CN211282387U - Robot automatic sorting system - Google Patents
Robot automatic sorting system Download PDFInfo
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- CN211282387U CN211282387U CN201922321790.4U CN201922321790U CN211282387U CN 211282387 U CN211282387 U CN 211282387U CN 201922321790 U CN201922321790 U CN 201922321790U CN 211282387 U CN211282387 U CN 211282387U
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Abstract
The utility model discloses an automatic robot sorting system, which comprises a robot system, a material handling system and a robot sorting master control system, wherein the robot sorting master control system is respectively connected with the robot system and the material handling system through Ethernet; the robot sorting master control system is installed on an industrial control host, the robot system is installed in a robot control electric cabinet, and the material handling system is installed in a conveyor belt control electric cabinet; the robot system comprises a robot, a paw and a quick-change tool; the material handling system comprises a conveyor belt and a code scanning gun; the robot sorting master control system is further connected with the raw material library management system, the finished product library management system and the AGV dispatching management system through the Ethernet. The system improves the efficiency of data interaction and the stability of the system, and can meet the automatic sorting requirements of the three-dimensional containers and the three-dimensional warehouses for goods in and out of the warehouse.
Description
Technical Field
The utility model relates to a three-dimensional storage device technical field especially relates to an automatic sorting system of robot.
Background
At present, because the plane library has the defects of small storage capacity, large occupied area, no contribution to management and the like, the plane library is basically replaced by a stereoscopic warehouse in the process of constructing an intelligent factory and a digital workshop of an enterprise, and the most common stereoscopic storage modes in the market at present have three types: stacker type stereoscopic warehouse, stereoscopic container and intelligent stereoscopic warehouse.
Aiming at the common sorting mode of the three-dimensional container and the intelligent three-dimensional warehouse, the method is manual sorting, and an operator identifies and sorts goods through human eye identification or by means of a bar code identification technology, so that the sorting efficiency is low, and the intelligent requirement cannot be met; an industrial robot automatic sorting system is also available in the prior art, but the system is generally used for automatic sorting of the delivered products of an automatic production line and is not suitable for automatic sorting of a stereoscopic warehouse; the other type is a vision-based robot sorting system, which is used for accurately grabbing parts by visually recognizing the position information of target parts, does not involve integration and coordination control with other systems, and is not suitable for automatic sorting of stereoscopic warehouses.
Disclosure of Invention
The utility model aims at providing a robot automatic sorting system, this system have simplified the data interaction relation between the equipment system, have optimized many-to-many into a pair of many, have improved the stability of data interaction's efficiency and system, can satisfy three-dimensional packing cupboard and stereoscopic warehouse's goods warehouse entry-exit automatic sorting demand simultaneously.
The utility model aims at realizing through the following technical scheme:
the utility model provides an automatic sorting system of robot, the system includes robotic system, material handling system and the total control system of robot letter sorting, wherein:
the robot sorting master control system is respectively connected with the robot system and the material handling system through Ethernet;
the robot sorting master control system is installed on an industrial control host, the robot system is installed in a robot control electric cabinet, and the material handling system is installed in a conveyor belt control electric cabinet;
the robot system comprises a robot, a paw and a quick-change tool;
the material handling system comprises a conveyor belt and a code scanning gun;
the robot sorting master control system is further connected with the raw material library management system, the finished product library management system and the AGV dispatching management system through the Ethernet.
The robot sorting master control system further comprises a system management module, a basic data management module, a parameter setting module, an equipment state monitoring module, an equipment testing module, an equipment control module and an in-out warehouse sorting task execution module.
The system management module further comprises a user management module, a log management module and a database management module.
