CN210593670U

CN210593670U - Automatic warehousing system

Info

Publication number: CN210593670U
Application number: CN201921223421.5U
Authority: CN
Inventors: 王睦雄
Original assignee: Guangdong Shengda Technology Co ltd
Current assignee: Guangdong Shengda Technology Co ltd
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2020-05-22
Anticipated expiration: 2029-07-31

Abstract

The utility model relates to an automatic warehousing system, including the magnetic orbit and the carrier that traveles along the magnetic orbit, be equipped with the tray that is used for bearing the weight of the product on the carrier, the magnetic orbit includes preceding section, returns section and multistage linkage segment, the head end of preceding section is connected with the end of returning the section, the end of preceding section is connected with the head end of returning the section, preceding section and returning the section and constituting annular magnetic orbit, each linkage segment sets up side by side, and the both ends of each linkage segment are connected with preceding section, returning the section respectively; the carrier is provided with a lifting mechanism, a photoelectric eye, a distance sensor and a magnetic navigation sensor, the lifting mechanism is installed on the upper portion of the carrier body, and the tray is installed on the power output end of the lifting mechanism. The carrier of the automatic warehousing system can select a conveying path according to the self-carrying condition, and meanwhile, the collision between the carriers can be avoided in the carrying process, so that the product conveying efficiency is improved, and the labor cost is reduced.

Description

Automatic warehousing system

Technical Field

The utility model relates to a logistics storage technical field especially relates to an automatic warehouse system.

Background

At present, with the continuous improvement of the automation level of the traditional industry of medium and small cities, more and more medium and small enterprises begin to adopt intelligent robots and complete sets of automation equipment, so that the production efficiency of the enterprises is improved. For example, an automatic warehousing system is adopted to automatically convey finished products of a production line, so that the manual carrying cost is reduced. The automatic warehousing system comprises a track arranged in a production workshop and a carrying vehicle for transporting on the track. The carrier is usually driven by a rechargeable driving device, and the carrier is provided with a tray, and when the product is completely processed and packaged, the product is placed on the tray by a manufacturer and is conveyed to a designated position by the carrier through a rail.

A common automatic warehousing system can design and lay tracks according to the field size of an enterprise, adopt different numbers of transport vehicles according to the actual production scale, and change corresponding control programs to meet different production requirements when the production scale of the enterprise is changed. For example, in the production of shoes, a plurality of production lines are operated at the same time, rails are laid to pass through the ends of all the production lines, and workers at the end stations place finished shoe products on passing carriers and send the finished shoe products to a product area through the carriers. Such a track is generally designed in an endless manner, and a plurality of carriers are arranged in tandem on the track to perform a carrying operation, and when a plurality of carriers are present on the track, due to a time difference between loading and unloading, the two carriers collide with each other easily to affect a finished product conveying.

Disclosure of Invention

The utility model aims to solve the problem that an automatic warehousing system is provided, this kind of automatic warehousing system's carrier can be according to self year thing condition selection transport route, can avoid taking place the collision between the carrier in handling simultaneously, improves the efficiency of product transportation, reduces the cost of labor. The technical scheme is as follows:

the utility model provides an automatic warehousing and storage system, includes the magnetic track and follows the carrier that the magnetic track traveled, is equipped with the tray that is used for bearing the product on the carrier, its characterized in that: the magnetic track comprises a forward section, a return section and a plurality of connecting sections, wherein the head end of the forward section is connected with the tail end of the return section, the tail end of the forward section is connected with the head end of the return section, the forward section and the return section form an annular magnetic track, the connecting sections are arranged side by side, and two ends of each connecting section are respectively connected with the forward section and the return section; the automatic lifting device is characterized in that the carrying vehicle is provided with a lifting mechanism, a photoelectric eye, a distance sensor and a magnetic navigation sensor, the lifting mechanism is installed on the upper portion of the vehicle body of the carrying vehicle, the tray is installed on a power output end of the lifting mechanism, the photoelectric eye is arranged on the upper surface of the tray, the distance sensor is arranged at the front end of the vehicle body of the carrying vehicle, and the magnetic navigation sensor is arranged at the front lower end of the vehicle body of the carrying vehicle.

The head end of the forward section of the magnetic track is connected with the tail end of the return section, the tail end of the forward section is connected with the head end of the return section, so that the forward section and the return section of the magnetic track form an annular track, and the carrier runs clockwise on the annular track.

The carrier generally comprises a vehicle body, wheels driven by a motor are arranged at the bottom of the vehicle body, a rechargeable battery with a charging port is arranged on the vehicle body, and a tray is arranged at the upper part of the vehicle body through a lifting mechanism; the cart is provided with a control module for controlling the operation of each functional component, and the control module usually comprises a PLC and an associated control circuit.

