to spend with a transfer robot at this time
More times.Mend box strategy 1) it is to take box in the scene used in medium-scale application scenarios and mend the movement of box by two
A transfer robot is completed to cooperate, this strategy implement it is fairly simple, but will use more transfer robots come it is real
Existing function, therefore whole efficiency is than scheme 2) higher, but cost is also higher.Mend box strategy 3) it is a kind of to be removed using more complicated
Robot is transported to realize the scheme of simpler function, suitable for large-scale application scenarios.In the application scenarios, because
Carrying measure it is sufficiently large cause to have had in walking passageway considerable transfer robot in busy operation, use and mend box strategy 3)
It realizes and not only ensure that the speed for changing box with a transfer robot, but also save transfer robot and walking passageway.Make at this time
With mend box strategy 1) although being also able to achieve, excessive transfer robot can allow walking channel congestion, and then reduce whole efficiency,
Automatic collection packet system provided by the embodiment of the utility model is come using multiple floor trucks with lifting function
The system realized flexibility, automate Ji Bao.When scheduling system receives full lattice signal, scheduling distance is full box (target container)
Nearest unloaded transfer robot shuttles below bearing base, with the lower section of optimal route running to target container, so
The lifting mechanism for starting transfer robot afterwards is liftoff by collection tundish vessel jack-up, then goes to finger according to the path of scheduling systems organization
Fixed Ji Bao focuses on area, carries out mending box operation at the same time.Therefore enable to entirely collect that package operation is more efficient, saves
Can, reduce the working strength of operator.
The automatic collection packet system is applicable not only to the collection package operation under reprint sorting AGV mode, is also applied for conventional cross
With the collection package operation under the Sorting Techniques such as sorter.
Fig. 6 is the flow diagram of the automatic collection packet method of the automatic collection packet system based on the utility model embodiment.It should
Automatic collection Bao Fangfa the following steps are included:
Step S601: scheduling system receives the full lattice signal for carrying out self-satisfied lattice detection device；
Step S602: scheduling system is based on the full lattice signal, initial address and destination address is determined, with planning path；
Step S603: the path is sent to transfer robot by scheduling system, so that transfer robot is by initial address
The collection tundish vessels of full lattice be carried to destination address.
Specifically, scheduling system is previously stored with the position where the cartographic information for collecting ground of making a block booking, each full lattice detection device
And with destination information corresponding to full lattice detection device, which is determined for the collection tundish vessel of the position
Which Ji Bao centralized processing area Man Gehou is transported to.
Therefore, after scheduling system receives full lattice signal, it can determine initial address (where the collection tundish vessel of full lattice
Position) and destination address (position in Ji Bao centralized processing area), optimal road is then planned according to the initial address and destination address
Diameter.
Scheduling system is determined according to the optimal path of planning and current carrying amount mends box strategy and transfer robot, carries
Robot takes box operation according to the benefit box strategy execution and mends box operation.
Wherein, in the automatic collection packet method of the present embodiment, can there are three types of mend box strategy:
The first: when receiving full lattice signal, dispatching the first transfer robot of system call for the full lattice of initial address
Collection tundish vessel be carried to destination address, and dispatch the second transfer robot and empty collection tundish vessel be transported to the starting point
Location；
Second: when receiving full lattice signal, scheduling system call is loaded with the third conveying robot of empty collection tundish vessel
People goes to initial address, and when the third transfer robot reaches initial address, the collection tundish vessel of the sky is placed on sylphon
Then the collection tundish vessel of full lattice is transported to full box rest area, then the empty collection for being placed on sylphon rest area is contained by rest area
Device is transported to the initial address；
The third: when receiving full lattice signal, scheduling system call is loaded with the 4th conveying robot of empty collection tundish vessel
People goes to initial address, when the 4th transfer robot reaches initial address, collection of the 4th transfer robot from the sky
It is moved to below tundish vessel below the collection tundish vessel of full lattice, so that the collection tundish vessel of the sky is located on rising arm and the collection of full lattice
Tundish vessel is located on lifting mechanism；Lifting mechanism is risen into the second height, so that the collection tundish vessel of the sky and the full lattice
Collection tundish vessel it is liftoff；The rotating mechanism is rotated, so that the collection tundish vessel of the empty collection tundish vessel and the full lattice is exchanged
Position；Mobile 4th transfer robot, so that the collection tundish vessel of the sky is located above initial address；Lifting mechanism is dropped
The first height is fallen on, so that the collection tundish vessel of the sky falls within the initial address.
Above-mentioned three kinds of benefit boxes strategy can flexibly be selected according to factors such as place size, package quantity or budgets, the present invention
Herein with no restrictions.
The automatic collection Bao Fangfa of this implementation, when scheduling system receives full lattice signal, the full box of scheduling distance (hold by target
Device) nearest unloaded transfer robot shuttles below bearing base, with the lower section of optimal route running to target container,
Then the lifting mechanism for starting transfer robot is liftoff by collection tundish vessel jack-up, is then gone to according to the path of scheduling systems organization
Specified Ji Bao focuses on area, carries out mending box operation at the same time.Therefore enable to entirely collect that package operation is more efficient, saves
Can, reduce the working strength of operator.
