CN210913941U

CN210913941U - Safety protection mechanism, select station and select system

Info

Publication number: CN210913941U
Application number: CN201921892411.0U
Authority: CN
Inventors: 谢良
Original assignee: Beijing Geekplus Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-07-03
Anticipated expiration: 2029-11-05

Abstract

The utility model belongs to the technical field of safe letter sorting, a safety protection mechanism is disclosed, select station and select system, safety protection mechanism is including two stands that are mutually opposite to set up, install the first support on the stand, install the grating sensor on first support, the position sensor who is located grating sensor below to and the control assembly who is connected with grating sensor and position sensor electricity, control assembly is used for opening or closing grating sensor, and can receive the signal of grating sensor and position sensor transmission. When an operator enters the robot work area through the space between the two stand columns, the grating sensor can be triggered, the purpose of automatically identifying whether the operator enters the robot work area is achieved, the emergency stop operation can be carried out, and dangers are avoided.

Description

Safety protection mechanism, select station and select system

Technical Field

The utility model relates to a safe letter sorting technical field especially relates to a safety protection mechanism, select station and select system.

Background

In recent years, the vigorous development of the robot technology brings great technical changes to the whole logistics industry and brings new technology and new design concept to the sorting industry. A robot picking system adopts a goods-to-person mode, and an operator waits for a robot to carry inventory containers such as goods shelves or containers to arrive at a work station at a picking station and picks goods.

At present, whole unmanned warehouse usually has hundreds of robots to carry out tasks, and at this in-process, the robot is in the mobile state, if operating personnel or its local health enter into the robot work area from selecting the station, can have high safety risk, cause bodily injury for operating personnel, current safety protection measure can only pass through the people and require operating personnel not to break into the robot work area, in order to avoid dangerous emergence, but this measure still exists operating personnel and gets into the robot work area, cause the condition of bodily injury.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a safety protection mechanism, select station and select system can whether enter into the robot work region by automatic identification operating personnel to when operating personnel gets into the robot region, control robot slows down and walks slowly or promptly stops, in order to avoid dangerous the emergence.

To achieve the purpose, the utility model adopts the following technical proposal:

a safety protection mechanism comprises two upright posts which are oppositely arranged, a first support arranged on the upright posts, a grating sensor arranged on the first support, a position sensor positioned below the grating sensor, and a control component electrically connected with the grating sensor and the position sensor, wherein the control component is used for opening or closing the grating sensor and can receive signals transmitted by the grating sensor and the position sensor;

the position sensor detects whether the robot carries the inventory container to a picking station and sends an indication signal to the control assembly;

the control component turns off the grating sensor when receiving a signal indicating arrival and turns on the grating sensor when receiving a signal indicating non-arrival;

the grating sensor detects whether an object passes through the grating when being started, and if so, an alarm signal is sent to the control component.

Preferably, a kicking-proof frame is connected between the lower ends of the two upright columns, and the position sensor is mounted on the kicking-proof frame.

Preferably, the anti-kicking frame is provided with an anti-kicking net.

Preferably, the position sensors are arranged in two numbers and symmetrically arranged at the top of the kicking-proof frame.

Preferably, the position sensor includes at least one of an infrared sensor, a photoelectric sensor, and an ultrasonic sensor.

Preferably, the first bracket comprises two mounting seats arranged along the length direction of the upright column, and the two mounting seats are arranged oppositely and used for mounting the grating sensor.

Preferably, the grating sensor includes an emitting portion and a receiving portion, the emitting portion is mounted on the two mounting seats of one of the first brackets, and the receiving portion is mounted on the two mounting seats of the other first bracket.

Preferably, the control device further comprises a second bracket, the second bracket is arranged on one side of one upright, and the control component is mounted on the second bracket.

Preferably, the device further comprises a display, and the display is electrically connected with the control component.

The utility model also provides a select station, including above-mentioned safety protection mechanism and rail, the rail connect in safety protection mechanism's stand one side stock container.