Be equipped with a plurality of material loading stations on the orbital section of going ahead of above-mentioned magnetism, the top of material loading station is equipped with goods shelves, the magnetism track is through the below of material loading station, there is at least one material loading station between the section interval that moves ahead between the head end of two sections adjacent linkage segments, when the carrier passes through certain material loading station, whether there is the product by the goods shelves of photoelectricity eye detection material loading station top on the tray, if the goods shelves that detect material loading station top have the product (photoelectricity eye receives the product to shelter from promptly), then the carrier pause is gone, elevating system drive tray rises and bears the product, the product covers photoelectricity eye, then the tray descends, see the product out by the carrier.

The magnetic track is provided with a product unloading area at the joint of the head end of the forward section and the tail end of the return section, when the carrier runs to this point, a worker in the unloading area unloads the product from the carrier, and the carrier continues to advance into the forward section. In addition, still can set up the horizontal mark rail of a segment at the district of unloading, judge when the carrier moves to this moment and reach the district of unloading, the carrier can stop traveling here, is unloaded by the workman.

The distance sensor can adopt the existing ultrasonic distance sensor on the market, and has good sensitivity and high reliability; the magnetic navigation sensor is provided with one to a plurality of groups of miniature magnetic field detection sensors, a plurality of detection points are usually arranged at the intersection of the magnetic track, each magnetic field detection sensor corresponds to one detection point, so that different magnetic field reactions are arranged at the intersection, and the action route of the carrier is selected through the magnetic field reaction detected by the magnetic navigation sensor.

The carrier runs on the magnetic track, runs from the head end of the forward section to the tail end of the forward section, enters the head end of the return section, and then runs to the tail end of the return section, enters the head end of the forward section, and the conveying mode of circular running is implemented. When the truck travels on the magnetic track, the photoelectric eye and the magnetic navigation sensor jointly determine to determine the traveling route of the truck:

(1) if the carrier runs on the forward section of the magnetic track, the photoelectric eye on the tray is not shielded, the carrier is regarded as no-load, and the carrier runs straight along the forward section of the magnetic track until entering the return section;

(2) if the carrier runs on the forward section of the magnetic track, the photoelectric eye is shielded by a product placed on the tray, the carrier is in a bearing state, the magnetic navigation sensor starts to detect the connection position of the head end of the first connection section closest to the current position and the forward section, and the right-turning is selected to enter the connection section by default;

(3) if the carrier runs on the connecting section of the magnetic track, the carrier moves straight along the connecting section to the connecting part of the tail end of the connecting section and the return section, and the carrier is selected to turn right by default to enter the return section;

(4) if the truck travels on the return section of the magnetic track, the truck travels straight along the return section of the magnetic track until reentering the forward section, and if the truck has a loaded product, the truck is unloaded by a worker in an unloading area at the end of the return section.

That is, if the carrier does not carry a product, it circulates only on the forward section and the return section, and when a product is carried on the carrier, the connection section closest to the current position is selected as a conveying path so that the product is conveyed to the discharge area by the shortest conveying distance. Meanwhile, the distance sensor at the front end of the carrier body is used for detecting the road condition in front under the condition that a plurality of carriers work simultaneously, and when other carrier vehicles exist in front of the carrier vehicle, the carrier vehicle can be decelerated or even paused according to actual conditions, so that collision among the carrier vehicles in the carrying process is avoided.

As the utility model discloses an optimal scheme, be equipped with along the front end lower part of carrier and block the strip, block and be equipped with collision sensor on the strip. In actual operation, because the carrier needs to be paused to carry a product when passing through a loading station, and needs to be paused to carry out unloading when reaching an unloading area, although a distance sensor is used for distance control, the potential safety hazard that the front carrier and the rear carrier collide due to improper control can also exist in actual operation, and in case of collision accidents, timely alarm can be given through the collision sensor. In addition, due to the fact that the operation environment is messy, sundries and the like possibly exist on the magnetic track to block the running of the carrier, when the carrier meets sudden obstacles (namely, the barrier strips touch the obstacles), an alarm can be given in time, and workers can stop running of the carriers, so that the obstacles can be removed, and faults can be eliminated. The collision sensor may be an existing collision sensor on the market.

As a further preferred aspect of the present invention, the upper portion of the carrier is provided with a holding chamber, the lifting mechanism is provided in the holding chamber, and the tray can be moved up and down between the holding chamber opening top and the holding chamber bottom. When placing the product on the tray, the tray can descend under elevating system's drive, and the lateral wall in holding chamber is as the dado of tray, can prevent that the product from taking place to fall in the transportation, improves the security of transport operation.