By the aforesaid the technical scheme the utility model provides a can see out, data interactive relation between the equipment system has been simplified to above-mentioned system, has become one to many with many to many optimization, has improved the stability of data interaction's efficiency and system, can satisfy three-dimensional packing cupboard and stereoscopic warehouse's goods warehouse entry automatic sorting demand simultaneously, has realized automatic, digital, intelligent warehouse entry and exit.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of an automatic robot sorting system according to an embodiment of the present invention;
fig. 2 is the embodiment of the utility model provides a robot sorts total control system's functional module and divides the schematic diagram.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiment of the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The following will be described in detail with reference to the accompanying drawings, which are shown in fig. 1 and are the overall structural schematic diagram of the automatic robot sorting system provided by the embodiments of the present invention, the system includes a robot system, a material handling system and a total robot sorting system, and is used for realizing the automatic sorting of goods in and out of a three-dimensional container and an intelligent three-dimensional warehouse, wherein:
the robot sorting master control system is respectively connected with the robot system and the material handling system through Ethernet;
the robot sorting master control system is installed on an industrial control host, the robot system is installed in a robot control electric cabinet, and the material handling system is installed in a conveyor belt control electric cabinet;
the robot system comprises a robot, a paw and a quick-change tool and is used for sorting materials in and out of a warehouse, loading and unloading goods shelves and identifying the materials under the control of the robot sorting master control system;
the material handling system comprises a conveying belt and a code scanning gun and is used for mutually transferring materials sorted by the robot system and a workshop transfer AGV under the control of the robot sorting master control system;
the robot sorting master control system realizes information interaction with the robot system and the material handling system through Ethernet, performs overall coordination control on the robot system and the material handling system, specifically decomposes warehouse-in and warehouse-out tasks of external systems, transmits the decomposed warehouse-in and warehouse-out tasks to the robot system and the material handling system for execution, and receives state feedback of the robot system and the material handling system as decision input of control;
the robot sorting master control system is further connected with the raw material warehouse management system, the finished product warehouse management system and the AGV dispatching management system through the Ethernet so as to realize the material sorting in the automatic warehouse-in and warehouse-out process of the raw material warehouse and the automatic warehouse-in and warehouse-out process of the finished product warehouse. The robot sorting master control system not only realizes cooperative control of the equipment system, but also can remotely monitor the equipment state of the system and provide a data source for digital workshop equipment data acquisition.
In concrete realizing, as shown in fig. 2 be the embodiment of the utility model discloses the functional module of the total control system of robot letter sorting divides the schematic diagram, and this total control system of robot letter sorting further includes system management module, basic data management module, parameter setting module, equipment state monitoring module, equipment test module, equipment control module, goes out warehouse entry letter sorting task execution module, wherein:
the system management module is used for carrying out authentication management on the user identity, recording an operation log of the robot sorting master control system and realizing management and maintenance of a system database; in specific implementation, the system management module realizes user authentication management through front-end interface operation, rule setting and back-end database storage; the management and maintenance of the system database are realized through the operations of database export, backup, recovery and the like;
various basic information including a robot, a paw and a quick-change tool in the robot system is stored in the basic data management module, and functions including data addition, deletion, query, modification and information import and export are realized; in specific implementation, the basic data management module manages and maintains various basic information of a robot, a paw and a quick-change tool in the robot system through front-end interface operation, rule setting and back-end database storage;
the parameter setting module is used for setting, backing up, exporting and recovering various parameters in the system operation; various parameters in the operation of the system are divided into two types: device system parameters and other system parameters. System parameters related to the device are defined in a device information table in the basic data management component; other system parameter systems are well defined. In specific implementation, the parameter setting module manages various parameters in system operation through front-end interface operation, rule setting and back-end database storage;
the equipment state monitoring module is used for monitoring the states of various equipment such as the robot system, the conveyor belt, the code scanning gun and the like; in a specific implementation, the equipment state monitoring module acquires and displays information of working modes, running states, fault information, motion parameters and position coordinates of various equipment through hardware communication interfaces and software communication protocols provided by various equipment such as the robot system, the conveyor belt and the code scanning gun;
the equipment testing module is used for testing various equipment in the system; the method comprises the following steps of robot testing, PLC testing and code scanning gun testing; in specific implementation, the equipment testing module tests whether the basic control functions of various equipment are normal or not through hardware communication interfaces and software communication protocols provided by various equipment such as the robot system, the PLC, the code scanning gun and the like. The robot test comprises a communication test and a robot hand holding test; the PLC test comprises a communication test and an IO test; the code scanning gun test comprises a communication test and an identification test;
the equipment control module is used for realizing remote control of a control mode, an operation speed and an equipment program of the robot system; in a specific implementation, the equipment control module remotely controls the robot through a hardware communication interface and a software communication protocol provided by the robot system, and the remote control comprises the steps of selecting a control mode of the robot, modifying the current running speed of the robot and remotely downloading and running a robot control program;
and the in-out warehouse sorting task execution module is used for issuing sorting tasks to the robot system and the PLC by receiving in-out warehouse tasks issued by the raw material warehouse management system and the finished product warehouse management system. In a specific implementation, the task triggering form of the in-out sorting task execution module comprises automatic execution and manual initiation.