The utility model also provides a sorting system, including the robot, the remote server and the above sorting station, the robot and the control assembly are in wireless communication with the remote server respectively; wherein the content of the first and second substances,

the robot is for handling inventory containers to the picking station;

the remote server is used for controlling the operation of the robot.

Preferably, the control component reports an alarm signal to the remote server when receiving the alarm signal;

and the remote server controls the robot to take safety protection measures.

Preferably, the safety precautions include: slow down or stop.

The utility model has the advantages that: by providing a position sensor, when the inventory receptacle is transported by the robot to the safety protection mechanism (i.e., the picking position), a signal indicating that it has arrived is sent to the control component, which controls the grating sensor to close; when the robot drives the inventory container to leave or not convey the inventory container to the safety protection mechanism, the position sensor sends a signal indicating that the inventory container does not arrive to the control assembly, the control assembly controls the grating sensor to be opened, and when an operator or a local body of the operator stretches out of the station or enters a robot working area through a space between the two upright posts, the grating sensor can be triggered, the purpose of automatically identifying whether the operator or the local body of the operator stretches out of the station or enters the robot working area is achieved, and the emergency stop operation can be carried out.

After the grating sensor sends the alarm signal to the control assembly, the control assembly remotely communicates with the remote server, and the remote server can control the robot to stop or slow down to avoid danger.

Drawings

Fig. 1 is a schematic perspective view of a safety protection mechanism according to the present invention;

fig. 2 is a schematic perspective view of another view angle of the safety protection mechanism of the present invention;

fig. 3 is a schematic diagram illustrating a connection principle between the control module and the position sensor, the grating sensor and the remote server according to the present invention;

fig. 4 is a schematic structural view of the picking station according to the present invention.

In the figure:

1. a column; 2. a first bracket; 21. a mounting seat; 3. a grating sensor; 4. a position sensor; 5. a control component; 6. a kick-proof frame; 61. the net is prevented from being kicked; 7. a second bracket; 10. a safety protection mechanism; 20. a fence; 30. a robot; 40. a remote server; 50. and (5) storing the containers.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The utility model provides a safety protection mechanism 10, this safety protection mechanism 10 can be applied to and prevent that the staff from getting into each scene of danger area, and it can be installed in the import department of each scene, and when operating personnel got into the scene, this safety protection mechanism 10 can detect to the urgent scram of dangerous equipment in the scene, in order to avoid causing bodily injury to operating personnel. In the present embodiment, the safety protection mechanism 10 is preferably applied to a cargo sorting scene, and may be installed at a picking station of the cargo sorting scene, where the picking station is used for an operator to pick.

Referring to fig. 1 to 3, the safety guard mechanism 10 of the present embodiment includes a column 1, a first bracket 2, a grating sensor 3, a position sensor 4, a control unit 5, and a kicking prevention frame 6, wherein:

the two upright columns 1 are arranged, and the two upright columns 1 can be fixed on the ground or other places. Two upright posts 1 are arranged oppositely to form a picking space of a picking station.

The first supports 2 are provided with two, each first support 2 comprises two installation bases 21 installed on the stand column 1, the two installation bases 21 are oppositely arranged along the length direction of the stand column 1, and the grating sensors 3 are installed on the stand column 1.

In this embodiment, the grating sensor 3 includes an emitting portion and a receiving portion, the emitting portion is mounted on two mounting seats 21 of one of the columns 1, and the receiving portion is mounted on two mounting seats 21 of the other column 1. The transmitting part can transmit light grating lines to the receiving part, so that the two upright posts 1 are covered by the grating lines, and when an operator or a local body of the operator goes out of a station or enters a working area of the robot 30 between the two upright posts 1, the grating sensor 3 can detect the situation and generate an alarm signal.

As shown in fig. 1, a control assembly 5 is mounted on one of the uprights 1, and preferably, a second bracket 7 may be fixed to the upright 1, the second bracket 7 may be disposed outside the upright 1, and the control assembly 5 is mounted on the second bracket 7. In this embodiment, the control component 5 is used to turn on and off the optical grating sensor 3, and is capable of receiving the alarm signal sent by the optical grating sensor 3 when the optical grating sensor 3 is turned on and generates an alarm signal (i.e. an operator or a part of the operator's body is out of a work station or enters a work area of the robot 30 through between two columns 1).