As a further preferable scheme of the present invention, the lifting mechanism comprises a servo motor, a screw, a nut, a connecting sleeve, at least one guide rod and at least one guide sleeve; the servo motor is arranged in the accommodating cavity, the screw rod is vertically arranged on the motor, a screw hole of the nut is meshed with the screw rod, the connecting sleeve is provided with a through hole in the vertical direction, the lower part of the through hole is rotatably connected with the nut, the part of the screw rod above the nut is positioned in the through hole, and the upper surface of the connecting sleeve is connected with the lower surface of the tray; the bottom of the guide sleeve is arranged at the bottom of the accommodating cavity, the upper end of the guide rod is connected to the lower surface of the tray, and the lower end of the guide rod is located in the guide sleeve. The motor drives the screw rod to rotate, and the nut and the connecting sleeve drive the tray to lift in the accommodating cavity under the guiding action of the guide rod.

As the utility model discloses a preferred scheme, the magnetic orbit still includes the section of charging, and the head end of the section of charging is connected with the head end of the section of advancing, and the end of the section of charging is equipped with the carrier district that charges. Because the carrier adopts battery drive, when the carrier finishes the work of unloading and reenters the section of advancing, can detect the battery electric quantity earlier whether satisfy and accomplish the whole section and advance the section and return the removal distance of section, if the battery is less than certain electric quantity, then shift over to the section of charging and remove and charge to the carrier charging district and charge.

Compared with the prior art, the utility model, have following advantage:

the utility model discloses automatic warehousing and storage system includes the magnet track and follows the carrier that the magnet track traveled, and the carrier can select the transport route according to self year thing condition for the product transports the district of unloading through shortest transport distance, and the distance sensor of the front end of carrier automobile body is used for surveying the place ahead road conditions under the condition of many carriers simultaneous workings simultaneously, avoids taking place the collision between the carrier in handling, thereby improves the efficiency of product transportation, reduces the cost of labor.

Drawings

FIG. 1 is a schematic diagram of the distribution of magnetic tracks in a preferred embodiment of the present invention;

fig. 2 is a schematic structural view of a cart according to a preferred embodiment of the present invention.

Detailed Description

The following further describes the preferred embodiments of the present invention with reference to the accompanying drawings.

An automatic warehousing system comprises a magnetic track 1 and a carrier 2 running along the magnetic track 1; as shown in fig. 1, the magnetic track 1 includes a forward section 101, a return section 102, a charging section 103, and a plurality of connection sections 104, wherein a head end of the forward section 101 is connected to a tail end of the return section 102, a tail end of the forward section 101 is connected to a head end of the return section 102, the forward section 101 and the return section 102 form an annular magnetic track 1, the connection sections 104 are arranged side by side, and two ends of each connection section 104 are respectively connected to the forward section 101 and the return section 102; a plurality of feeding stations 3 are arranged on the forward section 101 of the magnetic track 1, at least one feeding station 3 is arranged in the forward section 101 between the head ends of two adjacent sections of connecting sections 104, when the carrier 2 passes through a certain feeding station 3, a worker at the feeding station 3 puts a finished product on a tray 205 of the carrier 2, and the carrier 2 delivers the product; the magnetic track 1 is provided with a product unloading area 4 at the joint of the head end of the forward section 101 and the tail end of the return section 102, a small section of transverse marking track 105 can be arranged at the unloading area, when the carrier 2 runs to the unloading area, the carrier 2 can stop running at the unloading area, a worker in the unloading area unloads the product from the carrier 2, and the carrier 2 continues to advance into the forward section 101; the head end of the charging section 103 is connected with the head end of the advancing section, and the tail end of the charging section 103 is provided with a carrier charging area 5;

as shown in fig. 2, the transportation vehicle 2 includes a vehicle body, a wheel 201 driven by a motor (not shown) is provided at the bottom of the vehicle body, and a rechargeable battery 202 having a charging port 2021 is provided on the vehicle body; the upper portion of the carrier 2 is provided with a receiving cavity 203, the receiving cavity 203 is provided with a lifting mechanism 204 and a tray 205, the lifting mechanism 204 comprises a servo motor 2041, a screw 2042, a nut 2043, a connecting sleeve 2044, two guide rods 2045 and two guide sleeves 2046, the servo motor 2041 is installed in the receiving cavity 203, the screw 2042 is vertically installed on the motor, a screw hole of the nut 2043 is meshed with the screw 2042, the connecting sleeve 2044 is provided with a through hole in the vertical direction, the lower portion of the through hole is rotatably connected with the nut 2043, the portion of the screw 2042 above the nut 2043 is located in the through hole, the upper surface of the connecting sleeve 2044 is connected with the lower surface of the tray 205, the bottom of the guide sleeve 2046 is installed at the bottom of the receiving cavity 203, the upper end of the guide rod 2045 is connected with the lower surface of the tray 205, the lower end of the guide rod 2045 is located in the guide sleeve 2046, the screw 2042 is driven by the servo motor 2041 to rotate, and the nut 2043 and 2044, the side wall of the accommodating cavity 203 is used as a protective wall of the tray 205, so that the product can be prevented from falling in the transportation process, and the safety of the carrying operation is improved;