As shown in fig. 2, the system management module further includes a user management module, a log management module, and a database management module, wherein:
the user management module realizes user role management and user authority management, the system is provided with a unique system administrator for carrying out identity authentication including password authentication, fingerprint authentication and card swiping authentication before a user enters a system management function, and the system administrator is generated by default when the system is initialized;
the log management module is used for recording various operations of the system and inquiring, deleting and exporting various records;
the database management module is used for realizing the recovery and backup management of the system database.
In the concrete realization, the letter sorting task that total control system of robot letter sorting assigned includes: blank warehouse-in task, blank warehouse-out task, finished product warehouse-in task, finished product warehouse-out task, finished product warehouse-in empty tray processing task, finished product warehouse-out empty tray processing task, specifically:
1. the blank warehousing process specifically comprises the following steps:
(1) the upper management system sends a blank warehousing task to the raw material warehouse management system;
(2) the raw material library management system automatically allocates goods positions and sends blank warehousing tasks to the robot sorting master control system;
(3) the goods shelves are conveyed to an in-out fixed position by the AGV to wait, and the AGV dispatching management system sends the in-place information of the AGV to the robot sorting master control system;
(4) the robot sorting master control system receives the AGV transferring in-place signal, sends a storage butt joint transmission instruction to the PLC, and transmits the tray to the speed multiplying chain from the AGV;
the AGV dispatching management system is used as an upper dispatching management system for transferring the AGV and the warehouse AGV, so that unified dispatching management of the two AGVs is realized, wherein the warehouse AGV is automatic handling equipment in a raw material warehouse; the transfer AGV is automatic transfer equipment between the raw material warehouse and the finished product warehouse and the station.
(5) The robot sorting master control system sends a warehousing transmission instruction to the PLC, the PLC controls the speed multiplying chain to convey the blank tray to the outlet of the warehousing line and jack up the blank tray, and then the blank tray is fed back to the position information; the robot sorting master control system inquires the robot state of the robot system to ensure that the robot is idle;
(6) the robot sorting master control system sends warehousing task information to the robot system, and a robot of the robot system grabs and places the tray on a specified goods position of the goods shelf;
(7) the robot sorting master control system feeds back task completion conditions to the raw material warehouse management;
(8) the raw materials management system feeds back the completion of the task to the upper system.
2. The blank ex-warehouse process specifically comprises the following steps:
(1) the upper management system sends ex-warehouse task information to the raw material warehouse management system;
(2) the raw material library management system automatically allocates goods positions and sends blank delivery tasks to the robot sorting master control system;
(3) the goods shelves are conveyed to an in-out fixed position by a warehouse AGV, and the AGV dispatching management system sends in-place signals to a robot sorting master control system;
(4) the robot sorting master control system sends a warehouse-out preparation instruction to the PLC, and the PLC controls the speed multiplying chain to empty and jack up the position of the warehouse-out line inlet; the robot sorting master control system inquires the state of the robot and ensures that the robot of the robot system is idle;
(5) the robot sorting master control system sends out-warehouse tasks to the robot system, and a robot of the robot system grabs a tray of a specified goods shelf goods position and places the tray on a speed multiplying chain;
(6) the robot sorting master control system sends an ex-warehouse transmission instruction to the PLC, the PLC controls the speed multiplying chain to convey the trays to an exit of an ex-warehouse line to wait, the robot sorting master control system receives an in-place signal of the transfer AGV, and the robot sorting master control system sends an ex-warehouse butt joint transmission instruction to the PLC to transmit the trays to the transfer AGV;
(7) the robot sorting master control system feeds back task completion conditions to the raw material warehouse management;
(8) and the raw material library management system feeds back the task completion condition to the upper management system.