Flow chart and block diagram in attached drawing illustrate system, method and calculating according to the various embodiments of the utility model
The architecture, function and operation in the cards of machine program product.In this regard, each box in flowchart or block diagram can
To represent a part of a module, program segment or code, a part of above-mentioned module, program segment or code include one or
Multiple executable instructions for implementing the specified logical function.It should also be noted that in some implementations as replacements, box
Middle marked function can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated
It can actually be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.
It, can be with holding it is also noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Above-mentioned specific embodiment does not constitute the limitation to scope of protection of the utility model.Those skilled in the art answer
Should it is realized that, depend on design requirement and other factors, various modifications, combination, sub-portfolio and substitution can occur.
Any modifications, equivalent substitutions and improvements made within spirit of the present utility model and principle etc. should be included in practical
Within the scope of novel protected.
Claims (11)
1. a kind of automatic collection packet system, which is characterized in that including scheduling system, collection tundish vessel, full lattice detection device, conveying robot
People；
Wherein, the container rest area below drop piece bin is arranged in the collection tundish vessel；
The full lattice detection device is used for when determining that the collection tundish vessel expires lattice, sends full lattice signal to the scheduling system；
The scheduling system is used to dispatch transfer robot according to the full lattice signal for the collection tundish vessel of full lattice and be carried to Ji Bao
Focus on area.
2. system according to claim 1, which is characterized in that the system also includes transport passage for transporting, the transport passage for transporting
Width at least more than twice of transfer robot width of the carbody so that two transfer robots are walked side by side.
3. system according to claim 1, which is characterized in that the automatic collection packet system further includes that setting is placed in container
The sylphon rest area on area periphery and full box rest area, are put so that empty collection tundish vessel is temporarily placed at sylphon for transfer robot
After setting area, the collection tundish vessel that lattice are expired in container rest area is temporarily placed at full box rest area, sylphon rest area will be temporarily placed at
Empty collection tundish vessel add to the container rest area.
4. system according to claim 1, which is characterized in that the collection tundish vessel includes container and is used to support the container
Bearing base.
5. system according to claim 4, which is characterized in that the bearing base has preset height, the default height
Degree is at least above unloaded transfer robot so that unloaded transfer robot shuttles in bearing base lower space.
6. system according to claim 1, which is characterized in that the collection tundish vessel is arranged in the full lattice detection device
Top.
7. system according to claim 6, which is characterized in that the full lattice detection device is reflection sensor.
8. system according to claim 1, which is characterized in that the transfer robot has walking mechanism and lifting machine
Structure, the lifting mechanism leave ground for that will collect tundish vessel jack-up.
9. system according to claim 8, which is characterized in that the transfer robot has transfer mechanism, the transfer
Supplement empty collection tundish vessel while mechanism takes out the collection tundish vessel of full lattice for transfer robot.
10. system according to claim 9, which is characterized in that the transfer mechanism includes connector, Flexible element and rises
Rise arm；
The connector includes connecting shaft, and described connector one end and the lifting mechanism are rigidly connected, and the other end passes through connection
Axis is connect with the rising arm；
Described Flexible element one end is connect with connector, and the other end is connect with the rising arm；
The default conditions of the rising arm are vertical state, when by the resistance opposite with the moving direction of transfer robot,
For rising arm under the driving of the resistance, being rotated as the center of circle from vertical state using connecting shaft becomes horizontality；When the raising
Arm is when in a horizontal state, and the rising arm is for loading collection tundish vessel, and the upper surface of the rising arm is lower than the lifting machine
The upper surface of structure so that when lifting mechanism rises to the first height, the collection tundish vessel on lifting mechanism is liftoff and rising arm on
Collection tundish vessel it is not liftoff；When on the rising arm in horizontality without collection tundish vessel, the rising arm is single in the elasticity
Under the driving of member, is rotated using connecting shaft as the center of circle and vertical state is returned to by horizontality.
11. system according to claim 10, which is characterized in that the transfer robot has rotating mechanism, the rotation
Rotation mechanism is connect with the lifting mechanism, for be all loaded on the rising arm and on the lifting mechanism collection tundish vessel and
When the lifting mechanism rises to the second height, the lifting mechanism is driven to rotate, so that the collection tundish vessel on the rising arm
With the collection tundish vessel reversing of position on the lifting mechanism, wherein second height is greater than the first height.
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| CN201821149918.2U CN208576999U (en) | 2018-07-19 | 2018-07-19 | Automatic collection packet system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112446567A (en) * | 2019-08-28 | 2021-03-05 | 北京京东乾石科技有限公司 | Conveying line scheduling system and method |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112446567A (en) * | 2019-08-28 | 2021-03-05 | 北京京东乾石科技有限公司 | Conveying line scheduling system and method |
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