the truck 2 is provided with a photoelectric eye 206, a distance sensor 207, a magnetic navigation sensor 208 and a control module (not shown) for controlling the operation of each functional component, the control module generally comprises a PLC and related control circuits, the photoelectric eye 206 is arranged on the upper surface of the tray 205, the distance sensor 207 is arranged at the front end of the body of the truck 2, and the magnetic navigation sensor 208 is arranged at the lower front end of the body of the truck 2; the photoelectric eye 206 can adopt the photoelectric eye equipment on the existing market, the distance sensor 207 can adopt the ultrasonic distance sensor on the existing market, the magnetic navigation sensor 208 is one to multiple groups of miniature magnetic field detection sensors, the intersection of the magnetic track 1 is generally provided with a plurality of detection points, each magnetic field detection sensor corresponds to one detection point, so that different magnetic field reactions are generated at the intersection, and the action route of the carrier 2 is selected through the magnetic field reaction detected by the magnetic navigation sensor 208;

in practical operation, as the carrier 2 needs to stop running to carry products when passing through the loading station and needs to stop running to unload materials when reaching the unloading area 4, although the distance sensor 207 performs the distance control, there may be a safety risk that the front and rear vehicles collide with each other due to improper control in actual work, in addition, because the operation environment is messy, sundries and the like can exist on the magnetic track 1 to block the running of the carrier vehicle 2, a blocking strip 209 is also arranged along the lower part of the front end of the carrier vehicle 2, a collision sensor 210 is arranged on the blocking strip 209, when the front vehicle and the rear vehicle of the truck 2 collide or meet sudden obstacles (namely, the barrier strip 209 touches the front vehicle or the obstacles), the alarm can be given in time, the workers can stop the running of each vehicle, for timely accident management, the collision sensor 210 may be an existing collision sensor on the market.

In addition, it should be noted that the names of the parts and the like of the embodiments described in the present specification may be different, and all the equivalent or simple changes made according to the structure, the features and the principle of the present invention are included in the protection scope of the present invention. Various modifications, additions and substitutions may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims

1. The utility model provides an automatic warehousing and storage system, includes the magnetic track and follows the carrier that the magnetic track traveled, is equipped with the tray that is used for bearing the product on the carrier, its characterized in that: the magnetic track comprises a forward section, a return section and a plurality of connecting sections, wherein the head end of the forward section is connected with the tail end of the return section, the tail end of the forward section is connected with the head end of the return section, the forward section and the return section form an annular magnetic track, the connecting sections are arranged side by side, and two ends of each connecting section are respectively connected with the forward section and the return section; the automatic lifting device is characterized in that the carrying vehicle is provided with a lifting mechanism, a photoelectric eye, a distance sensor and a magnetic navigation sensor, the lifting mechanism is installed on the upper portion of the vehicle body of the carrying vehicle, the tray is installed on a power output end of the lifting mechanism, the photoelectric eye is arranged on the upper surface of the tray, the distance sensor is arranged at the front end of the vehicle body of the carrying vehicle, and the magnetic navigation sensor is arranged at the front lower end of the vehicle body of the carrying vehicle.

2. The automated warehousing system of claim 1, wherein: and a blocking strip is arranged at the lower part of the front end of the carrier and is provided with a collision sensor.

3. The automated warehousing system of claim 1 or 2, wherein: the upper portion of carrier is equipped with the holding chamber, elevating system sets up in the holding chamber, the tray can reciprocate between holding chamber opening top and holding chamber bottom.

4. The automated warehousing system of claim 3, wherein: the lifting mechanism comprises a servo motor, a screw rod, a nut, a connecting sleeve, at least one guide rod and at least one guide sleeve; the servo motor is arranged in the accommodating cavity, the screw rod is vertically arranged on the motor, a screw hole of the nut is meshed with the screw rod, the connecting sleeve is provided with a through hole in the vertical direction, the lower part of the through hole is rotatably connected with the nut, the part of the screw rod above the nut is positioned in the through hole, and the upper surface of the connecting sleeve is connected with the lower surface of the tray; the bottom of the guide sleeve is arranged at the bottom of the accommodating cavity, the upper end of the guide rod is connected to the lower surface of the tray, and the lower end of the guide rod is located in the guide sleeve.

5. The automated warehousing system of claim 1, wherein: the magnetic track further comprises a charging section, the head end of the charging section is connected with the head end of the advancing section, and the tail end of the charging section is provided with a carrier charging area.