3. The finished product warehousing process specifically comprises the following steps:
(1) and the upper management system sends warehousing task information to the finished product warehouse management system, and the finished product warehouse management system automatically allocates the goods positions and pushes out the trays of the corresponding goods positions to an output station outside the cabinet body.
(2) And the finished product library management system sends a finished product warehousing task to the robot sorting master control system.
(3) The robot sorting master control system receives the AGV transferring in-place signal, sends a storage butt joint transmission instruction to the PLC, and transmits finished product trays to the speed multiplying chain through the transferring AGV.
(4) The robot sorting master control system sends a warehousing transmission instruction to the PLC, the PLC controls the speed multiplying chain to convey the finished product tray to the outlet of the warehousing line and jack up the finished product tray, and then the finished product tray is fed back to the position information; the robot sorting master control system inquires the state of the robot and ensures that the robot of the robot system is idle.
(5) And the robot sorting master control system sends finished product warehousing task information to the robot system, and the robot system grabs and places the tray on the tray transfer table.
(6) The robot system picks the finished product from the tray and places the finished product in a specified cargo space of the container;
(7) the robot sorting master control system feeds back task completion conditions to the finished product library management system;
(8) and the finished product library management system feeds back the task completion condition to the upper management system.
4. The finished product ex-warehouse process specifically comprises the following steps:
(1) the upper management system sends out-warehouse tasks to the finished product warehouse management system, the finished product warehouse management system automatically allocates the goods positions and pushes out the trays of the corresponding goods positions to an output station outside the cabinet body;
(2) the finished product warehouse management system sends a finished product warehouse-out task to the robot sorting master control system;
(3) the robot sorting master control system sends a finished product ex-warehouse task to the robot system, and the robot system grabs and places finished products in the designated goods space on an empty tray of the tray transfer table;
(4) after the tray is full, the robot sorting master control system sends a delivery preparation instruction to the PLC, and the PLC controls the speed doubling chain to empty and jack up the inlet position of the delivery line;
(5) the robot picks the full tray on the transfer table and places the full tray on the speed doubling chain;
(6) the robot sorting master control system sends an ex-warehouse transmission instruction to the PLC, the PLC controls the speed multiplying chain to convey the trays to an exit of an ex-warehouse line to wait, the robot sorting master control system receives an in-place signal of the transfer AGV, and the robot sorting master control system sends an ex-warehouse butt joint transmission instruction to the PLC to transmit the trays to the transfer AGV;
(7) the robot sorting master control system feeds back task completion conditions to the finished product library management system;
(8) and the finished product library management system feeds back the task completion condition to the upper management system.
5. The empty tray processing flow after finished product warehousing specifically comprises the following steps:
(1) the robot sorting master control system sends a finished product warehousing empty tray processing task to the raw material warehouse management system;
(2) the raw material library management system automatically allocates goods positions and sends finished product warehousing empty tray processing tasks to the robot material sorting master control system;
(3) after the goods shelves are conveyed to the warehousing and ex-warehousing positioning points by the warehouse AGV, the raw material warehouse management system sends a signal that the warehouse AGV reaches the warehousing and ex-warehousing positioning points to the robot sorting master control system;
(4) the robot picks an empty tray from the transfer rack and places the empty tray on a designated goods position of the goods shelf, and the robot sends a put-in tray placement in-place signal to the robot sorting master control system after running to a safe position;
(5) after receiving the warehousing tray placement in-place signal, the robot sorting master control system sends the warehousing tray placement in-place signal to the raw material library management system, and the AGV dispatching management system controls the AGV to place the goods shelf back to the original position. After the storage rack is placed in place by the AGV, the raw material library management system feeds back an in-situ success signal to the robot sorting master control system;
(6) and after receiving the in-situ success signal, the robot sorting master control system sends a warehousing task completion result to the raw material library management system.