In this embodiment, referring to fig. 2, a kicking-proof frame 6 is installed between the two columns 1, the kicking-proof frame 6 is preferably installed at the lower ends of the two columns 1, and a kicking-proof net 61 may be installed on the kicking-proof frame 6. Preferably, the kicking prevention frame 6 is disposed below the grating sensor 3. With the above structure, if an operator or his/her local body enters the working area of the robot 30, he/she needs to step over the kicking prevention frame 6, and the grating sensor 3 can detect the operator's motion to generate an alarm signal.

Further, in the present embodiment, the position sensor 4 is installed on the top of the kick-proof frame 6, and two position sensors 4 are provided for detecting whether the stock container 50 reaches the picking position. Specifically, when the position sensor 4 detects that the distance between the stock receptacle 50 and it is a predetermined distance, indicating that the robot 30 is delivering the stock receptacle 50 to the picking position, the position sensor 4 can send a signal indicating the arrival to the control assembly 5. When the position sensor 4 detects that the distance between the inventory receptacle 50 and it is greater than the preset distance, indicating that the inventory receptacle 50 has left or not reached the picking position, the position sensor 4 can send a signal to the control component 5 indicating that the inventory has not been reached.

In this embodiment, the position sensor 4 may be an infrared sensor, a photoelectric sensor, an ultrasonic sensor, or another sensor capable of measuring distance, or may be a plurality of sensors. The position of the inventory receptacle 50 can be detected efficiently by the position sensor 4.

It should be noted that the grating sensor 3 of the present embodiment is preferably turned on when the position sensor 4 detects that the inventory receptacle 50 is in the off state, so as to prevent the operator from entering the working area of the robot 30 by mistake.

Optionally, the present embodiment may further mount a display (not shown) on the column 1, where the display is connected to the control component 5, and the display may display the detection states of the grating sensor 3 and the position sensor 4, the operation state of the robot 30, or the position state of the inventory receptacle 50.

When the safety guard mechanism 10 of the present embodiment is used, the position sensor 4 first detects the position of the inventory receptacle 50, for example, when the robot 30 conveys the inventory receptacle 50 close to the picking station, and when the position sensor 4 detects that the distance between the inventory receptacle 50 and the position sensor reaches the preset distance, the position sensor 4 sends a signal indicating the arrival to the control component 5, and the control component 5 controls the light barrier sensor 3 to be turned off, and then the operator performs the picking operation. When the picking is finished, the robot 30 drives the inventory container 50 to leave the picking position, the position sensor 4 sends a signal indicating that the inventory container does not arrive to the control component 5, the control component 5 controls the grating sensor 3 to be started, at this time, once an operator or a local body of the operator stretches out of a station (an arm stretches out of the station or a leg stretches out of the station) or enters a working area of the robot 30 through a space between the two upright posts 1, the grating sensor 3 is triggered to detect the situation, at this time, the grating sensor 3 sends an alarm signal to the control component 5, the control component 5 can give an alarm to prompt the operator, or send a signal to the remote server 40, and the remote server 40 controls the robot 30 to stop running so as to avoid injury to the operator.

The present embodiment further provides a picking station, as shown in fig. 3 and 4, which includes the safety guard mechanism 10 and a rail 20, wherein the rail 20 is installed outside the two uprights 1 of the safety guard mechanism 10.

The embodiment also provides a picking system, which comprises a robot 30, a remote server 40 and the picking station, wherein the robot 30 is connected to the remote server 40, the start and stop of the robot can be controlled by the remote server 40, and the robot 30 can convey the inventory containers 50 to the picking station and then carry out picking operation by operators.