6. The processing flow of the empty tray before the finished product is delivered out of the warehouse specifically comprises the following steps:
(1) the robot sorting master control system sends finished product empty tray processing task information to the raw material warehouse management system before the finished product is delivered out of the warehouse;
(2) the raw material library management system sends a finished product empty tray processing task before delivery to the robot sorting master control system;
(3) after the goods shelves are conveyed to the warehousing and ex-warehousing positioning points by the warehouse AGV, the raw material warehouse management system sends a signal that the warehouse AGV reaches the warehousing and ex-warehousing positioning points to the robot sorting master control system;
(4) after the robot sorting master control system receives a signal sent by the raw material library management system that a warehouse AGV reaches an in-out positioning point, the robot sorting master control system sends an empty tray out-of-warehouse task to the robot;
(5) the robot grabs the tray of the designated goods shelf goods position and places the tray on the transfer rack, and after moving to a safe position, the robot sends a delivery tray placing in-place signal to the robot sorting master control system;
(6) after receiving the delivery tray placing in place signal of the robot, the robot sorting master control system sends a warehouse AGV return instruction to the raw material library management system, and the warehouse AGV returns the goods shelf to the original position. After the storage rack is placed in place by the AGV, the raw material library management system feeds back an in-situ success signal to the robot sorting master control system;
(7) and after the robot sorting master control system receives the recovery success signal, the empty tray processing task is completed before the finished products are delivered out of the warehouse.
It is noted that the embodiments of the present invention not described in detail belong to the prior art known to those skilled in the art.
The above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are all covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (3)
1. The utility model provides an automatic sorting system of robot, its characterized in that, the system includes robotic system, material handling system and the total control system of robot letter sorting, wherein:
the robot sorting master control system is respectively connected with the robot system and the material handling system through Ethernet;
the robot sorting master control system is installed on an industrial control host, the robot system is installed in a robot control electric cabinet, and the material handling system is installed in a conveyor belt control electric cabinet;
the robot system comprises a robot, a paw and a quick-change tool;
the material handling system comprises a conveyor belt and a code scanning gun;
the robot sorting master control system is further connected with the raw material library management system, the finished product library management system and the AGV dispatching management system through the Ethernet.
2. The robotic automated sorting system of claim 1, wherein the robotic sorting master control system further comprises a system management module, a basic data management module, a parameter setting module, an equipment status monitoring module, an equipment testing module, an equipment control module, and an in-out sorting task execution module.
3. The robotic automated sorting system according to claim 2, wherein the system management module further includes a user management module, a log management module, and a database management module.
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| CN201922321790.4U CN211282387U (en) | 2019-12-20 | 2019-12-20 | Robot automatic sorting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379976A (en) * | 2022-02-25 | 2022-04-22 | 北自所(北京)科技发展股份有限公司 | Glass fiber electronic cloth grey cloth transferring and storing device and grey cloth transferring method |
| CN115499328A (en) * | 2022-11-08 | 2022-12-20 | 佛山智能装备技术研究院 | Access right control method of industrial robot, operation and maintenance server and medium |
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2019
- 2019-12-20 CN CN201922321790.4U patent/CN211282387U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379976A (en) * | 2022-02-25 | 2022-04-22 | 北自所(北京)科技发展股份有限公司 | Glass fiber electronic cloth grey cloth transferring and storing device and grey cloth transferring method |
| CN115499328A (en) * | 2022-11-08 | 2022-12-20 | 佛山智能装备技术研究院 | Access right control method of industrial robot, operation and maintenance server and medium |
| CN115499328B (en) * | 2022-11-08 | 2023-02-03 | 佛山智能装备技术研究院 | Access right control method of industrial robot, operation and maintenance server and medium |
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