In this embodiment, the remote server 40 is further connected to the control component 5 of the safety protection mechanism 10, and the connection between the remote server and the control component may be realized by using a network cable connection or a wireless connection. The remote server 40 is capable of receiving a first signal transmitted by the control module 5 and transmitting a second signal to the control module 5. Specifically, the second signal may include an arrival signal and a departure signal, and when the inventory receptacle 50 arrives at the picking position, the remote server 40 sends the arrival signal of the second signal to the control unit 5, and in cooperation with the position detection of the position sensor 4, the control unit 5 can determine the arrival of the inventory receptacle 50 more accurately, and the control unit 5 controls the grating sensor 3 to be turned off. When the inventory receptacle 50 leaves the picking station, the remote server 40 sends a leave signal as a second signal to the control unit 5, and in conjunction with the position detection by the position sensor 4, the control unit 5 can more accurately determine that the inventory receptacle 50 leaves, while the control unit 5 controls the raster sensor 3 to turn on. When an operator exits a station or enters a working area of the robot 30 through a space between the two upright posts 1 and the grating sensor 3 is triggered, the control component 5 receives an alarm signal sent by the grating sensor 3 and then sends a first signal to the remote server 40, and the remote server 40 controls the robot 30 to take safety protection measures of deceleration, slow running or emergency stop.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A safety protection mechanism (10) is characterized by comprising two upright posts (1) which are oppositely arranged, a first support (2) which is arranged on the upright posts (1), a grating sensor (3) which is arranged on the first support (2), a position sensor (4) which is fixedly arranged, and a control component (5) which is electrically connected with the grating sensor (3) and the position sensor (4), wherein the control component (5) is used for opening or closing the grating sensor (3) and can receive signals transmitted by the grating sensor (3) and the position sensor (4);

the position sensor (4) detects whether the robot carries the inventory container to a picking station and sends an indication signal to the control component (5);

the control component (5) turns off the grating sensor (3) when receiving a signal indicating arrival and turns on the grating sensor (3) when receiving a signal indicating non-arrival;

the grating sensor (3) detects whether an object passes through the grating when being started, and if so, sends an alarm signal to the control component (5).

2. The safety guard mechanism (10) according to claim 1, characterized in that a kicking-proof frame (6) is connected between the lower ends of the two uprights (1), and the position sensor (4) is mounted on the kicking-proof frame (6).

3. Safety guard mechanism (10) according to claim 2, characterized in that the kicking prevention frame (6) is mounted with a kicking prevention net (61).

4. Safety guard mechanism (10) according to claim 2, characterized in that the position sensors (4) are provided in two, symmetrically arranged on top of the anti-kicking frame (6).

5. The safety shield mechanism (10) of any of claims 1-4, wherein the position sensor (4) comprises at least one of an infrared sensor, a photoelectric sensor, and an ultrasonic sensor.

6. The safety mechanism (10) according to claim 1, wherein the first bracket (2) comprises two mounting seats (21) arranged along the length direction of the upright (1), and the two mounting seats (21) are arranged oppositely for mounting the grating sensor (3).

7. Safety shield mechanism (10) according to claim 6, characterized in that said light barrier sensor (3) comprises a transmitting portion mounted on two of said mounting seats (21) of one of said first brackets (2) and a receiving portion mounted on two of said mounting seats (21) of the other of said first brackets (2).

8. The safety mechanism (10) of claim 1, further comprising a second bracket (7), the second bracket (7) being disposed on one side of one of the uprights (1), the control assembly (5) being mounted on the second bracket (7).

9. The safety mechanism (10) of claim 1, further comprising a display electrically connected to the control assembly (5).

10. A picking station comprising a safety shield mechanism (10) according to any of claims 1 to 9 and a rail (20), the rail (20) being connected to a stock receptacle on the side of the upright (1) of the safety shield mechanism (10).

11. A picking system comprising a robot (30), a remote server (40) and a picking station as claimed in claim 10, the robot (30) and the control assembly (5) each being in wireless communication with the remote server (40); wherein the content of the first and second substances,

the robot (30) for handling inventory containers to the picking station;

the remote server (40) is used for controlling the operation of the robot (30).

12. The picking system according to claim 11, characterized in that the control component (5) upon receiving an alarm signal reports the alarm signal to the remote server (40);

the remote server (40) controls the robot (30) to take safety precautions.

13. The picking system of claim 12, wherein the safeguards include: slow down or stop.